A multifunctional logistics robot for construction sites and a method for handling trivial tasks thereof

Abstract

The present invention discloses a multifunctional logistic robot for construction sites and a method for handling trivial tasks thereof, comprising a left car and a right car of the same structure, wherein the left car is equipped with: a marking unit for drawing circular marks on the ground; a cement mixing unit, using four stirrers evenly distributed on a stirrer support plate, and the four stirrers are opened and closed by the rotation of the stirrer steering gear to form a four-claw structure; the right car is equipped with: a transport unit for transporting objects to a destination; a steel bar welding unit, using a plurality of electric push rods and grippers to realize automatic welding of steel bars; a clamping mechanism is detachably installed between the left car and the right car, and the space range of the clamping is adjusted by the joint use of a plurality of electric push rods; a cutting mechanism, by setting a motor and a screw arranged horizontally and vertically to adjust the cutting path of the cutting machine. The present invention can solve the problems of pile point marking, cement mixing, template cutting, object transport, and steel bar welding for construction sites.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a multifunctional logistics robot for construction sites, and also to a method for the multifunctional logistics robot for construction sites to handle trivial tasks. Background Art

[0002] There are many auxiliary operations in construction, such as marking of engineering elevation, mixing of small batches of cement mortar, sporadic cutting of formwork bricks, handling of sundries, welding of steel bars, etc. Many handymen are needed to complete such work, which increases the labor cost on the one hand, and the labor intensity of workers is high, and the work efficiency is very limited. For example, for template cutting, workers usually use handheld cutting machines for cutting, which has large errors and low efficiency; for moving objects, workers mostly use their hands or carts, which has high work intensity, welding of steel bars, and working conditions are very unfriendly to people, and there are safety hazards. Methods and devices for solving trivial tasks on the construction site. Therefore, it is necessary to design a multifunctional logistics robot for construction sites to reduce the use of workers and improve labor efficiency. Summary of the invention

[0003] Based on the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a multifunctional logistics robot for construction sites, which can draw pile point marks that are difficult to be washed away by external factors such as rain, can cope with two different scenarios: mixing cement in containers and pouring cement on steel frames, and can cut modules into desired shapes and extend and weld steel cages in columns, thereby effectively improving the utilization rate of the machine itself and improving construction efficiency.

[0004] The present invention also provides a method for a multifunctional logistics robot for a construction site to handle trivial tasks, thereby solving the problems of pile point marking, cement mixing, template cutting, object handling, and steel bar welding for the construction site.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures:

[0006] The multifunctional construction site logistics robot of the present invention comprises a left car and a right car with the same structure, wherein the left car is equipped with: a marking unit, which comprises a support frame, an oil cylinder, a rotating motor and a conductive slip ring, a bidirectional electric push rod, and a reciprocating mechanism, wherein the cylinder body of the oil cylinder is welded to the top of the support frame, one end of the rotating motor and the conductive slip ring is connected to the cylinder plunger in the oil cylinder, and the other end thereof is connected to the bidirectional electric push rod, and the push rods at both ends of the bidirectional electric push rod are respectively connected to the reciprocating mechanism; the oil cylinder is used to adjust the height of the reciprocating mechanism, and the rotating motor and the conductive slip ring enable the reciprocating mechanism to rotate to draw on the ground a circular mark is drawn out; a cement mixing unit, which adopts four agitators evenly distributed on the agitator support plate, and the four agitators are opened and closed by the rotation of the agitator servo, forming a four-claw structure; the right car is equipped with: a transport unit for transporting objects to the destination; a steel bar welding unit, which adopts the coordinated use of multiple electric push rods and grippers to realize automatic welding of steel bars; the left car and the right car are detachably equipped with: a clamping mechanism, which adjusts the clamping space range by the joint use of multiple electric push rods; a cutting mechanism, which adjusts the cutting path of the cutting machine by setting horizontal and vertical motors and screws.

[0007] Preferably, the left car and the right car both include a chassis unit, and the chassis unit includes a McIlroy motor, a McIlroy wheel, a first chassis angle steel, a support plate, and a second chassis angle steel. The second chassis angle steel and the first chassis angle steel are welded to the upper and lower edges of the left and right sides of the support plate, respectively. The McIlroy motor is fixed on the first chassis angle steel, and its output shaft is connected to the McIlroy wheel.

[0008] Furthermore, the reciprocating mechanism includes a reciprocating mechanism motor, a first reciprocating mechanism connecting rod, a second reciprocating mechanism connecting rod, a third reciprocating mechanism connecting rod, a powder hopper, a notch, a limit plate, and a reciprocating mechanism support plate; the reciprocating mechanism support plate is connected to the push rods at both ends of the bidirectional electric push rod, the reciprocating mechanism motor is fixed on the top of the reciprocating mechanism support plate, and its output shaft is connected to the first reciprocating mechanism connecting rod, the first reciprocating mechanism connecting rod and the second reciprocating mechanism connecting rod are hinged, the second reciprocating mechanism connecting rod and the third reciprocating mechanism connecting rod are hinged, and the third reciprocating mechanism connecting rod is slidably embedded in the reciprocating mechanism support plate In the length direction, the powder hopper is welded on the third connecting rod of the reciprocating mechanism, and the limit plate is welded on the support plate of the reciprocating mechanism. The up and down movement of the third connecting rod of the reciprocating mechanism is guided by the limit plate, and the third connecting rod of the reciprocating mechanism is prevented from deviating from the limit plate; the bidirectional electric push rod can adjust the radius of the circular mark through the telescopic push rod, and the reciprocating mechanism converts the rotation of the reciprocating mechanism motor into the up and down movement of the third connecting rod of the reciprocating mechanism, so that a circular groove appears on the ground, and at the same time, the powder in the powder hopper can flow along the notch into the circular notch of the circular groove on the ground, and the circular notch and powder dyeing realize double marking.

[0009] Furthermore, the cement mixing unit includes a robotic arm, an agitator support plate, an agitator first connecting rod, an agitator servo, an agitator second connecting rod, a mixing motor, a spiral mixing head, a vibration motor, and a robotic arm turntable. The robotic arm is connected to the output shaft of the robotic arm turntable, four agitator first connecting rods are evenly fixed on the agitator support plate, the agitator servo is fixed on the agitator first connecting rod, the agitator second connecting rod is connected to the output shaft of the agitator servo, the mixing motor is connected to the agitator second connecting rod, and the spiral mixing head and the vibration motor are fixed on the mixing motor; the agitator first connecting rod, the agitator servo, the agitator second connecting rod, the mixing motor, the spiral mixing head, and the vibration motor constitute the agitator.

[0010] Preferably, the clamping mechanism comprises a clamping mechanism bolt, a clamping mechanism square tube, a first electric push rod of the clamping mechanism, a first angle steel of the clamping mechanism, a second electric push rod of the clamping mechanism, a second angle steel of the clamping mechanism, a channel steel, a third electric push rod of the clamping mechanism, a clamping steel plate, a third angle steel of the clamping mechanism, and a fourth electric push rod of the clamping mechanism; the clamping mechanism bolts respectively fix the two clamping mechanism square tubes to the angle steels on both sides of the right car, the two third angle steels of the clamping mechanism are welded to both sides of the left car, and the fourth electric push rod of the clamping mechanism is fixed to the second angle steel of the chassis of the left car; The first angle steel of the clamping mechanism is fixed on the square tube of the clamping mechanism, the two first electric push rods of the clamping mechanism are fixed on the first angle steel of the clamping mechanism, the second angle steel of the clamping mechanism is fixed on the output shaft of the first electric push rod of the clamping mechanism through a nut, the two second electric push rods of the clamping mechanism are fixed on the second angle steel of the clamping mechanism, the channel steel is fixed on the output shaft of the second electric push rod of the clamping mechanism through a nut, the two third electric push rods of the clamping mechanism are fixed on the channel steel, and the clamping steel plate is fixed on the output shaft of the third electric push rod of the clamping mechanism through a nut.

[0011] Furthermore, the cutting mechanism includes a first angle steel of the cutting mechanism, an electric push rod of the cutting mechanism, a first reduction motor of the cutting mechanism, a second angle steel of the cutting mechanism, a nut of the cutting mechanism, a cutting machine, a second reduction motor of the cutting mechanism), a square tube of the cutting mechanism, and bolts of the cutting mechanism. The bolts of the cutting mechanism respectively fix the two square tubes of the cutting mechanism on the angle steels on both sides of the left vehicle, and the electric push rod of the cutting mechanism and the first angle steel of the cutting mechanism are fixed on the second angle steel of the chassis of the right vehicle; the two first reduction motors of the cutting mechanism are fixed on the square tube of the cutting mechanism, and the output shafts of the two first reduction motors of the cutting mechanism are connected to two first lead screws, and the other ends of the two first lead screws are rotatably connected to the other end through bearings. On a cutting mechanism square tube, two first lead screws are threadedly connected with cutting mechanism nuts, and the cutting mechanism nuts move laterally under the action of the first reduction motor of the cutting mechanism. Two cutting mechanism second angle steels are respectively welded to the two cutting mechanism nuts, and two cutting mechanism second reduction motors are fixed on one cutting mechanism second angle steel. The output shafts of the two cutting mechanism second reduction motors are connected to two second lead screws, and the other ends of the two second lead screws are rotatably connected to the other cutting mechanism second angle steel through bearings. Sliding blocks are threadedly connected to the two second lead screws, and the sliding blocks move longitudinally under the action of the second reduction motor of the cutting mechanism, and the cutting machine is installed at the bottom of the sliding block.

[0012] Preferably, the transport unit includes a storage box, a transport unit turntable, a transport unit robotic arm, and a transport unit gripper; the storage box and the transport unit turntable are fixed on a chassis unit; one end of the transport unit robotic arm is fixed on the transport unit turntable, and the other end is connected to the transport unit gripper; the transport unit robotic arm adjusts the position of the transport unit gripper to transfer the cut modules, bricks or other objects to the storage box, and transports them to the destination.

[0013] Furthermore, the steel bar welding unit includes a steel bar storage box, a first electric push rod of the welding unit, a first gripper of the welding unit, a second gripper of the welding unit, a small storage box, a conduit, a second electric push rod of the welding unit, a turntable motor of the welding unit, a third electric push rod of the welding unit, and a third gripper of the welding unit; the first electric push rod of the welding unit, the second electric push rod of the welding unit, and the steel bar storage box are welded on the chassis unit from right to left in sequence, the first gripper of the welding unit is welded to the lower end of the first electric push rod of the welding unit, and the second gripper of the welding unit is welded to the upper end of the first electric push rod of the welding unit; the conduit is connected to the small storage box, and the small storage box is fixed on the second gripper of the welding unit; the turntable motor of the welding unit is connected to the output shaft of the second electric push rod of the welding unit, the third electric push rod of the welding unit is fixed on the output shaft of the turntable motor of the welding unit, and the third gripper of the welding unit is connected to the third electric push rod of the welding unit.

[0014] Preferably, the steel bar storage box stores a plurality of steel bars. Before welding, the steel bars extending from the next layer of columns are positioned by the first gripper of the welding unit. When the first gripper of the welding unit can grasp the steel bars, it indicates that the positioning is successful. The third gripper of the welding unit is rotated to the direction facing the steel bar storage box by adjusting the turntable motor of the welding unit. The third electric push rod of the welding unit is controlled to adjust the length of the third gripper of the welding unit. The third gripper of the welding unit is controlled to grasp the steel bars, and the third gripper of the welding unit is rotated back to the original position. At this time, the first electric push rod of the welding unit is adjusted so that the second gripper of the welding unit can just fit over the steel bars. The head of the steel bar in the column, adjust the second electric push rod of the welding unit so that the steel bar grasped by the third gripper of the welding unit is also inserted into the second gripper of the welding unit until it contacts the head of the steel bar in the column, the small storage box is provided with an electric door inside, and the electric door can be opened by the single-chip microcomputer when in use, and the flux in the small storage box flows into the second gripper of the welding unit through the conduit by relying on gravity. The outer wall of the second gripper of the welding unit is provided with an electromagnetic induction heater, which can heat the second gripper of the welding unit. After the flux melts, the two steel bars can be welded to realize the extension of the steel bar in the column.

[0015] Accordingly, the present invention also provides a method for a multifunctional construction site logistics robot to handle trivial tasks, the steps of which are:

[0016] S1. When marking pile points, first move the device to the designated location, start the oil cylinder to adjust the height of the marking unit so that the mechanism touches the ground, start the reciprocating mechanism motor, and continue to adjust the extension and contraction of the oil cylinder according to the depth of the groove on the ground. Finally, start the rotating motor and the conductive slip ring to draw a circular groove on the ground, and the circular groove is evenly covered with paint, and the marking is completed;

[0017] S2. When mixing cement, for the cement poured in the mixing steel frame, adjust the agitator steering gear in the cement mixing unit so that the four agitators are perpendicular to the horizontal plane, start the mixing motor and the vibration motor, and adjust the mechanical arm and the mechanical arm turntable to insert and pull the four agitators up and down on the steel frame to complete the mixing of the poured cement; for the mixing of cement in the container, adjust the turntable of the agitator steering gear according to the size of the container, set the degree of opening of the four agitators, start the mixing motor and the vibration motor, and complete the mixing of the cement in the container;

[0018] S3. When cutting the template or brick, the first electric push rod of the clamping mechanism is controlled to adjust the height of the channel steel until the clamping steel plate contacts the ground and stops, the second electric push rod of the clamping mechanism is controlled to adjust the lateral movement of the channel steel until the template or brick is clamped in the horizontal direction, and the third electric push rod of the clamping mechanism is controlled to adjust the height of the clamping steel plate until the template or brick is clamped in the vertical direction; the first reduction motor of the cutting mechanism and the second reduction motor of the cutting mechanism and the rotation of the cutting machine in the cutting mechanism are controlled, and the expected cutting trajectory can be obtained by combining the three movements, thereby obtaining the expected shape;

[0019] S4. When transporting objects, the transport unit turntable and the transport unit mechanical arm can be controlled to adjust the position of the transport unit gripper, and the opening and closing of the transport unit gripper can be controlled to place the objects to be transported into the storage box, and finally transport them to the target location;

[0020] S5. When welding the steel cage, multiple steel bars can be stored in the steel bar storage box. Before welding, the steel bars extending from the next layer of columns are positioned by the first gripper of the welding unit. When the first gripper of the welding unit can grab the steel bars, it means that the positioning is successful. The turntable motor of the welding unit adjusts the third gripper of the welding unit to rotate to the direction facing the steel bar storage box, and the third electric push rod of the welding unit is controlled to adjust the length of the third gripper of the welding unit. The third gripper of the welding unit is controlled to grab the steel bars and turn the third gripper of the welding unit back to its original position. At this time, the first electric push rod of the welding unit is first adjusted so that the second gripper of the welding unit can just cover the head of the steel bar in the column, and the second electric push rod of the welding unit is adjusted so that the steel bar grabbed by the third gripper of the welding unit is also inserted into the second gripper of the welding unit until it contacts the head of the steel bar in the column. The flux in the small storage box is flowed into the second gripper of the welding unit through the catheter, and the second gripper of the welding unit is heated, so that the two steel bars can be welded to achieve the extension of the steel bars in the column.

[0021] From the above, the beneficial effects of the multifunctional construction site logistics robot and the method for handling trivial tasks of the present invention are as follows:

[0022] 1. Existing pile point marking usually uses manual chalk drawing, and the circle drawn is easily eroded by rainwater, resulting in large errors. The present invention uses a reciprocating mechanism to punch holes on the ground, and draws a circular notch through the rotation of the motor. At the same time, a powder hopper is set on the side of the reciprocating mechanism, which can flow the pigment into the circular notch along the notch. The dual protection of the notch and the pigment can enhance the notch's ability to resist external interference;

[0023] 2. The existing template cutting mechanism usually adopts the manual cutting method, and the cut template and bricks have large errors and low efficiency. The present invention adopts the mode of cooperating with the clamping mechanism and the cutting mechanism, wherein the clamping mechanism adjusts the clamping position and range by setting multiple electric push rods to prevent the template from moving during the cutting process and causing cutting errors, and the cutting mechanism adopts the horizontal motor and the vertical motor to adjust the cutting path of the cutting machine, which is conducive to improving construction efficiency and reducing errors;

[0024] 3. Existing steel cage extension welding is mostly done manually, which has low processing efficiency and the high temperature generated during welding poses a great safety hazard. The present invention uses multiple grippers, one of which is used to fix the steel cage and the steel bars to be extended and welded, and make the two contact. A small storage box for storing flux is set on one of the grippers, and a heating device is set on the side of the gripper. The flux melts, cools and solidifies to complete the extension welding of the steel cage.

[0025] 4. Nowadays, most of the trivial tasks on the construction site are assigned to workers to complete, and the workers use different tools to complete them. The functional integration of the tools and the efficiency of the workers are low, which affects the construction progress. The present invention integrates the marking unit, cement mixing unit, template cutting unit, handling unit, and steel bar welding unit into one, forming a complete set of processes for handling trivial tasks on the construction site; before building a house, the marking unit is used to mark the pile point position, and after piling, the template cutting unit is used to provide the required bricks and templates for wall building. At the same time, the handling unit can carry the cut bricks and templates to the designated location, and the cement mixing unit can be used to provide the required cement for the wall building process and the pouring process. At the same time, the cement in the steel mesh can also be stirred when the cement is poured. When the floor needs to be extended, the steel bar welding unit can be used to extend the steel cage in the welded column. The various mechanisms can be used in combination to complete a complete set of processes, which is conducive to improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0027] Figure 1 It is a logic block diagram of the multifunctional construction site logistics robot of the present invention;

[0028] Figure 2 This is a schematic diagram of the overall structure of the multifunctional construction site logistics robot of the present invention;

[0029] Figure 3 is a schematic diagram of a chassis unit of the present invention;

[0030] Figure 4 is a schematic diagram of a marking unit of the present invention;

[0031] Figure 5 is a schematic diagram of the reciprocating mechanism of the marking unit;

[0032] Figure 6 is a schematic diagram of a cement mixing unit of the present invention;

[0033] Figure 7 is a schematic diagram of the clamping mechanism of the present invention;

[0034] Figure 8 is a schematic diagram of a cutting mechanism of the present invention;

[0035] Fig. 9 is a schematic diagram of a transport unit of the present invention;

[0036] Fig.10 is a schematic diagram of a steel bar welding unit of the present invention;

[0037] Description of reference numerals:

[0038] 100-Chassis Unit:

[0039] 101-McWheel motor; 102-McWheel; 103-chassis first angle steel; 104-support plate; 105-chassis second angle steel;

[0040] 200- Annotation Unit:

[0041] 201-support frame; 202-oil cylinder; 203-rotating motor and conductive slip ring; 204-bidirectional electric push rod; 205-reciprocating mechanism; 205a-reciprocating mechanism motor; 205b-reciprocating mechanism first connecting rod; 205c-reciprocating mechanism second connecting rod; 205d-reciprocating mechanism third connecting rod; 205e-powder hopper; 205f-notch; 205g-limiting plate; 205h-reciprocating mechanism support plate;

[0042] 300-Cement Mixing Unit:

[0043] 301-mechanical arm; 302-stirrer support plate; 303-stirrer first connecting rod; 304-stirrer servo; 305-stirrer second connecting rod; 306-stirrer motor; 307-spiral stirring head; 308-vibration motor; 309-mechanical arm turntable;

[0044] 400-Clamping mechanism:

[0045] 401-clamping mechanism bolt; 402-clamping mechanism square tube; 403-clamping mechanism first electric push rod; 404-clamping mechanism first angle steel; 405-clamping mechanism second electric push rod; 406-clamping mechanism second angle steel; 407-channel steel; 408-clamping mechanism third electric push rod; 409-clamping steel plate; 410-clamping mechanism third angle steel; 411-clamping mechanism fourth electric push rod;

[0046] 500-Cutting Mechanism:

[0047] 501- first angle steel of cutting mechanism; 502- electric push rod of cutting mechanism; 503- first reduction motor of cutting mechanism; 504- second angle steel of cutting mechanism; 505- nut of cutting mechanism; 506- cutting machine; 507- second reduction motor of cutting mechanism; 508- square tube of cutting mechanism; 509- bolt of cutting mechanism;

[0048] 600-Handling Unit:

[0049] 601-handling unit gripper; 602-handling unit mechanical arm; 603-handling unit turntable; 604-storage box;

[0050] 700-Rebar welding unit:

[0051] 701-rebar storage box; 702-first electric push rod of welding unit; 703-first gripper of welding unit; 704-second gripper of welding unit; 705-small storage box; 706-conduit; 707-second electric push rod of welding unit; 708-turntable motor of welding unit; 709-third electric push rod of welding unit; 710third gripper of welding unit. DETAILED DESCRIPTION

[0052] Next, combine Figures 1 to 10 A multifunctional construction site logistics robot and a method for handling trivial tasks provided by the present invention are introduced in detail.

[0053] Depend on Figure 1 , Figure 2 As shown, the multifunctional logistics robot for construction sites of the present invention is composed of two left and right trolleys, the left trolley and the right trolley have the same structure, and both the left trolley and the right trolley include a chassis unit 100. A marking unit 200 and a cement mixing unit 300 are installed on the left trolley, and a handling unit 600 and a steel bar welding unit 700 are installed on the right trolley. The marking unit 200 and the cement mixing mechanism 300 are fixed to the chassis unit 100 of the left trolley by bolts and nuts, the cutting mechanism 500 is fixed to the angle steel in the chassis unit 100 of the left trolley by bolts and nuts, the clamping mechanism 400 is fixed to the angle steel in the chassis unit of the right trolley by bolts and nuts, the handling unit 600 is fixed to the chassis unit of the right trolley by bolts and nuts, and the steel bar welding unit 700 is welded and fixed to the chassis unit of the right trolley.

[0054] Among them, the marking unit 200 uses a reciprocating mechanism to mark the stake points, which can leave a circular groove on the ground that is difficult to be eroded. The cement mixing unit 300 uses four stirrers evenly distributed on the stirrer support plate 302, and the four stirrers can be opened and closed by the rotation of the stirrer steering gear 304 to form a four-claw structure, which can be suitable for mixing cement in various environments such as steel frame casting and containers of different capacities.

[0055] The clamping mechanism 400 and the cutting mechanism 500 are respectively detachably installed between the right car and the left car. One end of the two mechanisms is fixed by bolts and nuts, and the other end can be fixed and released by an electric push rod, so that the two cars can travel independently and can be combined to cut templates and bricks. In addition, the clamping mechanism 400 can adjust the clamping space range by using multiple electric push rods in combination, and the cutting mechanism 500 adjusts the cutting path of the cutting machine 506 by setting horizontal and vertical motors and screws.

[0056] The transport unit 600 can be used in conjunction with the cutting mechanism 500. When the template is cut, the transport unit 600 can transport the template, bricks or other objects to the destination. The steel bar welding unit 700 uses multiple electric push rods and grippers to achieve automatic steel bar welding.

[0057] The existing construction site often uses manual cutting to cut templates, which is time-consuming and labor-intensive, and has low precision. The present invention uses a method in which the clamping mechanism 400 and the cutting mechanism 500 cooperate to cut the template, wherein the clamping mechanism 400 can adjust the clamping position according to the size of the template, and the cutting mechanism 500 can cut in both the horizontal and vertical directions; and the present invention sets the cutting mechanism 500 and the clamping mechanism 400 outside and superimposes the two, which is conducive to saving device space and is conducive to the device adjusting the clamping range of the clamping mechanism 400 and the cutting path of the cutting mechanism 500 according to templates of different sizes. The existing multifunctional robot mechanism has a high degree of integration and a huge volume. If it encounters a narrow passage, the machine is difficult to drive. The present invention adopts a detachable left and right car, which realizes that when the two cars are combined together, the module can be cut, and when separated, the two cars can be flexibly operated and independently realized. The function is conducive to improving the robot's cooperation ability and flexibility and accelerating construction efficiency.

[0058] Depend on Figure 3As shown, the chassis unit 100 is composed of a McReel motor 101, a McReel 102, a first chassis angle steel 103, a support plate 104, and a second chassis angle steel 105 from bottom to top. The upper and lower sides of the left and right sides of the support plate 104 are respectively welded with the second chassis angle steel 105 and the first chassis angle steel 103. The McReel motor 101 is fixed on the first chassis angle steel 103, and its output shaft is connected to the McReel 102. Most existing robots use steering wheels to move. Since the robot uses spatial rectangular coordinates for positioning, the steering wheel is used to adjust the position, and the error is large. The present invention uses the characteristic of the McReel that can be moved horizontally to enable the device to accurately adjust the position of the horizontal axis coordinate and the vertical axis coordinate. When using the marking unit 200, the cement mixing unit 300, the clamping mechanism 400, the cutting mechanism 500, the transport mechanism 600, and the steel bar welding unit 700, the device positioning can be performed faster, thereby improving the accuracy and efficiency of the construction.

[0059] Depend on Figure 4 and Figure 5As shown, the marking unit 200 is composed of a support frame 201, a cylinder 202, a rotating motor and a conductive slip ring 203, a bidirectional electric push rod 204, and a reciprocating mechanism 205 from top to bottom; the reciprocating mechanism 205 is composed of a reciprocating mechanism motor 205a, a first reciprocating mechanism connecting rod 205b, a second reciprocating mechanism connecting rod 205c, a third reciprocating mechanism connecting rod 205d, a powder hopper 205e, a slot 205f, a limit plate 205g, and a reciprocating mechanism support plate 205h from top to bottom. The support frame 201 is welded by a plurality of square tubes. The cylinder body of the oil cylinder 202 is welded on the top of the support frame 201. One end of the rotating motor and the conductive slip ring 203 is connected to the oil cylinder plunger in the oil cylinder 202, and the other end thereof is connected to the bidirectional electric push rod 204. The push rods at both ends of the bidirectional electric push rod 204 are respectively connected to the reciprocating mechanism 205; the reciprocating mechanism support plate 205h is connected to the push rods at both ends of the bidirectional electric push rod 204, the reciprocating mechanism motor 205a is fixed on the top of the reciprocating mechanism support plate 205h, and its output shaft is connected to the first connecting rod 205b of the reciprocating mechanism. The first link 205b is hinged to the second link 205c of the reciprocating mechanism, the second link 205c of the reciprocating mechanism is hinged to the third link 205d of the reciprocating mechanism, the third link 205d of the reciprocating mechanism is slidably embedded in the length direction of the reciprocating mechanism support plate 205h, the powder hopper 205e is welded to the third link 205d of the reciprocating mechanism, and the limit plate 205g is welded to the reciprocating mechanism support plate 205h. The limit plate 205g is used to guide the up and down movement of the third link 205d of the reciprocating mechanism, and at the same time, the third link 205d of the reciprocating mechanism can be prevented from deviating from the limit plate 205g. The oil cylinder 202 is used to adjust the height of the reciprocating mechanism 205. The rotating motor and the conductive slip ring 203 can rotate the reciprocating mechanism 205 to draw a circular mark on the ground without affecting the winding of the wire. The bidirectional electric push rod 204 can adjust the radius of the circular mark by telescopic push rod. The reciprocating mechanism 205 converts the rotation of the reciprocating mechanism motor 205a into the up and down movement of the third connecting rod 205d of the reciprocating mechanism, so that a circular groove appears on the ground. At the same time, the powder in the powder hopper 205e can flow into the circular groove of the circular groove on the ground along the groove 205f. The circular groove and powder dyeing realize double marking, which can improve the resistance of the mark to erosion by external factors such as rain and light.

[0060] Depend on Figure 6As shown, the cement mixing unit 300 is composed of a mechanical arm 301, a mixer support plate 302, a mixer first connecting rod 303, a mixer steering gear 304, a mixer second connecting rod 305, a mixing motor 306, a spiral mixing head 307, a vibration motor 308, and a mechanical arm turntable 309 from top to bottom. The mechanical arm 301 is connected to the output shaft of the mechanical arm turntable 309, four mixer first connecting rods 303 are evenly fixed on the mixer support plate 302, the mixer steering gear 304 is fixed on the mixer first connecting rod 303, the mixer second connecting rod 305 is connected to the output shaft of the mixer steering gear 304, the mixing motor 306 is connected to the mixer second connecting rod 305, and the spiral mixing head 307 and the vibration motor 308 are fixed on the mixing motor 306. The agitator first connecting rod 303, the agitator steering gear 304, the agitator second connecting rod 305, the agitator motor 306, the spiral agitator head 307, and the vibration motor 308 constitute the agitator.

[0061] The existing small mixing device is usually used by workers to stir and vibrate cement by holding a mixer and dragging a vibrating rod. In this process, there are problems such as the robot being bulky, labor-consuming, inefficient, and affecting the construction process. The present invention uses a mechanical arm 301 and a mechanical arm turntable 309 to replace workers to adjust the position of the mixer, and evenly arranges four mixers on the mixer support plate 302 to present a claw-shaped structure. The area of ​​the four mixers can be adjusted by controlling the mixer steering gear 304, and the area of ​​cement mixing can be adjusted in turn. At the same time, it can also be applied to different scenes; when it is necessary to stir the cement in a large container, the mixer steering gear 304 can be adjusted to make the four mixers open as much as possible in the container to stir the cement in the largest area within the same time; when it is necessary to stir the cement poured under the steel mesh, the four mixers are adjusted to be vertical to the ground, and the cement below is stirred by inserting and pulling through the steel mesh. A vibration motor 308 is set on each spiral stirring head 307 so that the device can drive away the bubbles in the cement while stirring the cement evenly, thereby improving the construction efficiency.

[0062] Depend on Figure 7As shown, the clamping mechanism 400 is composed of a clamping mechanism bolt 401, a clamping mechanism square tube 402, a clamping mechanism first electric push rod 403, a clamping mechanism first angle steel 404, a clamping mechanism second electric push rod 405, a clamping mechanism second angle steel 406, a channel steel 407, a clamping mechanism third electric push rod 408, a clamping steel plate 409, a clamping mechanism third angle steel 410, and a clamping mechanism fourth electric push rod 411 from top to bottom. The output shafts in the clamping mechanism are all provided with external threads to facilitate the fixing of the angle steels. The clamping mechanism bolts 401 fix the two clamping mechanism square tubes 402 to the angle steels on both sides of the right car respectively, the two clamping mechanism third angle steels 410 are welded to both sides of the left car, and the clamping mechanism fourth electric push rod 411 is fixed to the second angle steel 105 of the chassis of the left car. The first angle steel 404 of the clamping mechanism is fixed on the square tube 402 of the clamping mechanism, the two first electric push rods 403 of the clamping mechanism are fixed on the first angle steel 404 of the clamping mechanism, the second angle steel 406 of the clamping mechanism is fixed on the output shaft of the first electric push rod 403 of the clamping mechanism through a nut, the two second electric push rods 405 of the clamping mechanism are fixed on the second angle steel 406 of the clamping mechanism, the channel steel 407 is fixed on the output shaft of the second electric push rod 405 of the clamping mechanism through a nut, the two third electric push rods 408 of the clamping mechanism are fixed on the channel steel 407, and the clamping steel plate 409 is fixed on the output shaft of the third electric push rod 408 of the clamping mechanism through a nut.

[0063] Existing cutting mechanisms often lack a clamping mechanism, and cutting the template directly is prone to errors, which affects the subsequent construction safety. The present invention is provided with a detachable clamping mechanism. When it is necessary to cut the template bricks, the clamping mechanism bolt 401 can be used to fix the clamping mechanism on the right car, and the position of the right car can be adjusted so that the clamping mechanism square tube 402 is inserted into the clamping mechanism third angle steel 410 on the left car, and the fourth electric push rod 411 of the clamping mechanism is extended and retracted so that its output shaft is inserted into the clamping mechanism square tube 402, thereby fixing the clamping mechanism 400; the first electric push rod 403 of the clamping mechanism can adjust the height of the clamping claw composed of the channel steel 407 and the clamping steel plate 409, and the second electric push rod 405 of the clamping mechanism and the third electric push rod 408 of the clamping mechanism can adjust the position of the clamping claw according to the height and width of the clamped object. After the adjustment is completed, the third electric push rod 408 of the clamping mechanism is started, which can make the clamping steel plate 409 rise, shortening the distance between it and the channel steel 407, thereby clamping the object to be cut.

[0064] Depend on Figure 8As shown, the cutting mechanism 500 is composed of a first angle steel 501 of the cutting mechanism, an electric push rod 502 of the cutting mechanism, a first reduction motor 503 of the cutting mechanism, a second angle steel 504 of the cutting mechanism, a nut 505 of the cutting mechanism, a cutting machine 506, a second reduction motor 507 of the cutting mechanism, a square tube 508 of the cutting mechanism, and a bolt 509 of the cutting mechanism from bottom to top. The bolts 509 of the cutting mechanism fix the two square tubes 508 of the cutting mechanism to the angle steels on both sides of the left vehicle, respectively, and the electric push rod 502 of the cutting mechanism and the first angle steel 501 of the cutting mechanism are fixed to the second angle steel 105 of the chassis of the right vehicle.

[0065] The two first reduction motors 503 of the cutting mechanism are fixed on the cutting mechanism square tube 508, the output shafts of the two first reduction motors 503 of the two cutting mechanisms are connected to two first lead screws, the other ends of the two first lead screws are rotatably connected to the other cutting mechanism square tube 508 through bearings, and the two first lead screws are threadedly connected to the cutting mechanism nuts 505. The cutting mechanism nuts 505 move laterally under the action of the first reduction motor 503 of the cutting mechanism, the two second angle steels 504 of the cutting mechanism are respectively welded to the two cutting mechanism nuts 505, the two second reduction motors 507 of the cutting mechanism are fixed to one second angle steel 504 of the cutting mechanism, the output shafts of the two second reduction motors 507 of the two cutting mechanisms are connected to two second lead screws, the other ends of the two second lead screws are rotatably connected to the other second angle steel 504 of the cutting mechanism through bearings, the two second lead screws are threadedly connected to sliding blocks, and the sliding blocks move longitudinally under the action of the second reduction motor 507 of the cutting mechanism. A cutting machine 506 is installed at the bottom of the sliding block.

[0066] The cutting mechanism is detachable. When the template needs to be cut, its fixing method is the same as the fixing method of the clamping mechanism 400. The first reduction motor 503 of the cutting mechanism can adjust the lateral position of the cutting machine 506, and the second reduction motor 507 of the cutting mechanism can adjust the longitudinal position of the cutting machine 506 through threaded transmission. Since the cutting machine 506 adopts two screws for simultaneous transmission, the cutting machine 506 can be prevented from rotating with the screws, thereby maintaining linear motion. At the same time, the cutting machine 506 can rotate 360 ​​degrees, and the three movements can be superimposed to cut the desired template shape.

[0067] Depend on Fig. 9 As shown, the transport unit 600 is composed of a storage box 604, a transport unit turntable 603, a transport unit mechanical arm 602, and a transport unit gripper 601 from bottom to top. The storage box 604 and the transport unit turntable 603 are fixed on the chassis unit, one end of the transport unit mechanical arm 602 is fixed on the transport unit turntable 603, and the other end is connected to the transport unit gripper 601. The transport unit mechanical arm 602 can adjust the position of the transport unit gripper 601, and can transfer the cut modules, bricks or other objects to the storage box 604 and transport them to the destination.

[0068] Depend on Fig.10 As shown, the steel bar welding unit 700 is composed of a steel bar storage box 701, a first electric push rod 702 of the welding unit, a first gripper 703 of the welding unit, a second gripper 704 of the welding unit, a small storage box 705, a conduit 706, a second electric push rod 707 of the welding unit, a turntable motor 708 of the welding unit, a third electric push rod 709 of the welding unit, and a third gripper 710 of the welding unit from bottom to top. The first electric push rod 702 of the welding unit, the second electric push rod 707 of the welding unit, and the steel bar storage box 701 are welded on the chassis unit from right to left in sequence, the first gripper 703 of the welding unit is welded on the lower end of the first electric push rod 702 of the welding unit, the second gripper 704 of the welding unit is welded on the upper end of the first electric push rod 702 of the welding unit, the conduit 706 is connected to the small storage box 705, the small storage box 705 is fixed on the second gripper 704 of the welding unit, the turntable motor 708 of the welding unit is connected to the output shaft of the second electric push rod 707 of the welding unit, the third electric push rod 709 of the welding unit is fixed on the output shaft of the turntable motor 708 of the welding unit, and the third gripper 710 of the welding unit is connected to the third electric push rod 709 of the welding unit. In the process of building heightening, it is necessary to extend the steel bars in the next layer of columns. The existing technology generally uses welding rods for manual welding. This process requires repeated welding of several steel bars, which is labor-consuming and inefficient. The present invention uses a method in which multiple grippers cooperate with each other to automatically weld steel bars. The steel bar storage box 701 can store multiple steel bars. Before welding, the steel bars extending from the next layer of columns are positioned by the first gripper 703 of the welding unit. When the first gripper 703 of the welding unit can grasp the steel bars, it indicates that the positioning is successful. The third gripper 710 of the welding unit is adjusted by the turntable motor 708 of the welding unit to rotate to the direction facing the steel bar storage box 701, and the third electric push rod 709 of the welding unit is controlled to adjust the length of the third gripper 710 of the welding unit. The third gripper 710 of the welding unit is controlled to grasp the steel bars and rotate the third gripper 710 of the welding unit back to its original position. At this time, the first electric push rod 702 of the welding unit is adjusted so that the second gripper 704 of the welding unit is just It can cover the head of the steel bar in the column, adjust the second electric push rod 707 of the welding unit so that the steel bar grasped by the third gripper 710 of the welding unit can also be inserted into the second gripper 704 of the welding unit until it contacts the head of the steel bar in the column. An electric door is arranged inside the small storage box 705. When in use, the electric door can be opened by the single-chip microcomputer. Relying on the action of gravity, the flux in the small storage box 705 flows into the second gripper 704 of the welding unit through the conduit 706. The outer wall of the second gripper 704 of the welding unit is provided with an electromagnetic induction heater, which can heat the second gripper 704 of the welding unit. After the flux melts, the two steel bars can be welded to realize the extension of the steel bar in the column.

[0069] Accordingly, the present invention also provides a method for a multifunctional construction site logistics robot to handle trivial tasks, comprising the following steps:

[0070] S1. When marking pile points, first move the device to the designated location, start the oil cylinder 202 to adjust the height of the marking unit so that the mechanism contacts the ground, start the reciprocating mechanism motor 205a, and continue to adjust the extension and contraction of the oil cylinder 202 according to the depth of the groove on the ground. Finally, start the rotating motor and the conductive slip ring 203 to draw a circular groove on the ground, and the circular groove is evenly covered with paint, and the marking is completed.

[0071] S2. When mixing cement, for the cement poured in the mixing steel frame, adjust the agitator servo 304 in the cement mixing unit 300 so that the four agitators are perpendicular to the horizontal plane, start the mixing motor 306 and the vibration motor 308, and by adjusting the mechanical arm 301 and the mechanical arm turntable 309, the four agitators can be inserted and pulled up and down on the steel frame to complete the mixing of the poured cement; for the mixing of cement in the container, the turntable of the agitator servo 304 can be adjusted according to the size of the container, the degree of opening of the four agitators can be set, and the mixing motor 306 and the vibration motor 308 can be started to complete the mixing of the cement in the container.

[0072] S3. When cutting the template or bricks, the first electric push rod 403 of the clamping mechanism is controlled to adjust the height of the channel steel 407 until the clamping steel plate 409 stops touching the ground, the second electric push rod 405 of the clamping mechanism is controlled to adjust the lateral movement of the channel steel 407 until the template or brick is clamped in the horizontal direction, and the third electric push rod 408 of the clamping mechanism is controlled to adjust the height of the clamping steel plate 409 until the template or brick is clamped in the vertical direction; the first reduction motor 503 of the cutting mechanism, the second reduction motor 507 of the cutting mechanism and the rotation of the cutter 506 in the cutting mechanism 500 are controlled to combine the three movements to obtain the expected cutting trajectory, thereby obtaining the expected shape.

[0073] S4. When transporting objects, the transport unit turntable 603 and the transport unit mechanical arm 602 can be controlled to adjust the position of the transport unit gripper 601. The opening and closing of the transport unit gripper 601 can be controlled to put the items to be transported into the storage box 604, and finally transport them to the target location.

[0074] S5. When welding the steel cage, a plurality of steel bars can be stored in the steel storage box 701. Before welding, the steel bars extending from the next layer of columns are positioned by the first gripper 703 of the welding unit. When the first gripper 703 of the welding unit can grasp the steel bars, it indicates that the positioning is successful. The third gripper 710 of the welding unit is adjusted by the turntable motor 708 of the welding unit to rotate to the direction facing the steel storage box 701, and the third electric push rod 709 of the welding unit is controlled to adjust the length of the third gripper 710 of the welding unit, and the third gripper 710 of the welding unit is controlled to grasp the steel bars. The hand 710 turns back to its original position. At this time, the first electric push rod 702 of the welding unit is adjusted so that the second gripper 704 of the welding unit can just cover the head of the steel bar in the column. The second electric push rod 707 of the welding unit is adjusted so that the steel bar grasped by the third gripper 710 of the welding unit is also inserted into the second gripper 704 of the welding unit until it contacts the head of the steel bar in the column. The flux in the small storage box 705 flows into the second gripper 704 of the welding unit through the conduit 706. The second gripper 704 of the welding unit is heated, and the two steel bars can be welded to achieve the extension of the steel bar in the column.

[0075] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A multifunctional logistics robot for construction sites, characterized in that: It comprises a left car and a right car of the same structure, wherein the left car is equipped with: A marking unit (200) comprises a support frame (201), an oil cylinder (202), a rotating motor and a conductive slip ring (203), a bidirectional electric push rod (204), and a reciprocating mechanism (205); the cylinder body of the oil cylinder (202) is welded to the top of the support frame (201); one end of the rotating motor and the conductive slip ring (203) is connected to the oil cylinder plunger in the oil cylinder (202), and the other end thereof is connected to the bidirectional electric push rod (204); push rods at both ends of the bidirectional electric push rod (204) are respectively connected to the reciprocating mechanism (205); the oil cylinder (202) is used to adjust the height of the reciprocating mechanism (205); the rotating motor and the conductive slip ring (203) enable the reciprocating mechanism (205) to rotate and draw a circular mark on the ground; The cement mixing unit (300) uses four stirrers evenly distributed on a stirrer support plate (302), and the four stirrers are opened and closed by the rotation of a stirrer steering gear (304), forming a four-claw structure; The right vehicle is equipped with: A transport unit (600), used to transport the object to a destination; A steel bar welding unit (700) uses a plurality of electric push rods and grippers to realize automatic welding of steel bars; The detachable installation between the left car and the right car includes: The clamping mechanism (400) is used to adjust the clamping space range by combining multiple electric push rods; The cutting mechanism (500) adjusts the cutting path of the cutting machine (506) by setting a motor and a screw arranged horizontally and vertically; The left vehicle and the right vehicle both comprise a chassis unit (100), the chassis unit (100) comprising a McIlroy motor (101), a McIlroy wheel (102), a first chassis angle steel (103), a support plate (104), and a second chassis angle steel (105), the second chassis angle steel (105) and the first chassis angle steel (103) being welded to the upper and lower sides of the left and right sides of the support plate (104), respectively, the McIlroy motor (101) being fixed to the first chassis angle steel (103), and its output shaft being connected to the McIlroy wheel (102); The reciprocating mechanism (205) comprises a reciprocating mechanism motor (205a), a first reciprocating mechanism connecting rod (205b), a second reciprocating mechanism connecting rod (205c), a third reciprocating mechanism connecting rod (205d), a powder hopper (205e), a notch (205f), a limit plate (205g), and a reciprocating mechanism support plate (205h); the reciprocating mechanism support plate (205h) is connected to the push rods at both ends of the bidirectional electric push rod (204); the reciprocating mechanism motor (205a) is fixed to the top of the reciprocating mechanism support plate (205h), and its output shaft is connected to the first reciprocating mechanism connecting rod (205b); the first reciprocating mechanism connecting rod (205b) is connected to the first reciprocating mechanism connecting rod (205b) ) is hinged to the second connecting rod (205c) of the reciprocating mechanism, the second connecting rod (205c) of the reciprocating mechanism is hinged to the third connecting rod (205d) of the reciprocating mechanism, the third connecting rod (205d) of the reciprocating mechanism is slidably embedded in the length direction of the reciprocating mechanism support plate (205h), the powder hopper (205e) is welded to the third connecting rod (205d) of the reciprocating mechanism, the limiting plate (205g) is welded to the reciprocating mechanism support plate (205h), and the up and down movement of the third connecting rod (205d) of the reciprocating mechanism is guided by the limiting plate (205g), while preventing the third connecting rod (205d) of the reciprocating mechanism from deviating from the limiting plate (205g); The bidirectional electric push rod (204) can adjust the radius of the circular mark by telescoping the push rod, and the reciprocating mechanism (205) converts the rotation of the reciprocating mechanism motor (205a) into the up and down movement of the third connecting rod (205d) of the reciprocating mechanism, so that a circular groove appears on the ground, and at the same time, the powder in the powder hopper (205e) can flow along the groove (205f) into the circular groove of the circular groove on the ground, so that the circular groove and the powder dyeing realize double marking; The cement mixing unit (300) comprises a mechanical arm (301), a mixer support plate (302), a mixer first connecting rod (303), a mixer steering gear (304), a mixer second connecting rod (305), a mixing motor (306), a spiral mixing head (307), a vibration motor (308), and a mechanical arm turntable (309); the mechanical arm (301) is connected to an output shaft of the mechanical arm turntable (309); four mixer first connecting rods (303) are evenly fixed on the mixer support plate (302); the mixer steering gear (304) is fixed on the mixer first connecting rod (303); the mixer second connecting rod (305) is connected to the output shaft of the mixer steering gear (304); the mixing motor (306) is connected to the mixer second connecting rod (305); and the spiral mixing head (307) and the vibration motor (308) are fixed on the mixing motor (306); The stirrer is composed of a first connecting rod (303), a stirrer steering gear (304), a second connecting rod (305), a stirring motor (306), a spiral stirring head (307), and a vibration motor (308); The clamping mechanism (400) comprises a clamping mechanism bolt (401), a clamping mechanism square tube (402), a clamping mechanism first electric push rod (403), a clamping mechanism first angle steel (404), a clamping mechanism second electric push rod (405), a clamping mechanism second angle steel (406), a channel steel (407), a clamping mechanism third electric push rod (408), a clamping steel plate (409), a clamping mechanism third angle steel (410), and a clamping mechanism fourth electric push rod (411); the clamping mechanism bolt (401) fixes the two clamping mechanism square tubes (402) to the angle steels on both sides of the right vehicle respectively, the two clamping mechanism third angle steels (410) are welded to both sides of the left vehicle, and the clamping mechanism fourth electric push rod (411) is fixed to the second angle steel (105) of the chassis of the left vehicle; The first angle steel (404) of the clamping mechanism is fixed on the square tube (402) of the clamping mechanism, two first electric push rods (403) of the clamping mechanism are fixed on the first angle steel (404) of the clamping mechanism, the second angle steel (406) of the clamping mechanism is fixed on the output shaft of the first electric push rod (403) of the clamping mechanism via a nut, two second electric push rods (405) of the clamping mechanism are fixed on the second angle steel (406) of the clamping mechanism, the channel steel (407) is fixed on the output shaft of the second electric push rod (405) of the clamping mechanism via a nut, two third electric push rods (408) of the clamping mechanism are fixed on the channel steel (407), and the clamping steel plate (409) is fixed on the output shaft of the third electric push rod (408) of the clamping mechanism via a nut; The cutting mechanism (500) comprises a first angle steel (501) of the cutting mechanism, an electric push rod (502) of the cutting mechanism, a first reduction motor (503) of the cutting mechanism, a second angle steel (504) of the cutting mechanism, a nut (505) of the cutting mechanism, a cutting machine (506), a second reduction motor (507) of the cutting mechanism, a square tube (508) of the cutting mechanism, and a bolt (509) of the cutting mechanism. The bolts (509) of the cutting mechanism respectively fix the two square tubes (508) of the cutting mechanism to the angle steels on both sides of the left vehicle, and the electric push rod (502) of the cutting mechanism and the first angle steel (501) of the cutting mechanism are fixed to the second angle steel (105) of the chassis of the right vehicle. Two cutting mechanism first reduction motors (503) are fixed on the cutting mechanism square tube (508); the output shafts of the two cutting mechanism first reduction motors (503) are connected to two first lead screws; the other ends of the two first lead screws are rotatably connected to the other cutting mechanism square tube (508) via bearings; the two first lead screws are threadedly connected to cutting mechanism nuts (505); the cutting mechanism nuts (505) move laterally under the action of the cutting mechanism first reduction motor (503); two cutting mechanism second angle steels (504) are respectively welded to the two cutting mechanism nuts (505); two cutting mechanism second reduction motors (507) are fixed on one cutting mechanism second angle steel (504); the output shafts of the two cutting mechanism second reduction motors (507) are connected to two second lead screws; the other ends of the two second lead screws are rotatably connected to the other cutting mechanism second angle steel (504) via bearings; the two second lead screws are threadedly connected to sliding blocks; the sliding blocks move longitudinally under the action of the cutting mechanism second reduction motor (507); the cutting machine (506) is installed at the bottom of the sliding block; The transport unit (600) comprises a storage box (604), a transport unit turntable (603), a transport unit mechanical arm (602), and a transport unit gripper (601); the storage box (604) and the transport unit turntable (603) are fixed on the chassis unit (100); one end of the transport unit mechanical arm (602) is fixed on the transport unit turntable (603), and the other end is connected to the transport unit gripper (601); the transport unit mechanical arm (602) adjusts the position of the transport unit gripper (601), transfers the cut modules, bricks or other objects to the storage box (604), and transports them to the destination; The steel bar welding unit (700) comprises a steel bar storage box (701), a first electric push rod (702) of the welding unit, a first gripper (703) of the welding unit, a second gripper (704) of the welding unit, a small storage box (705), a guide tube (706), a second electric push rod (707) of the welding unit, a turntable motor (708) of the welding unit, a third electric push rod (709) of the welding unit, and a third gripper (710) of the welding unit; the first electric push rod (702) of the welding unit, the second electric push rod (707) of the welding unit, and the steel bar storage box (701) are welded to the chassis unit (100) in sequence from right to left; the first gripper (710) of the welding unit 03) is welded to the lower end of the first electric push rod (702) of the welding unit, and the second gripper (704) of the welding unit is welded to the upper end of the first electric push rod (702) of the welding unit; the conduit (706) is connected to the small storage box (705), and the small storage box (705) is fixed on the second gripper (704) of the welding unit; the turntable motor (708) of the welding unit is connected to the output shaft of the second electric push rod (707) of the welding unit, the third electric push rod (709) of the welding unit is fixed on the output shaft of the turntable motor (708) of the welding unit, and the third gripper (710) of the welding unit is connected to the third electric push rod (709) of the welding unit; The steel bar storage box (701) stores a plurality of steel bars. Before welding, the steel bars extending from the next layer of columns are positioned by the first gripper (703) of the welding unit. When the first gripper (703) of the welding unit can grasp the steel bars, it indicates that the positioning is successful. The third gripper (710) of the welding unit is adjusted by the welding unit turntable motor (708) to rotate to a direction facing the steel bar storage box (701). The third electric push rod (709) of the welding unit is controlled to adjust the length of the third gripper (710) of the welding unit. The third gripper (710) of the welding unit is controlled to grasp the steel bars and rotate the third gripper (710) of the welding unit back to the original position. At this time, the first electric push rod (702) of the welding unit is adjusted to make the second gripper (704) of the welding unit rotate. ) can just fit over the head of the steel bar in the column, the second electric push rod (707) of the welding unit is adjusted so that the steel bar grasped by the third gripper (710) of the welding unit is also inserted into the second gripper (704) of the welding unit until it contacts the head of the steel bar in the column, the small storage box (705) is provided with an electric door inside, and the electric door can be opened by the single chip microcomputer when in use, and the flux in the small storage box (705) flows into the second gripper (704) of the welding unit through the conduit (706) by gravity, and the outer wall of the second gripper (704) of the welding unit is provided with an electromagnetic induction heater, which can heat the second gripper (704) of the welding unit. After the flux is melted, the two steel bars can be welded to achieve the extension of the steel bar in the column.

2. A method for handling trivial tasks by a multifunctional construction site logistics robot as claimed in claim 1, characterized in that: The steps are: S1. When marking a pile point, first move the device to a designated location, start the oil cylinder (202) to adjust the height of the marking unit so that the mechanism contacts the ground, start the reciprocating mechanism motor (205a), and continue to adjust the extension and contraction of the oil cylinder (202) according to the depth of the groove on the ground. Finally, start the rotating motor and the conductive slip ring (203) so that a circular groove is drawn on the ground and the circular groove is evenly covered with paint, and the marking is completed; S2. When mixing cement, for mixing the cement poured in the steel frame, the stirrer steering gear (304) in the cement mixing unit (300) is adjusted so that the four stirrers are perpendicular to the horizontal plane, the stirring motor (306) and the vibration motor (308) are started, and the four stirrers can be inserted and pulled up and down on the steel frame by adjusting the mechanical arm (301) and the mechanical arm turntable (309) to complete the mixing of the poured cement; for mixing the cement in the container, the turntable of the stirrer steering gear (304) can be adjusted according to the size of the container to set the degree of opening of the four stirrers, and the stirring motor (306) and the vibration motor (308) are started to complete the mixing of the cement in the container; S3. When cutting the template or brick, the first electric push rod (403) of the clamping mechanism is controlled to adjust the height of the channel steel (407) until the clamping steel plate (409) contacts the ground and stops, the second electric push rod (405) of the clamping mechanism is controlled to adjust the lateral movement of the channel steel (407) until the template or brick is clamped in the horizontal direction, and the third electric push rod (408) of the clamping mechanism is controlled to adjust the height of the clamping steel plate (409) until the template or brick is clamped in the vertical direction; the first reduction motor (503) of the cutting mechanism, the second reduction motor (507) of the cutting mechanism and the cutting machine (506) in the cutting mechanism (500) are controlled to rotate, and the three movements are combined to obtain the expected cutting trajectory, thereby obtaining the expected shape; S4. When transporting an object, the transport unit turntable (603) and the transport unit mechanical arm (602) can be controlled to adjust the position of the transport unit gripper (601), and the opening and closing of the transport unit gripper (601) can be controlled to place the object to be transported into the storage box (604), and finally transport the object to the target location; S5. When welding a steel cage, a plurality of steel bars can be stored in the steel bar storage box (701). Before welding, the steel bars extending from the next layer of columns are positioned by the first gripper (703) of the welding unit. When the first gripper (703) of the welding unit can grasp the steel bars, it indicates that the positioning is successful. The third gripper (710) of the welding unit is adjusted by the welding unit turntable motor (708) to rotate to a direction facing the steel bar storage box (701). The third electric push rod (709) of the welding unit is controlled to adjust the length of the third gripper (710) of the welding unit. The third gripper (710) of the welding unit is controlled to grasp the steel bars. 710) is turned back to the original position, at this time, the first electric push rod (702) of the welding unit is adjusted so that the second gripper (704) of the welding unit can just cover the head of the steel bar in the column, and the second electric push rod (707) of the welding unit is adjusted so that the steel bar grasped by the third gripper (710) of the welding unit is also inserted into the second gripper (704) of the welding unit until it contacts the head of the steel bar in the column, and the flux in the small storage box (705) flows into the second gripper (704) of the welding unit through the conduit (706), and the second gripper (704) of the welding unit is heated, so that the two steel bars can be welded, thereby realizing the extension of the steel bar in the column.

Images