A scaffolding installation and disassembly robot

Abstract

A scaffolding installation and dismantling robot is characterized by the first robotic arm (1) gripping the scaffolding steel pipe (81), then eight robotic arms rotating relative to each other along seven rotation axes to adjust their positions, then the eighth robotic arm (8) gripping the scaffolding steel pipe (81), then the first robotic arm (1) releasing the scaffolding steel pipe (81), then the eight robotic arms rotating relative to each other along seven rotation axes to adjust their positions, then the first robotic arm (1) gripping the scaffolding steel pipe (81), then the eighth robotic arm (8) releasing the scaffolding steel pipe (81), thus achieving a cycle and freely walking on the scaffolding steel pipe (81); through the fastener system, it grabs the fasteners and then installs the fasteners to fix them to the steel pipe (81); the seven-axis robot with remote remote control and fully automatic synchronous intelligent operation is safer and more efficient than the current manual high-altitude installation and dismantling of scaffolding.

Description

Technical Field

[0001] The invention relates to construction engineering, in particular to a scaffolding installation and disassembly robot. Background Art

[0002] The installation and disassembly of scaffolding at construction sites are now all manual operations, and the manual installation and disassembly of scaffolding at high altitude is dangerous and inefficient. Therefore, it is necessary to develop and improve the installation and disassembly of scaffolding. Summary of the invention

[0003] The purpose of the present invention is to overcome the danger and low efficiency of the existing manual operation of scaffolding installation and disassembly. The present invention proposes a new concept of scaffolding installation and disassembly robot. On the free walking scaffolding, the seven-axis robot is remotely controlled and fully automatically synchronized intelligently to install and disassemble the scaffolding. Compared with the existing manual high-altitude installation and disassembly of scaffolding, it is safer and more efficient.

[0004] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: a scaffolding installation and disassembly robot, which includes a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm, a sixth mechanical arm, a seventh mechanical arm, and an eighth mechanical arm; the first mechanical arm is equipped with a second screw, a first bevel gear transmission group, a first pushing block, a first push rod, an eleventh rotating shaft, a second push rod, a twelfth rotating shaft, a first grasping ring, and a second grasping ring; the second mechanical arm is equipped with a first motor, a third belt, a tenth motor, a fourth belt, and a first rotating shaft, and the outer wall is equipped with an eleventh motor, a third screw, a fastener installation box, and a camera; the fastener installation box is equipped with a fourth screw, a third pushing block, a connecting rod, a thirteenth rotating shaft, a rotating block, a fourteenth rotating shaft, a fastener base, a thirteenth motor, a fifth screw, a wrench base, an electric wrench, the fifteenth rotating shaft, the fourteenth motor, the sixth screw, The swing arm, the sixteenth rotating shaft, the fourth pushing block, the first grabbing block, the seventeenth rotating shaft, the fastener nut, the eighteenth rotating shaft, the second grabbing block, and the fifteenth motor are installed in the third mechanical arm; the second motor and the second rotating shaft are installed in the third mechanical arm, and a camera is installed on the outer wall; the fourth rotating shaft, the fourth motor, the eighth motor, the eighth rotating shaft, the third motor, and the third rotating shaft are installed in the fourth mechanical arm, a fastener storage disk is installed in the middle, and a circuit control board is installed in the two side walls; the fifth mechanical arm is equipped with a power battery in the middle, and the fifth rotating shaft and the fifth motor are installed at the lower end; the sixth mechanical arm is equipped with the sixth motor, the sixth rotating shaft, and a camera is installed on the outer wall; the seventh mechanical arm is equipped with the seventh motor, the first belt, the seventh rotating shaft, the ninth motor, the second belt, the first screw, and the second bevel gear transmission group; the eighth mechanical arm is equipped with the third push rod, the fourth push rod, the third gripping ring, the fourth gripping ring, the ninth rotating shaft, the second pushing block, and the tenth rotating shaft.

[0005] It is characterized in that: the third mechanical arm, the sixth mechanical arm and the camera on the fastener installation box are used to scan and collect working environment data, the data is transmitted through the circuit control board installed in the two side walls of the fourth mechanical arm, and intelligent control is achieved through the fully automatic synchronous control system and the remote control system; the first motor drives the first mechanical arm and the second mechanical arm to rotate relative to each other along the first rotation axis through the third belt, the second motor drives the second mechanical arm and the third mechanical arm to rotate relative to each other along the second rotation axis, the third motor drives the third mechanical arm and the fourth mechanical arm to rotate relative to each other along the third rotation axis, the fourth motor drives the fourth mechanical arm and the fifth mechanical arm to rotate relative to each other along the fourth rotation axis, the fifth motor drives the fifth mechanical arm and the sixth mechanical arm to rotate relative to each other along the fifth rotation axis, the sixth motor drives the sixth mechanical arm and the seventh mechanical arm to rotate relative to each other along the sixth rotation axis, and the seventh motor drives the seventh mechanical arm and the eighth mechanical arm to rotate relative to each other along the seventh rotation axis through the first belt, so as to realize the relative rotation of eight mechanical arms along seven rotation axes.

[0006] The tenth motor drives the first bevel gear transmission group through the fourth belt, the first bevel gear transmission group drives the second screw to push the first push block, the first push block drives the first gripping ring to rotate along the eleventh rotation axis through the first push rod, the first push block drives the second gripping ring to rotate along the twelfth rotation axis through the second push rod, thereby realizing the first robot arm side to grip and release the steel pipe; the ninth motor drives the second bevel gear transmission group through the second belt, the second bevel gear transmission group drives the first screw to push the second push block, the second push block drives the third gripping ring to rotate along the eighth rotation axis through the third push rod, the second push block drives the fourth gripping ring to rotate along the tenth rotation axis through the fourth push rod, thereby realizing the eighth robot arm side to grip and release the steel pipe.

[0007] The first robotic arm grasps the scaffolding steel pipe on the side, and then the eight robotic arms relatively rotate along the seven rotation axes to adjust their positions, and then the eighth robotic arm grasps the scaffolding steel pipe on the side, and then the first robotic arm releases the scaffolding steel pipe on the side, and then the eight robotic arms relatively rotate along the seven rotation axes to adjust their positions, and then the first robotic arm grasps the scaffolding steel pipe on the side, and then the eighth robotic arm releases the scaffolding steel pipe on the side, thus realizing the cycle and walking freely on the scaffolding steel pipe.

[0008] The eleventh motor drives the fastener installation box to descend through the third screw; the fifteenth motor drives the fourth push block forward, the fourth push block pushes the first grab block to rotate along the seventeenth rotation axis, and the fourth push block pushes the second grab block to rotate along the eighteenth rotation axis, thereby clamping the fastener bolt; the twelfth motor drives the third push block forward through the fourth screw, the third push block drives the rotating block to rotate along the thirteenth rotation axis through the connecting rod, and the rotating block pushes the fastener base to rotate along the fourteenth rotation axis, thereby placing the fastener base on the steel pipe; the fourteenth motor drives the rocker arm to rotate along the fifteenth rotation axis through the sixth screw, and the rocker arm pushes the fastener clamping block to rotate along the sixteenth rotation axis, thereby fastening the fastener clamping block with the fastener bolt; the thirteenth motor drives the wrench base forward through the fifth screw, and the electric wrench locks the fastener nut; thereby installing the fastener and fixing it to the steel pipe.

[0009] The eighth motor drives the fastener storage disk to rotate along the eighth rotation axis, the spring pressure drives the right self-locking block to self-lock along the nineteenth rotation axis, the left self-locking block and the right self-locking block clamp the fastener bolts, the first grabbing block and the second grabbing block clamp the fastener bolts, the sixteenth motor drives the fastener pressing block to rotate to release the fastener, and the third motor drives the third robotic arm and the fourth robotic arm to rotate relative to each other along the third rotation axis, thereby grabbing the fastener.

[0010] The beneficial effects of the present invention are as follows: through the implementation of the present technical solution, the existing scaffolding installation and disassembly manual operation is overcome, which is dangerous and inefficient. The present invention proposes a scaffolding installation and disassembly robot with a new concept. On the free-walking scaffolding, a seven-axis robot with remote control and fully automatic synchronous intelligent control is used to install and disassemble the scaffolding. Compared with the existing manual high-altitude installation and disassembly of scaffolding, the present invention is safer and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the robot structure of the present invention.

[0012] Figure 2-6 yes Figure 1 A partial picture of .

[0013] Figure 7-8 yes Figure 6 A partial picture of .

[0014] Fig. 9 It is a schematic diagram of the fastener-taking structure of the robot of the present invention.

[0015] Figure 10-11 yes Fig. 9 A partial picture of .

[0016] Figure 12-15 It is a schematic diagram of the robot motion state structure of the present invention.

[0017] In the accompanying drawings, a first robotic arm (1), a second robotic arm (2), a third robotic arm (3), a fourth robotic arm (4), a fifth robotic arm (5), a sixth robotic arm (6), a seventh robotic arm (7), an eighth robotic arm (8), a fastener storage disk (9), a fourth rotating shaft (10), a fourth motor (11), a power battery (12), a sixth motor (13), a sixth rotating shaft (14), a fifth rotating shaft (15), a fifth motor (16), a seventh motor (17), a first belt (18), a seventh rotating shaft (19), a third push rod (20), a fourth push rod (21), a third gripping ring (22), a fourth A gripping ring (23), a ninth motor (24), a second belt (25), a first screw rod (26), a second bevel gear transmission group (27), a ninth rotating shaft (28), a second push block (29), a tenth rotating shaft (30), an eighth rotating shaft (31), an eighth motor (32), a second motor (33), a second rotating shaft (34), a third motor (35), a third rotating shaft (36), a first motor (37), a third belt (38), a tenth motor (39), a fourth belt (40), a second screw rod (41), a first rotating shaft (42), a first bevel gear transmission group (43), and a first push block (44). , a first push rod (45), an eleventh rotating shaft (46), a second push rod (47), a twelfth rotating shaft (48), a first gripping ring (49), a second gripping ring (50), an eleventh motor (51), a third screw rod (52), a fastener installation box (53), a camera (54), a twelfth motor (55), a fourth screw rod (56), a third push block (57), a connecting rod (58), a thirteenth rotating shaft (59), a rotating block (60), a fourteenth rotating shaft (61), a fastener base (62), a thirteenth motor (63), a fifth screw rod (64), a wrench base (65), and an electric wrench (66) , a fifteenth rotating shaft (67), a fourteenth motor (68), a sixth screw rod (69), a swing rod (70), a fastener pressing block (71), a sixteenth rotating shaft (72), a fourth pushing block (73), a first grabbing block (74), a seventeenth rotating shaft (75), a fastener nut (76), an eighteenth rotating shaft (77), a second grabbing block (78), a fastener bolt (79), a fifteenth motor (80), a steel pipe (81), a motor cover (82), a nineteenth rotating shaft (83), a spring (84), a left self-locking block (85), a right self-locking block (86), a sixteenth motor (87), and a fastener pressing block (88). DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0019] Please refer to the attached Figure 1-15A scaffolding installation and disassembly robot, comprising a first mechanical arm 1, a second mechanical arm 2, a third mechanical arm 3, a fourth mechanical arm 4, a fifth mechanical arm 5, a sixth mechanical arm 6, a seventh mechanical arm 7, and an eighth mechanical arm 8; the first mechanical arm 1 is provided with a second screw 41, a first bevel gear transmission group 43, a first pushing block 44, a first push rod 45, an eleventh rotating shaft 46, a second push rod 47, a twelfth rotating shaft 48, a first gripping ring 49, and a second gripping ring 50; the second mechanical arm 2 is provided with a first motor 37, a third belt 38, a tenth motor 39, a fourth belt 40, and a first rotating shaft 42; an eleventh motor 51, a third screw 52, ​​a fastener installation box 53, and a camera 54 are provided on the outer wall; a fourth screw 56, a third pushing block 57, a connecting rod 58, a first rotating shaft 46, a second pushing rod 47, a twelfth rotating shaft 48, a first gripping ring 49, and a second gripping ring 50; The thirteenth rotating shaft 59, the rotating block 60, the fourteenth rotating shaft 61, the fastener base 62, the thirteenth motor 63, the fifth screw 64, the wrench base 65, the electric wrench 66, the fifteenth rotating shaft 67, the fourteenth motor 68, the sixth screw 69, the swing rod 70, the sixteenth rotating shaft 72, the fourth pushing block 73, the first grabbing block 74, the seventeenth rotating shaft 75, the fastener nut 76, the eighteenth rotating shaft 77, the second grabbing block 78, and the fifteenth motor 80; the third mechanical arm 3 is equipped with a second motor 33 and a second rotating shaft 34, and a camera is installed on the outer wall; the fourth mechanical arm 4 is equipped with a fourth rotating shaft 10, a fourth motor 11, an eighth motor 31, an eighth rotating shaft 32, a third motor 35, and a third rotating shaft 36, a fastener storage disk 9 is installed in the middle, and circuit control boards are installed in the two side walls;

[0020] The fifth robotic arm 5 is equipped with a power battery 12 in the middle, and a fifth rotating shaft 1 and a fifth motor 16 at the lower end; the sixth robotic arm 6 is equipped with a sixth motor 13, a sixth rotating shaft 14, and a camera on the outer wall; the seventh robotic arm 7 is equipped with a seventh motor 17, a first belt 18, a seventh rotating shaft 19, a ninth motor 24, a second belt 25, a first screw 26, and a second bevel gear transmission group 27; the eighth robotic arm 8 is equipped with a third push rod 20, a fourth push rod 21, a third grasping ring 22, a fourth grasping ring 23, a ninth rotating shaft 28, a second pushing block 29, and a tenth rotating shaft 30.

[0021] The invention is characterized in that: the working environment data is collected by scanning with the cameras on the third mechanical arm 3, the sixth mechanical arm and the fastener installation box 53, the data is transmitted through the circuit control board installed in the two side walls of the fourth mechanical arm 4, and the intelligent control is realized through the fully automatic synchronous control system and the remote control system; the first motor 37 drives the first mechanical arm 1 and the second mechanical arm 2 to rotate relative to each other along the first rotation axis 42 through the third belt 38, the second motor 33 drives the second mechanical arm 2 and the third mechanical arm 3 to rotate relative to each other along the second rotation axis 34, the third motor 35 drives the third mechanical arm 3 and the fourth mechanical arm 4 to rotate relative to each other along the third rotation axis 36, the fourth motor 11 drives the fourth mechanical arm 4 and the fifth mechanical arm 5 to rotate relative to each other along the fourth rotation axis 10, the fifth motor 16 drives the fifth mechanical arm 5 and the sixth mechanical arm 6 to rotate relative to each other along the fifth rotation axis 15, the sixth motor 13 drives the sixth mechanical arm 6 and the seventh mechanical arm 7 to rotate relative to each other along the sixth rotation axis 14, and the seventh motor 17 drives the seventh mechanical arm 7 and the eighth mechanical arm 8 to rotate relative to each other along the seventh rotation axis 19 through the first belt 18, so that the eight mechanical arms rotate relative to each other along the seven rotation axes.

[0022] The tenth motor 39 drives the first bevel gear transmission group 43 through the fourth belt 40, the first bevel gear transmission group 43 drives the second screw 41 to push the first push block 44, the first push block 44 drives the first gripping ring 49 to rotate along the eleventh rotation axis 46 through the first push rod 45, the first push block 44 drives the second gripping ring 50 to rotate along the twelfth rotation axis 48 through the second push rod 47, thereby realizing the first robot arm 1 side to grip and release the steel pipe; the ninth motor 24 drives the second bevel gear transmission group 27 through the second belt 25, the second bevel gear transmission group 27 drives the first screw 26 to push the second push block 29, the second push block 29 drives the third gripping ring 22 to rotate along the ninth rotation axis 28 through the third push rod 20, the second push block 29 drives the fourth gripping ring 23 to rotate along the tenth rotation axis 30 through the fourth push rod 21, thereby realizing the eighth robot arm 8 side to grip and release the steel pipe.

[0023] The first robotic arm 1 grasps the scaffolding steel pipe on one side, and then the eight robotic arms relatively rotate along the seven rotation axes to adjust their positions, and then the eighth robotic arm 8 grasps the scaffolding steel pipe on one side, and then the first robotic arm 1 releases the scaffolding steel pipe on one side, and then the eight robotic arms relatively rotate along the seven rotation axes to adjust their positions, and then the first robotic arm 1 grasps the scaffolding steel pipe on one side, and then the eighth robotic arm 8 releases the scaffolding steel pipe on one side, thereby realizing the circulation and walking freely on the scaffolding steel pipe.

[0024] The eleventh motor 51 drives the fastener installation box 53 to descend through the third screw 52; the fifteenth motor 80 drives the fourth push block 73 forward, the fourth push block 73 drives the first grab block 74 to rotate along the seventeenth rotation axis 75, and the fourth push block 73 drives the second grab block 78 to rotate along the eighteenth rotation axis 77, thereby clamping the fastener bolt 79; the twelfth motor 55 drives the third push block 57 forward through the fourth screw 56, the third push block 57 drives the rotating block 60 to rotate along the thirteenth rotation axis 59 through the connecting rod 58, and the rotating block 60 drives the fastener base 62 to rotate along the fourteenth rotation axis 61, thereby placing the fastener base 62 on the steel pipe 81; the fourteenth motor 68 drives the swing rod 70 to rotate along the fifteenth rotation axis 67 through the sixth screw 69, and the swing rod 70 drives the fastener pressing block 71 to rotate along the sixteenth rotation axis 72, thereby locking the fastener pressing block 71 with the fastener bolt 79;

[0025] The thirteenth motor 63 drives the wrench base 65 forward through the fifth screw rod 64 , and the electric wrench 66 locks the fastener nut 76 ; thus, the fastener is installed and fixed to the steel pipe 81 .

[0026] The eighth motor 32 drives the fastener storage plate 9 to rotate along the eighth rotation axis 31, the pressure of the spring 84 drives the right self-locking block 86 to self-lock along the nineteenth rotation axis 83, the left self-locking block 85 and the right self-locking block 86 clamp the fastener bolt 79, the first grabbing block 74 and the second grabbing block 78 clamp the fastener bolt 79, the sixteenth motor 87 drives the fastener pressing block 88 to rotate to release the fastener, and the third motor 35 drives the third robot arm 3 and the fourth robot arm 4 to rotate relative to each other along the third rotation axis 36, thereby grabbing the fastener.

[0027] The above are only preferred feasible implementation cases of the present invention, and do not limit the protection scope of the present invention. Various modifications or applications made according to the above examples are within the protection scope of this technical solution.

Claims

1. A scaffolding installation and disassembly robot, characterized in that: The first motor (37) drives the first mechanical arm (1) and the second mechanical arm (2) to rotate relative to each other along the first rotation axis (42) through the third belt (38); the second motor (33) drives the second mechanical arm (2) and the third mechanical arm (3) to rotate relative to each other along the second rotation axis (34); the third motor (35) drives the third mechanical arm (3) and the fourth mechanical arm (4) to rotate relative to each other along the third rotation axis (36); the fourth motor (11) drives the fourth mechanical arm (4) and the fifth mechanical arm (5) to rotate relative to each other along the fourth rotation axis (10); the fifth motor (16) drives the fifth mechanical arm (5) and the sixth mechanical arm (6) to rotate relative to each other along the fifth rotation axis (15); the sixth motor (13) drives the sixth mechanical arm (6) and the seventh mechanical arm (7) to rotate relative to each other along the sixth rotation axis (14); the seventh motor (17) drives the seventh mechanical arm (7) and the eighth mechanical arm (8) to rotate relative to each other along the seventh rotation axis (19) through the first belt (18), thereby realizing the relative rotation of the eight mechanical arms along the seven rotation axes; The tenth motor (39) drives the first bevel gear transmission group (43) through the fourth belt (40), the first bevel gear transmission group (43) drives the second screw rod (41) to push the first push block (44), the first push block (44) drives the first gripping ring (49) to rotate along the eleventh rotation axis (46) through the first push rod (45), and the first push block (44) drives the second gripping ring (50) to rotate along the twelfth rotation axis (48) through the second push rod (47), thereby realizing the first mechanical arm (1) side gripping and loosening the steel pipe (81) The ninth motor (24) drives the second bevel gear transmission group (27) through the second belt (25), the second bevel gear transmission group (27) drives the first screw rod (26) to push the second push block (29), the second push block (29) drives the third gripping ring (22) to rotate along the ninth rotation axis (28) through the third push rod (20), and the second push block (29) drives the fourth gripping ring (23) to rotate along the tenth rotation axis (30) through the fourth push rod (21), thereby realizing the eighth robot arm (8) side gripping and releasing the steel pipe (81); The first mechanical arm (1) grasps the scaffolding steel pipe, and then the eight mechanical arms relatively rotate along the seven rotation axes to adjust their positions, and then the eighth mechanical arm (8) grasps the scaffolding steel pipe, and then the first mechanical arm (1) releases the scaffolding steel pipe, and then the eight mechanical arms relatively rotate along the seven rotation axes to adjust their positions, and then the first mechanical arm (1) grasps the scaffolding steel pipe, and then the eighth mechanical arm (8) releases the scaffolding steel pipe, thereby realizing circulation and freely walking on the scaffolding steel pipe.

2. The scaffolding installation and disassembly robot according to claim 1, characterized in that: The eleventh motor (51) drives the fastener installation box (53) to descend via the third screw rod (52); the fifteenth motor (80) drives the fourth push block (73) to move forward, the fourth push block (73) drives the first grab block (74) to rotate along the seventeenth rotation axis (75), the fourth push block (73) drives the second grab block (78) to rotate along the eighteenth rotation axis (77), thereby clamping the fastener bolt (79); the twelfth motor (55) drives the third push block (57) to move forward via the fourth screw rod (56), the third push block (57) drives the rotating block (60) to rotate along the thirteenth rotation axis (59) via the connecting rod (58), the rotating block (60) pushes the fastener base (62) to rotate along the fourteenth rotation axis (61), thereby placing the fastener base (62) on the steel pipe (81); the fourteenth motor (68) drives the swing rod (70) to rotate along the fifteenth rotation axis (67) through the sixth screw rod (69), and the swing rod (70) pushes the fastener pressing block (71) to rotate along the sixteenth rotation axis (72), thereby locking the fastener pressing block (71) with the fastener bolt (79); the thirteenth motor (63) drives the wrench base (65) forward through the fifth screw rod (64), and the electric wrench (66) locks the fastener nut (76); thereby installing the fastener and fixing it on the steel pipe (81).

3. The scaffolding installation and disassembly robot according to claim 1, characterized in that: The eighth motor (32) drives the fastener storage plate (9) to rotate along the eighth rotation axis (31), the pressure of the spring (84) drives the right self-locking block (86) to self-lock along the nineteenth rotation axis (83), the left self-locking block (85) and the right self-locking block (86) clamp the fastener bolt (79), the first grab block (74) and the second grab block (78) clamp the fastener bolt (79), the sixteenth motor (87) drives the fastener pressing block (88) to rotate to release the fastener, and the third motor (35) drives the third mechanical arm (3) and the fourth mechanical arm (4) to rotate relative to each other along the third rotation axis (36), thereby grabbing the fastener.

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