An intelligent flexible clamping robot for construction and a clamping and installation method thereof

Abstract

The present invention discloses an intelligent flexible clamping robot for construction and a clamping and installation method thereof, comprising a self-propelled frame, a rotating platform, a flexible clamping unit and a detection and positioning unit connected to the control device signal, the rotating platform is arranged at the front end top of the self-propelled frame through a lifting column, the flexible clamping unit is arranged on the rotating platform, the detection and positioning unit is arranged on the flexible clamping unit, and the control device is arranged at the middle and rear end of the self-propelled frame. A clamping and installation method of an intelligent flexible clamping robot for construction, comprising the steps of working environment detection and positioning, clamping planning, clamping and handling, and installation. The present invention realizes intelligent control of the entire process and cycle of wall panel clamping, handling, and installation, greatly improving construction efficiency and reducing construction costs; it can clamp wall panels of various thicknesses, the clamping force is stable and controllable, and will not cause damage to the wall panels, and has a wide range of applications.

Description

Technical Field

[0001] The present invention relates to an intelligent flexible clamping robot and a clamping and installation method thereof, and in particular to an intelligent flexible clamping robot for construction and a clamping and installation method thereof, belonging to the technical field of building construction. Background Art

[0002] Generally speaking, with the development of modern construction industry, prefabricated buildings are more and more widely used, and the auxiliary tools derived from them are also constantly changing. Wall panel installation machine is one of them. The new building partition panels in prefabricated buildings have large unit area, large construction volume, great difficulty in manual installation, slow construction speed and high risk factor. Wall panel installation robots have entered people's field of vision, but the current wall panel installation machine has a low degree of intelligence, and the clamping force of the auxiliary clamping mechanism of the wall panel installation is mostly implemented by manual experience. Excessive clamping force will damage the wall panel, and too small clamping force will reduce the stability and reliability of the wall panel clamping.

[0003] The clamping methods of traditional wall panel installation are mostly one-way clamping or arc clamping, which have the following disadvantages: the one-way clamping type has a fixed board taking direction and a single mode, which is easily interfered by the outermost clamping plate space, and is not conducive to quick board taking; the arc clamping type cannot adjust the thickness of the clamped wall panel, which is easy to damage the wall panel and difficult to control the clamping force. On the other hand, traditional screw adjustment is mostly manual adjustment, the screw resistance is too large, and the adjustment is extremely inconvenient. In summary, how to design a flexible board taking mode that integrates automatic mode to replace manual mode, combines stepless adjustment and live pressure clamping, digital precise control, and realizes the elements of clamping mechanism to adapt to multi-thickness wall panel clamping, and can realize intelligent control of the entire process and cycle of wall panel clamping, transportation, and installation, is the main technical problem solved by the present invention. Summary of the invention

[0004] The first object of the present invention is to provide an intelligent flexible gripping robot for construction; the second object of the present invention is to provide a gripping and installation method of an intelligent flexible gripping robot for construction,

[0005] The first object of the present invention is achieved as follows: An intelligent flexible clamping robot for construction, comprising a self-propelled frame (1), a lifting column (2), a rotating platform (8), a flexible clamping unit, a detection and positioning unit and a control device (7), characterized in that two lifting columns (2) are movably hinged at the top of the front end of the self-propelled frame (1), the rotating platform (8) and the lifting columns (2) are connected and combined to form an "L"-shaped structure, and a tilt adjustment drive (3) is movably hinged at the lower part of each lifting column (2), and the body of the tilt adjustment drive (3) is movably hinged on the inner side of the rotating platform (8), and the two lifting columns (2) are connected to each other. A lifting slide (4) is arranged between the lifting columns (2) and is slidably matched therewith. A lifting drive (5) connected to the lifting slide (4) is arranged at the middle and lower part of the lifting columns (2). A flexible clamping unit is arranged on the outer side of the lifting slide (4) through a rotating platform (8). A detection and positioning unit is arranged on the flexible clamping unit. A power supply unit (6) and a control device (7) are arranged at the middle and rear ends of the self-propelled frame (1). The control device (7) is connected to the self-propelled frame (1), the tilt adjustment drive (3), the lifting drive (5), the detection and positioning unit, the flexible clamping unit and the power supply unit (6) by signals.

[0006] Preferably, the flexible clamping unit comprises a large flexible splint (9), a small flexible splint (10), a clamping drive (11), a stepless adjustment mechanism (13), and a clamping bent arm (12); the middle inner portion of the large flexible splint (9) is connected to the rotating platform (8); the clamping drives (11) are respectively arranged at both inner ends of the large flexible splint (9); stepless adjustment mechanisms (13) are respectively arranged at the lower ends of each clamping drive (11); each step adjustment mechanism is respectively connected to the lower end of the clamping bent arm (12); a small flexible splint (10) is respectively arranged at the upper end of each clamping bent arm (12); and the small flexible splint (10) is located on the outer side of the large flexible splint (9).

[0007] More preferably, the stepless adjustment mechanism (13) comprises a fixed slide (14), a clamping slider (15), a connecting plate, a driving shaft (16), and a shaft drive (17); the fixed slide (14) is arranged in a "mouth"-shaped structure; the top plate of the fixed slide (14) is movably hinged to the bottom of the large flexible splint (9); and the middle part of the top plate of the fixed slide (14) is movably hinged to the clamping drive (11); the clamping drive (11) drives the fixed slide (14) to rotate up and down on the bottom of the large flexible splint (9); and the fixed slide (14) is A running groove is provided at the bottom, a clamping slide block (15) is arranged in the fixed slide block (14), the clamping slide block (15) performs reciprocating motion in the fixed slide block (14), and the bottom of the clamping slide block (15) passes downward through the running groove to connect with the clamping bent arm (12), the driving shaft (16) is arranged on the clamping slide block (15), the axis center line of the driving shaft (16) coincides with the axis center line of the clamping slide block (15), a shaft drive (17) is arranged at either end of the fixed slide block (14), and the shaft drive (17) and the driving shaft (16) are connected by gear transmission.

[0008] Preferably, the detection and positioning unit comprises a height displacement sensor (18) connected to the signal control device (7), a column angle sensor (19), a large plate proximity sensor (21), a small plate pressure sensor (22), a column proximity sensor (20), a laser rangefinder (23) and an image collector (24), wherein:

[0009] The height displacement sensor (18) is arranged on either side of the lifting drive (5), and the working end of the height displacement sensor (18) points to the top of the lifting column (2);

[0010] The column angle sensor (19) and the column proximity sensor (20) are both arranged on the self-propelled vehicle frame (1) on the inner side of the bottom of the lifting column (2), and the working ends of the column angle sensor (19) and the column proximity sensor (20) point to the inner side of the lifting column (2).

[0011] More preferably, the large plate proximity sensor (21) is respectively arranged at the lower part of the large flexible clamping plate (9) corresponding to each stepless adjustment mechanism (13), and is located at the top of the stepless adjustment mechanism (13);

[0012] The small plate pressure sensors (22) are respectively arranged at the upper ends of the clamping bent arms (12), and the working ends of the small plate pressure sensors (22) point to the outer side surfaces of the corresponding small flexible clamping plates (10);

[0013] The laser rangefinder (23) is arranged on the self-propelled vehicle frame (1), and a protective housing is arranged on the top of the laser rangefinder (23);

[0014] The image collector (24) is arranged on the top of the lifting column (2).

[0015] More preferably, the clamping arm (12) is arranged in an "L"-shaped or "C"-shaped structure.

[0016] More preferably, the running wheels arranged at the four corners of the bottom of the self-propelled frame (1) are universal wheels, which are driven by a motor to run, and the self-propelled frame (1) is also provided with an obstacle avoidance radar, and the motor and obstacle avoidance radar signals are connected to the control device (7).

[0017] The second object of the present invention is achieved by comprising the following steps:

[0018] A. Work environment detection and positioning: Import the pre-made building BIM model into the control device, use the building BIM model to establish coordinates, and plan the running route of the self-propelled frame. The installer installs the laser reflector or guide magnetic strip according to the pre-planned path, so that the self-propelled frame can move according to the planned route;

[0019] B. Clamping planning: The size, surface density, flatness, surface roughness, compressive strength and weight of the wallboard are input into the control device by scanning and photographing the real picture of the wallboard with an image collector or manually inputting the picture. The control device calculates and determines the wallboard position coordinates, clamping position coordinates and clamping force according to the above information. The clamping force is different for wallboards of different sizes and thicknesses during transportation and installation, so as to avoid damage caused by slipping or overpressure of the wallboard during the clamping and transportation process.

[0020] C. Clamping, handling and installation.

[0021] More preferably, the clamping, handling and installation specifically include:

[0022] C1. The self-propelled frame (1) is controlled by the control device (7), and in cooperation with the laser rangefinder (23) and the image collector (24), the self-propelled frame (1) first runs along the running route planned in step A to the gripping plate where the clamped object (27) is placed;

[0023] C2. After the self-propelled frame (1) reaches the location where the clamp (27) is placed, the image collector (24) quickly takes a picture of the height of the clamp (27) and uploads it to the control device (7). The control device (7) calculates the position information of the top clamp (27) and confirms the position of the clamp (27);

[0024] C3, the control device (7) controls the lifting drive (5) to drive the flexible clamping unit on the lifting slide (4) to move to the position of the clamped object (27) according to the position information of step C2, and then controls the clamping drive (11) on the flexible clamping unit to drive the stepless adjustment mechanism (13) to rotate downward, so that the small flexible clamping plate (10) is opened, and then controls the self-propelled frame (1) to move forward, so that the small flexible clamping plate (10) extends into the bottom of the clamped object (27), and then the clamping drive (11) drives the stepless adjustment mechanism (13) to rotate upward, so that the small flexible clamping plate (10) is lifted and the clamped object (27) is pulled up and clamped between the large flexible clamping plate (9) and the small flexible clamping plate (10), and finally the shaft drive (17) of the stepless adjustment mechanism (13) is started, and the shaft drive (17) drives the small flexible clamping plate (10) to move toward the large flexible clamping plate (9) through the driving shaft (16), thereby achieving the clamping and fixing of the clamped object (27);

[0025] C4, the control device (7) controls the self-propelled frame (1) to turn and run to the wall position, the image collector (24) quickly takes a picture of the wall height and uploads it to the control device (7), the control device (7) calculates and determines the installation position information of the clamp (27) on the wall, and confirms the installation position of the clamp (27);

[0026] C5, the control device (7) controls the rotating platform (8) to drive the flexible clamping unit to rotate horizontally according to the installation position of step C4 to adjust the vertical angle of the clamped object (27), controls the inclination adjustment drive (3) to drive the lifting column (2) to tilt, adjusts the installation angle between the clamped object (27) and the wall, controls the lifting drive (5) to drive the lifting slide (4) and the flexible clamping unit thereon to move on the lifting column (2), and then adjusts the installation position height between the clamped object (27) and the wall;

[0027] C6. The control device (7) controls the self-propelled frame (1) to move forward, so that the clamp (27) moves to the designated position on the wall for alignment, and presses the clamp (27) against the wall. The clamp (27) is then finally fixed by a skilled worker. After the fixing is completed, the control device (7) controls the shaft drive (17) of the stepless adjustment mechanism (13). The shaft drive (17) drives the small flexible clamp (10) to move in the opposite direction away from the large flexible clamp (9) through the drive shaft (16), thereby releasing the clamping fixation of the clamp (27);

[0028] C7, the control device (7) controls the operation of repeating step C1, controls the self-propelled frame (1) to automatically travel to the stacking place of the clamped object (27), and then repeats the operations of steps C2 to C6 to complete the transportation and installation of the next clamped object (27).

[0029] More preferably, in step C5, the vertical rotation angle of the holder (27) is 0 to 180 degrees or 360 degrees.

[0030] The beneficial effects of the present invention are:

[0031] 1. The clamping force of the present invention can be fed back to the control device in real time, and the control device can control the clamping force so that it will not be too large or too small. The clamping force can be visualized, the clamping force is stable, the clamping is stable and reliable, and will not cause damage to the wallboard;

[0032] 2. The present invention can clamp wall panels of various thicknesses, the opening of the clamping arm can be infinitely adjusted, and it has a self-locking function, and has a wide range of applications;

[0033] 3. The present invention can realize the whole process of wall panel clamping, transportation and installation, which greatly improves the construction efficiency and reduces the construction cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein:

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0036] Figure 2 It is a left-side structural schematic diagram of the present invention;

[0037] Figure 3 This is a schematic diagram of the working surface structure of the large flexible splint in the present invention;

[0038] Figure 4 It is a schematic diagram of the back structure of the large flexible splint in the present invention;

[0039] Figure 5 It is a structural schematic diagram of the stepless adjustment mechanism in the present invention;

[0040] Figure 6 It is a top view of the overall structure of the present invention;

[0041] Figure 7 It is the principle process control block diagram of the present invention;

[0042] Among them, the numbers in the figure are: 1—self-propelled frame, 2—lifting column, 3—tilt adjustment drive, 4—lifting slide, 5—lifting drive, 6—power supply unit, 7—control device, 8—rotating platform, 9—large flexible splint, 10—small flexible splint, 11—clamping drive, 12—clamping arm, 13—stepless adjustment mechanism, 14—fixed slide, 15—clamping slide, 16—driving shaft, 17—shaft drive, 18—height displacement sensor, 19—column angle sensor, 20—column proximity sensor, 21—large board proximity sensor, 22—small board pressure sensor, 23—laser rangefinder, 24—image collector, 25—power source, 26—multi-way electromagnetic control valve, 27—clamped object. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solution of the present invention, its specific implementation method is described in detail below with reference to the accompanying drawings.

[0044] like Figures 1 to 7 The intelligent flexible clamping robot for construction shown in the figure comprises a self-propelled frame 1, a lifting column 2, a rotating platform 8, a flexible clamping unit, a detection and positioning unit and a control device 7. Two lifting columns 2 are movably hinged at the top of the front end of the self-propelled frame 1, and the rotating platform 8 and the lifting columns 2 are connected and combined to form an "L"-shaped structure. A tilt adjustment drive 3 is movably hinged at the lower part of each lifting column 2, and the body of the tilt adjustment drive 3 is movably hinged and arranged on the inner side of the rotating platform 8. A lifting slide 4 that slides with the two lifting columns 2 is arranged between the two lifting columns 2. A lifting drive 5 connected to the lifting slide 4 is provided at the middle and lower part of the lifting column 2. A flexible clamping unit is arranged on the outer side of the lifting slide 4 through the rotating platform 8, and a detection and positioning unit is provided on the flexible clamping unit. A power supply unit 6 and a control device 7 are respectively arranged at the middle and rear ends of the self-propelled frame 1. The control device 7 signals are connected to the self-propelled frame 1, the tilt adjustment drive 3, the lifting drive 5, the detection and positioning unit, the flexible clamping unit and the power supply unit 6.

[0045] The flexible clamping unit includes a large flexible splint 9, a small flexible splint 10, a clamping drive 11, a stepless adjustment mechanism 13, and a clamping bent arm 12. The middle inner side of the large flexible splint 9 is connected to the rotating platform 8. The clamping drives 11 are respectively arranged at both inner ends of the large flexible splint 9. The stepless adjustment mechanisms 13 are respectively arranged at the lower ends of the clamping drives 11. The stepless adjustment mechanisms are respectively connected to the lower ends of the clamping bent arms 12. The small flexible splints 10 are respectively arranged at the upper ends of the clamping bent arms 12, and the small flexible splints 10 are located on the outer sides of the large flexible splint 9.

[0046] The stepless adjustment mechanism 13 includes a fixed slide 14, a clamping slider 15, a drive shaft 16, and a shaft drive 17. The fixed slide 14 is arranged in a "mouth" shape. The top plate of the fixed slide 14 is movably hinged at the bottom of the large flexible splint 9, and the middle part of the top plate of the fixed slide 14 is movably hinged to the clamping drive 11. The clamping drive 11 drives the fixed slide 14 to rotate up and down on the bottom of the large flexible splint 9. A walking groove is provided at the bottom of the fixed slide 14. The clamping slider 15 is arranged in the fixed slide 14. The clamping slider 15 makes reciprocating motion in the fixed slide 14, and the clamping The bottom of the holding slide block 15 passes through the walking groove downward to connect to the clamping arm 12. The driving shaft 16 is arranged on the clamping slide block 15. The driving shaft 16 coincides with the axial center line of the clamping slide block 15. A shaft drive 17 is arranged at either end of the fixed slide groove 14. The shaft drive 17 and the driving shaft 16 are connected by a gear transmission. The driving shaft 16 drives the clamping slide block 15 to make reciprocating motion in the fixed slide groove 14, thereby driving the clamping arm 12 to move forward and backward, and adjusting the opening of the small flexible clamp 10 on the clamping arm 12, so that the small flexible clamp 10 can adapt to the thickness of the current clamped object to clamp the wall panel.

[0047] The detection and positioning unit includes a height displacement sensor 18 of the signal connection control device 7, a column angle sensor 19, a large board proximity sensor 21, a small board pressure sensor 22, a column proximity sensor 20, a laser rangefinder 23 and an image collector 24, wherein:

[0048] The height displacement sensor 18 is arranged on either side of the lifting drive 5, and the working end of the height displacement sensor 18 points to the top of the lifting column 2;

[0049] The column angle sensor 19 and the column proximity sensor 20 are both arranged on the self-propelled frame 1 on the inner side of the bottom of the lifting column 2. The working ends of the column angle sensor 19 and the column proximity sensor 20 point to the inner side of the lifting column 2, and are used to detect the inclination angle of the bottom of the lifting column 2 in real time, so that the control device 7 can control the inclination angle of the bottom of the lifting column 2.

[0050] The large panel proximity sensors 21 are respectively arranged at the lower part of the large flexible clamping plate 9 corresponding to each stepless adjustment mechanism 13 and are located at the top of the stepless adjustment mechanism 13 to detect the distance between the wall panel and the large flexible clamping plate 9;

[0051] The small board pressure sensors 22 are respectively arranged at the upper ends of the clamping arms 12, and the working ends of the small board pressure sensors 22 point to the outer side of the corresponding small flexible clamping plates 10, so as to detect the pressure force applied by the small flexible clamping plates 10 to the wallboards, thereby preventing the wallboards from being damaged;

[0052] The laser rangefinder 23 is arranged on the self-propelled frame 1. The laser rangefinder 23 is used to guide the self-propelled frame 1 to walk. A protective shell is arranged on the top of the laser rangefinder 23.

[0053] The image collector 24 is arranged on the top of the lifting column 2 .

[0054] The image collector 24 is a camera.

[0055] The clamping arm 12 is arranged in an "L"-shaped or "C"-shaped structure.

[0056] The traveling wheels arranged at the four corners of the bottom of the self-propelled frame 1 are universal wheels, which are driven by a motor to travel. The self-propelled frame 1 is also provided with an obstacle avoidance radar, and the motor and the obstacle avoidance radar signals are connected to the control device 7.

[0057] The clamping drive 11 is a pneumatic cylinder or a hydraulic cylinder.

[0058] The driving shaft 16 is a screw rod, and the shaft drive 17 is a micro motor.

[0059] The tilt adjustment drive 3 and the lifting drive 5 are respectively a cylinder or a hydraulic cylinder.

[0060] The control device 7 is a PC or a PLC programmable logic controller and is equipped with a touch screen.

[0061] The height displacement sensor 18 is a wire displacement sensor, the body of which is disposed on either side of the lifting drive 5 , and the working end of the wire displacement sensor is connected to the lifting slide 4 .

[0062] It also includes a power source 25 and a multi-way electromagnetic control valve 26 arranged at the rear end of the self-propelled frame 1. The power source 25 is hydraulic oil or gas. The power source 25 is used to provide energy to the tilt adjustment drive 3, the lifting drive 5, and the clamping drive 11. The multi-way electromagnetic control valve 26 is used to control the output and feedback of the power source 25.

[0063] The power supply unit 6 is used to provide electric energy to the self-propelled frame 1 , the rotating platform 8 , the flexible clamping unit, the detection and positioning unit, and the control device 7 .

[0064] A clamping and installation method for an intelligent flexible clamping robot for construction includes working environment detection and positioning, working line planning, and clamping and handling, wherein:

[0065] A. Working environment detection and positioning: A pre-made building BIM model is imported into the control device 7, and the building BIM model is used to establish coordinates and plan the running route of the self-propelled frame 1. The installer installs the laser reflector or guide magnetic strip according to the pre-planned path, so that the self-propelled frame 1 can move according to the planned route;

[0066] B. Clamping planning: The size, surface density, flatness, surface roughness, compressive strength and weight of the wallboard are input into the control device 7 by scanning and photographing the real picture of the wallboard by the image collector 24, or by manual input. The control device 7 calculates and determines the wallboard position coordinates, clamping position coordinates and clamping force according to the above information. The clamping force of the wallboards of different sizes and thicknesses for transportation and installation is different, so as to avoid the damage caused by the wallboard slipping or overpressure during the clamping and transportation process;

[0067] C. Clamping, handling and installation: specifically:

[0068] C1. The self-propelled frame 1 is controlled by the control device 7, and in cooperation with the laser rangefinder 23 and the image collector 24, the self-propelled frame 1 first runs along the running route planned in step A to the gripping plate where the clamped object 27 is placed;

[0069] C2. After the self-propelled frame 1 reaches the location where the clamp 27 is placed, the image collector 24 quickly takes a picture of the height of the clamp 27 and uploads it to the control device 7. The control device 7 calculates the position information of the top clamp 27 and confirms the position of the clamp 27.

[0070] C3, the control device 7 controls the lifting drive 5 to drive the flexible clamping unit on the lifting slide 4 to move to the position of the clamped object 27 according to the position information of step C2, and then controls the clamping drive 11 on the flexible clamping unit to drive the stepless adjustment mechanism 13 to rotate downward, so that the small flexible splint 10 is opened, and then controls the self-propelled frame 1 to move forward, so that the small flexible splint 10 extends into the bottom of the clamped object 27, and then the clamping drive 11 drives the stepless adjustment mechanism 13 to rotate upward, so that the small flexible splint 10 is lifted and the clamped object 27 is pulled up and clamped between the large flexible splint 9 and the small flexible splint 10, and finally the shaft drive 17 of the stepless adjustment mechanism 13 is started, and the shaft drive 17 drives the small flexible splint 10 to move toward the direction of the large flexible splint 9 through the driving shaft 16, thereby achieving the clamping and fixing of the clamped object 27;

[0071] C4, the control device 7 controls the self-propelled frame 1 to turn and run to the wall position, the image collector 24 quickly takes a picture of the wall height and uploads it to the control device 7, the control device 7 calculates and determines the installation position information of the clamp 27 on the wall, and confirms the installation position of the clamp 27;

[0072] C5, the control device 7 controls the rotating platform 8 to drive the flexible clamping unit to rotate horizontally to adjust the vertical angle of the clamped object 27 according to the installation position in step C4, controls the inclination adjustment drive 3 to drive the lifting column 2 to tilt, adjust the installation angle between the clamped object 27 and the wall, and controls the lifting drive 5 to drive the lifting slide 4 and the flexible clamping unit thereon to move on the lifting column 2, thereby adjusting the installation position height of the clamped object 27 and the wall;

[0073] C6, the control device 7 controls the self-propelled frame 1 to move forward, so that the clamping object 27 moves to the designated position on the wall for alignment, and presses the clamping object 27 on the wall, and then the technical worker performs the final fixation on the clamping object 27. After the fixation is completed, the control device 7 controls the shaft drive 17 of the stepless adjustment mechanism 13, and the shaft drive 17 drives the small flexible clamping plate 10 to move in the opposite direction away from the large flexible clamping plate 9 through the driving shaft 16, so as to release the clamping fixation of the clamping object 27;

[0074] C7, the control device 7 controls the operation of step C1 to be repeated, controls the self-propelled frame 1 to automatically travel to the stacking place of the clamping object 27, and then repeats the operations of steps C2 to C6 to complete the transportation and installation of the next clamping object 27.

[0075] Furthermore, in step C5, the vertical rotation angle of the clamping object 27 is 0 to 180 degrees or 360 degrees.

[0076] In the above-mentioned entire implementation process, the clamping object 27 is wall panels of various models or any building materials that can be clamped.

[0077] At the same time, the present invention also includes a computer-readable storage medium on which computer-readable instructions are stored. When the computer-readable instructions are executed by one or more processors, the methods described in claims 8 to 10 are implemented.

[0078] Finally, it should be noted that the above has been combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention. In addition, all the connections and connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the formation of a better connection structure by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other.

Claims

1. An intelligent flexible gripping robot for construction, comprising a self-propelled frame (1), a lifting column (2), a rotating platform (8), a flexible gripping unit, a detection and positioning unit and a control device (7), characterized in that: Two lifting columns (2) are movably hinged at the top of the front end of the self-propelled frame (1); the rotating platform (8) and the lifting columns (2) are connected and combined to form an "L"-shaped structure; a tilt adjustment drive (3) is movably hinged at the bottom of each lifting column (2); the body of the tilt adjustment drive (3) is movably hinged and arranged on the inner side of the rotating platform (8); a lifting slide (4) is slidably matched with the two lifting columns (2); a lifting drive (5) connected to the lifting slide (4) is arranged at the middle and lower part of the lifting column (2); a flexible clamping unit is arranged on the outer side of the lifting slide (4) through the rotating platform (8); a detection and positioning unit is arranged on the flexible clamping unit; a power supply unit (6) and a control device (7) are respectively arranged at the middle and rear ends of the self-propelled frame (1); the control device (7) is connected to the self-propelled frame (1), the tilt adjustment drive (3), the lifting drive (5), the detection and positioning unit, the flexible clamping unit and the power supply unit (6) by signal; The flexible clamping unit comprises a large flexible clamping plate (9), a small flexible clamping plate (10), a clamping drive (11), a stepless adjustment mechanism (13), and a clamping bent arm (12); the middle part of the inner side of the large flexible clamping plate (9) is connected to the rotating platform (8); the clamping drives (11) are respectively arranged at the inner ends of the large flexible clamping plate (9); the stepless adjustment mechanisms (13) are respectively arranged at the lower ends of the clamping drives (11); the stepless adjustment mechanisms are respectively connected to the lower ends of the clamping bent arms (12); the small flexible clamping plates (10) are respectively arranged at the upper ends of the clamping bent arms (12); and the small flexible clamping plates (10) are located on the outer sides of the large flexible clamping plates (9); The stepless adjustment mechanism (13) comprises a fixed slide (14), a clamping slider (15), a connecting plate, a driving shaft (16), and a shaft drive (17); the fixed slide (14) is arranged in a "mouth"-shaped structure; the top plate of the fixed slide (14) is movably hinged to the bottom of the large flexible clamp (9); and the middle part of the top plate of the fixed slide (14) is movably hinged to the clamping drive (11); the clamping drive (11) drives the fixed slide (14) to rotate up and down on the bottom of the large flexible clamp (9); A running groove is provided at the part, a clamping slide block (15) is arranged in the fixed slide block (14), the clamping slide block (15) performs reciprocating motion in the fixed slide block (14), and the bottom of the clamping slide block (15) passes downward through the running groove to connect with the clamping bent arm (12), the driving shaft (16) is arranged on the clamping slide block (15), the axis center line of the driving shaft (16) coincides with the axis center line of the clamping slide block (15), a shaft drive (17) is arranged at either end of the fixed slide block (14), and the shaft drive (17) and the driving shaft (16) are connected by gear transmission.

2. The intelligent flexible gripping robot for construction according to claim 1, characterized in that: The detection and positioning unit comprises a height displacement sensor (18) of a signal connection control device (7), a column angle sensor (19), a large plate proximity sensor (21), a small plate pressure sensor (22), a column proximity sensor (20), a laser rangefinder (23) and an image collector (24), wherein: The height displacement sensor (18) is arranged on either side of the lifting drive (5), and the working end of the height displacement sensor (18) points to the top of the lifting column (2); The column angle sensor (19) and the column proximity sensor (20) are both arranged on the self-propelled vehicle frame (1) on the inner side of the bottom of the lifting column (2), and the working ends of the column angle sensor (19) and the column proximity sensor (20) point to the inner side of the lifting column (2).

3. The intelligent flexible gripping robot for construction according to claim 2, characterized in that: The large plate proximity sensors (21) are respectively arranged at the lower part of the large flexible clamping plate (9) corresponding to each stepless adjustment mechanism (13) and are located at the top of the stepless adjustment mechanism (13); The small plate pressure sensors (22) are respectively arranged at the upper ends of the clamping bent arms (12), and the working ends of the small plate pressure sensors (22) point toward the outer side surfaces of the corresponding small flexible clamping plates (10); The laser rangefinder (23) is arranged on the self-propelled vehicle frame (1), and a protective housing is arranged on the top of the laser rangefinder (23); The image collector (24) is arranged on the top of the lifting column (2).

4. The intelligent flexible gripping robot for construction according to claim 1, characterized in that: The clamping bent arm (12) is arranged in an "L"-shaped or "C"-shaped structure.

5. The intelligent flexible gripping robot for construction according to claim 1, characterized in that: The traveling wheels arranged at the four corners of the bottom of the self-propelled frame (1) are universal wheels, which are driven by a motor to travel. The self-propelled frame (1) is also provided with an obstacle avoidance radar, and the motor and obstacle avoidance radar signals are connected to a control device (7).

6. The clamping and installation method of the intelligent flexible clamping robot for construction according to any one of claims 1 to 5, characterized in that: include: Work environment detection and positioning, work route planning, clamping and handling, including: A. Working environment detection and positioning: a pre-made building BIM model is imported into the control device (7), coordinates are established using the building BIM model, and the running route of the self-propelled frame (1) is planned. The installation personnel install laser reflectors or guide magnetic strips according to the pre-planned path, so that the self-propelled frame (1) moves according to the planned route; B. Clamping planning: by scanning and photographing the real image of the wall panel through the image collector (24) and uploading it for processing or manually inputting, the size specification, surface density, flatness, surface roughness, compressive strength and weight information of the wall panel are input into the control device (7). The control device (7) calculates and determines the wall panel position coordinates, clamping position coordinates and clamping force according to the above information; C. Clamping, handling and installation.

7. The clamping and installation method of the intelligent flexible clamping robot for construction according to claim 6 is characterized in that: The clamping, handling and installation are specifically as follows: C1. The self-propelled frame (1) is controlled by the control device (7) to move along the running route planned in step A to the gripping plate where the clamped object (27) is placed in cooperation with the laser rangefinder (23) and the image collector (24); C2. After the self-propelled frame (1) reaches the location where the clamp (27) is placed, the image collector (24) quickly takes a picture of the height of the clamp (27) and uploads it to the control device (7). The control device (7) calculates the position information of the top clamp (27) and confirms the position of the clamp (27); C3, the control device (7) controls the lifting drive (5) to drive the flexible clamping unit on the lifting slide (4) to move to the position of the clamped object (27) according to the position information of step C2, and then controls the clamping drive (11) on the flexible clamping unit to drive the stepless adjustment mechanism (13) to rotate downward, so that the small flexible clamping plate (10) is opened, and then controls the self-propelled frame (1) to move forward, so that the small flexible clamping plate (10) extends into the bottom of the clamped object (27), and then the clamping drive (11) drives the stepless adjustment mechanism (13) to rotate upward, so that the small flexible clamping plate (10) is lifted and the clamped object (27) is pulled up and clamped between the large flexible clamping plate (9) and the small flexible clamping plate (10), and finally the shaft drive (17) of the stepless adjustment mechanism (13) is started, and the shaft drive (17) drives the small flexible clamping plate (10) to move in the direction of the large flexible clamping plate (9) through the drive shaft (16), thereby achieving the clamping and fixing of the clamped object (27); C4, the control device (7) controls the self-propelled frame (1) to turn and run to the wall position, the image collector (24) quickly takes a picture of the wall height and uploads it to the control device (7), the control device (7) calculates and determines the installation position information of the clamp (27) on the wall, and confirms the installation position of the clamp (27); C5, the control device (7) controls the rotating platform (8) to drive the flexible clamping unit to rotate horizontally according to the installation position of step C4 to adjust the vertical angle of the clamped object (27), controls the inclination adjustment drive (3) to drive the lifting column (2) to tilt, adjusts the installation angle between the clamped object (27) and the wall, controls the lifting drive (5) to drive the lifting slide (4) and the flexible clamping unit thereon to move on the lifting column (2), and further adjusts the installation position height between the clamped object (27) and the wall; C6. The control device (7) controls the self-propelled frame (1) to move forward, so that the clamp (27) moves to a designated position on the wall for alignment, and presses the clamp (27) against the wall. A skilled worker then performs the final fixation on the clamp (27). After the fixation is completed, the control device (7) controls the shaft drive (17) of the stepless adjustment mechanism (13). The shaft drive (17) drives the small flexible clamp (10) to move in the opposite direction away from the large flexible clamp (9) through the drive shaft (16), thereby releasing the clamping fixation of the clamp (27); C7, the control device (7) controls the operation of step C1 to be repeated, controls the self-propelled frame (1) to automatically travel to the location where the clamped object (27) is stacked, and then repeats the operations of steps C2 to C6 to complete the transportation and installation of the next clamped object (27).

8. The clamping and installation method of the intelligent flexible clamping robot for construction according to claim 7, characterized in that: In the step C5, the vertical rotation angle of the clamping object (27) is 0 to 180 degrees or 0 to 360 degrees.

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