Double boom installation mechanism, robot and boom installation method

Abstract

This application provides a dual-rod installation mechanism, a robot, and a rod installation method, relating to the field of construction robot technology. The dual-rod installation mechanism includes a movable slide, a first linear module, a second linear module, a linear drive assembly, and a head unit. Both the first and second linear modules are mounted on the movable slide; the linear drive assembly is mounted on the movable slide and can drive the first and second linear modules to move along the movable slide. Each of the first and second linear modules is equipped with a head unit, which can drive the corresponding head unit to move parallel to the movable slide. The head unit is used to install rods on the work object. The dual-rod installation mechanism can adapt to different installation ranges, enabling automated rod installation. With appropriate installation methods, manual drilling is unnecessary, improving work efficiency and reducing labor costs. It also avoids the risks of working at heights. Combined with a chassis to form a robot, it can further achieve highly efficient rod installation operations.

Description

Technical Field

[0001] This application relates to the field of construction robot technology, and more specifically, to a double-rod installation mechanism, a robot, and a rod installation method. Background Technology

[0002] In the installation of decorative ceilings, ventilation ducts, and fire protection pipes, hangers are used to suspend the equipment. A hanger typically consists of a threaded rod, expansion bolts, and a connecting nut. To install a hanger, a hole of appropriate depth and diameter is first drilled into the roof surface using an impact drill. The rear end of the expansion bolt is then inserted into the hole, and a hammer is used to drive the entire rear of the bolt into the hole. Finally, the nut at the front of the expansion bolt is tightened with a wrench. Traditional hanger installation usually requires two workers to use scaffolding or ladders to drill the hole, resulting in low efficiency, high labor costs, and certain safety risks. Summary of the Invention

[0003] The purpose of this application is to provide a dual-rod installation mechanism that can improve the inefficiency and risk of existing manual rod installation methods.

[0004] Another object of this application is to provide a robot that includes the above-described dual-rod mounting mechanism and has all the characteristics of the dual-rod mounting mechanism.

[0005] Another objective of this application is to provide a method for installing a boom, which employs the aforementioned double boom installation mechanism, and can avoid obstacles during drilling to achieve automated boom installation.

[0006] The embodiments of this application are implemented as follows:

[0007] Embodiments of this application provide a double-rod mounting mechanism, comprising:

[0008] Movable slide table;

[0009] A linear module unit, comprising a first linear module and a second linear module, wherein both the first linear module and the second linear module are disposed on the movable slide;

[0010] A linear drive assembly, wherein the linear drive assembly is disposed on the movable slide and is capable of driving the first linear module and the second linear module to move along the movable slide; and

[0011] The machine head is provided on both the first linear module and the second linear module and can drive the corresponding machine head to move parallel to the moving slide. The machine head is used to install the lifting rod on the work object.

[0012] The linear module unit can achieve lateral drive of the machine head, while the linear drive assembly can further move the machine head by driving the linear module unit, increasing the installation range of the machine head. This can replace manual installation of the boom, solving the problems of low efficiency and risk associated with manual installation.

[0013] In addition, the double-rod mounting mechanism provided according to the embodiments of this application may also have the following additional technical features:

[0014] In an optional embodiment of this application, the first linear module and the second linear module are symmetrically arranged, with the length direction of the movable slide as the preset direction. The first linear module and the second linear module can move away from or towards each other along the preset direction, and the machine heads respectively arranged on the first linear module and the second linear module can also move away from or towards each other along the preset direction.

[0015] Since both the first linear module and the second linear module can move relative to each other in a preset direction, and can also drive the machine head to move relative to each other in the same preset direction, the range of movement of the machine head is effectively increased.

[0016] In an optional embodiment of this application, the linear module unit is disposed on the upper side of the movable slide, and the linear drive assembly is disposed on the lower side of the movable slide.

[0017] Installing the linear module unit and the linear drive assembly on the upper and lower sides of the movable slide table respectively saves space and facilitates installation and maintenance.

[0018] In an optional embodiment of this application, the movable slide includes a track base, a linear rail, and a module connecting plate. The linear rail is arranged along the length direction of the track base, and the module connecting plate is slidably disposed on the linear rail. The first linear module and the second linear module are respectively disposed on the corresponding module connecting plates.

[0019] The track base provides the foundation for installation and support, and the linear rails can serve as guides. The first linear module and the second linear module can move on the linear rails by means of the module connecting plate.

[0020] In an optional embodiment of this application, the dual-rod mounting mechanism includes a side support frame. The side support frame is provided at the end of the first linear module away from the second linear module and at the end of the second linear module away from the first linear module. The side support frame extends upward relative to the movable slide.

[0021] The side support frame can be used to hold the work object upwards, keeping the moving slide stable and providing a stable foundation for the machine head's operation.

[0022] In an optional embodiment of this application, the dual-rod mounting mechanism includes an intermediate support frame, which spans above the movable slide table and is located at one end of the first linear module and the second linear module that are close to each other.

[0023] The intermediate support frame not only improves the reliability of the support, but also distributes the force, preventing overloading of the side support frame and damage to the moving slide.

[0024] In an optional embodiment of this application, the machine head includes an outward pushing component and a machine head body. The machine head body is disposed at the output end of the outward pushing component. The output ends of the first linear module and the second linear module are both connected to the corresponding outward pushing component of the machine head. The driving direction of the outward pushing component is transverse and perpendicular to the driving directions of the first linear module and the second linear module.

[0025] The push mechanism allows the machine head to move laterally in a direction perpendicular to the driving direction of the first and second linear modules, thereby adjusting its position relative to the work object and avoiding obstacles such as steel bars in the work object.

[0026] In an optional embodiment of this application, the machine head includes an open-end wrench for clamping the boom, the open-end wrench having a material inlet and outlet, the feeding direction of the material inlet and outlet being parallel to the length direction of the movable slide.

[0027] Since the feeding direction of the material inlet and outlet is parallel to the length direction of the moving slide, the entire machine head can complete the feeding of the boom when it is driven to move laterally. Furthermore, when the machine head is installed and removed from the boom, it only needs to be driven by the linear module unit and / or the linear drive assembly. No other external components are required to adjust the position of the machine head, making the process of the machine head separating from the boom faster.

[0028] In an optional embodiment of this application, the machine head includes a lifting drive, a turning component, a mounting plate, and a striking component. The lifting drive is connected to the output end of the first linear module or the second linear module. The mounting plate is disposed at the output end of the lifting drive. The open-end wrench and the striking component are both disposed on the mounting plate. The turning component is throttledly connected to the open-end wrench to turn the boom held by the open-end wrench. The striking component can strike the boom held by the open-end wrench upwards.

[0029] The insertion and fixing of the boom can be completed through the cooperation of multiple components. The whole process requires no manual intervention and is very convenient.

[0030] In an optional embodiment of this application, both the mounting plate and the striking component are provided with clearance portions corresponding to the material inlet and outlet, so as to form a channel for the boom to enter and exit together with the material inlet and outlet.

[0031] Since both the mounting plate and the striking assembly have clearance parts, it is not necessary to set separate installation positions for each component to avoid the boom, which makes the structure of the entire machine head more compact and reduces space occupation.

[0032] In an optional embodiment of this application, the dual-rod mounting mechanism further includes a lidar, which is connected to the movable slide and is capable of detecting the spatial position and attitude of the movable slide.

[0033] The positioning data from the lidar can be used as the basis for adjusting the spatial position and attitude of the entire moving slide, so that the machine head can operate in the required position.

[0034] In an optional embodiment of this application, the double-rod mounting mechanism includes a lifting unit, the output end of which is connected to the lower part of the movable slide and is used to drive the movable slide to lift.

[0035] The lifting unit allows the movable slide to be raised or lowered to change the height of the machine head, facilitating operation.

[0036] In an optional embodiment of this application, the double-rod mounting mechanism further includes a rotary unit, the output end of which is connected to the lower side of the movable slide, and the output end of the lifting unit is connected to the rotary unit.

[0037] The rotary unit can adjust the angle of the moving slide in the horizontal plane to make the working position of the machine head more suitable.

[0038] In an optional embodiment of this application, the dual-rod mounting mechanism further includes a floating unit, and the output end of the lifting unit is floatingly connected to the rotary unit through the floating unit.

[0039] The floating unit can reduce the impact on the moving slide and the components above when the lifting unit is working, and it can also keep the position of the machine head relative to the work object in accordance with the construction requirements when the machine head is working.

[0040] Embodiments of this application provide a robot, including:

[0041] Chassis; and

[0042] According to any of the above-described double-rod mounting mechanisms, the double-rod mounting mechanism is disposed on the chassis.

[0043] By using the aforementioned dual-rod installation mechanism, the robot can automate the installation of rods at construction sites, solving many problems associated with manual labor.

[0044] Embodiments of this application provide a boom installation method using the double boom installation mechanism described in any of the above claims. The head of the double boom installation mechanism includes an outward pushing component and a head body. A linear module unit is connected to the outward pushing component and drives the outward pushing component to translate in the left-right direction. The outward pushing component is connected to the head body and drives the head body to translate in the front-back direction. The head body is capable of drilling holes. The method includes an obstacle avoidance step.

[0045] When the drilling of the machine head body at the first point is blocked, the outward pushing component drives the machine head body to move forward to the second point;

[0046] When the head body encounters resistance while drilling at the second point, the linear module unit drives the outward pushing component to move the head body to the right to the third point.

[0047] When the main body of the machine head encounters resistance while drilling at the third point, the outward pushing component drives the main body of the machine head to move backward to the fourth point.

[0048] By translating at four points, obstacles such as steel bars can be effectively avoided, with low cost and accurate avoidance. Attached Figure Description

[0049] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A schematic diagram of the double-rod mounting mechanism when the lifting unit is not in operation, as provided in the embodiments of this application;

[0051] Figure 2 A schematic diagram of the double-rod mounting mechanism of the lifting unit during operation, provided for an embodiment of this application;

[0052] Figure 3 A schematic diagram of the dual-rod mounting mechanism for the linear drive assembly in operation, provided in an embodiment of this application;

[0053] Figure 4 A schematic diagram showing the coordination of the movable slide, lifting unit, rotary unit, and floating unit;

[0054] Figure 5A schematic diagram of the intermediate support frame and lidar provided for embodiments of this application;

[0055] Figure 6 This diagram shows the positional relationship between the machine head, the linear module unit, and the boom when the machine head's outward-pushing component is not in operation.

[0056] Figure 7 A diagram showing the positional relationship between the machine head, the linear module unit, and the boom when the machine head's outward-pushing components are working.

[0057] Figure 8 for Figure 1 Top view;

[0058] Figure 9 This is a schematic diagram showing the interaction between the rotary unit, the movable slide, the lifting unit, and the floating unit.

[0059] Figure 10 A schematic diagram showing the positions of the moving slide and environmental components detected by the lidar during operation;

[0060] Figure 11 This is a diagram illustrating the machine head avoiding a steel bar.

[0061] Icons: 1000-Double boom mounting mechanism; 10-Moving slide; 11-Rail base; 12-Linear rail; 13-Module connecting plate; 20-First linear module; 30-Second linear module; 40-Linear drive assembly; 50-Head unit; 51-Push-out component; 52-Open-end wrench; 521-Box sleeve; 53-Lifting drive component; 54-Tightening component; 55-Mounting plate; 56-Striking assembly; 561-Striking mechanism Cylinder; 562-Flat hammer; 571-Electric drill; 60-Lifting rod; 70-Side support frame; 80-Intermediate support frame; 81-Buffer column; 101-Material inlet / outlet; 200-Lifting unit; 300-Rotation unit; 301-Rotation drive motor; 302-Rotation drive reducer; 303-Rotation drive gear; 400-Floating unit; 401-Spring connecting rod; 402-Floating spring; 500-LiDAR. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0064] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0065] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is conventionally placed during use. These terms are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0066] In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0067] Example

[0068] Please refer to Figures 1 to 3 An embodiment of this application provides a double-rod mounting mechanism 1000, comprising:

[0069] Movable slide 10;

[0070] The linear module unit includes a first linear module 20 and a second linear module 30, both of which are disposed on the movable slide table 10.

[0071] Linear drive assembly 40, which is disposed on the movable slide 10 and is capable of driving the first linear module 20 and the second linear module 30 to move along the movable slide 10; and

[0072] The machine head 50 is provided on the first linear module 20 and the second linear module 30 and can drive the corresponding machine head 50 to move parallel to the moving slide table 10. The machine head 50 is used to install the boom 60 on the work object.

[0073] In this embodiment, the first linear module 20 and the second linear module 30 are symmetrically arranged. With the length direction of the movable slide 10 as the preset direction, the first linear module 20 and the second linear module 30 can move away from or towards each other along the preset direction. The machine head 50, which is respectively arranged on the first linear module 20 and the second linear module 30, can also move away from or towards each other in the preset direction.

[0074] The double-rod mounting mechanism 1000 also includes a lifting unit 200, a slewing unit 300, and a floating unit 400. For relevant diagrams and descriptions, please refer to... Figures 1 to 3 It can also be combined Figure 4 , Figure 9 The illustration and the corresponding content below.

[0075] In simple terms, the linear module unit enables lateral drive of the machine head 50, while the linear drive assembly 40, by driving the linear module unit, allows for further movement of the machine head 50, increasing its installation range. This allows it to replace manual installation of the hanger rods 60, solving the problems of low efficiency and risk associated with manual installation. In this embodiment, the work object refers to the ceiling, and more specifically, the ceiling of a parking lot, where pipes are typically installed. The centerline of the pipe is the axis of symmetry for the hanger rods 60 on both sides of the pipe.

[0076] By mounting the dual-rod installation mechanism 1000 on a chassis, a robot can be formed to achieve automated mobile operations. The corresponding control system can be the robot's controller or a remote control center. Using the aforementioned dual-rod installation mechanism 1000, the robot can automate rod installation work at construction sites, solving many problems associated with manual operations.

[0077] In this embodiment, the linear module unit is disposed on the upper side of the movable slide 10, and the linear drive assembly 40 is disposed on the lower side of the movable slide 10. Specifically, the linear drive assembly 40 is a push-pull cylinder, with the cylinder body of each cylinder connected to the movable slide 10 and the output end connected to the slide plate of the linear module (the first linear module 20 and the second linear module 30 are both referred to as linear modules). Depending on actual needs, hydraulic cylinders, electric cylinders, or other linear drive devices can also be considered. Other components using cylinders can also be replaced with other alternative devices for linear drive. The structure and operation of the first linear module 20 and the second linear module 30 can refer to ordinary linear drive modules, and will not be elaborated here. Since the linear module unit and the linear drive assembly 40 are distributed on the upper and lower sides of the movable slide, space can be better utilized. It is not necessary to add dimensions to the sides or top of the movable slide to occupy extra space. The linear drive assembly 40 is installed using the existing lower space, making the structure more compact. Furthermore, during installation, the components can be installed separately before connecting the transmission, eliminating concerns about interference during installation. This makes installation convenient, and during later maintenance and repair, it is not necessary to disassemble too many parts; maintenance and repair can be carried out separately, which is beneficial for practical use.

[0078] Please refer to Figure 4 The movable slide 10 includes a track base 11, a linear guide rail 12, and a module connecting plate 13. The linear guide rail 12 is arranged along the length of the track base 11, and the module connecting plate 13 is slidably mounted on the linear guide rail 12. The first linear module 20 and the second linear module 30 are respectively mounted on their respective module connecting plates 13. The track base 11 provides a foundation for installation and support, the linear guide rail 12 serves as a guide, and the first linear module 20 and the second linear module 30 can move on the linear guide rail 12 by relying on the module connecting plate 13.

[0079] Please combine Figures 1 to 3 The double-rod mounting mechanism 1000 includes side support frames 70. The end of the first linear module 20 furthest from the second linear module 30 and the end of the second linear module 30 furthest from the first linear module 20 are both equipped with side support frames 70. The side support frames 70 extend upward relative to the movable slide table 10. The side support frames 70 can be used to support the work object upwards, keeping the movable slide table 10 stable and providing a stable foundation for the operation of the machine head 50. Limit switches can be installed on the side support frames 70. When the limit switches detect a signal, they can provide data feedback and stop the lifting unit 200 from lifting.

[0080] Furthermore, please combine Figures 1 to 3 as well as Figure 5The double-rod mounting mechanism 1000 includes an intermediate support frame 80, which spans above the movable slide table 10 and is located at the ends of the first linear module 20 and the second linear module 30 that are close to each other. The intermediate support frame 80 improves the reliability of the support and distributes the force, preventing overload of the side support frames 70 and damage to the movable slide table 10. Furthermore, a buffer column 81 is installed on the intermediate support frame 80. The pin in the middle of the buffer column 81 is compressible and can offset the clamping force of the lifting unit 200, preventing overload of the two side support frames 70, deformation of the movable slide table 10, or overload damage to the linear guide 12.

[0081] Please combine Figure 6 and Figure 7 The head 50 includes an outward push member 51 and a head body. The head body is located at the output end of the outward push member 51. The output ends of the first linear module 20 and the second linear module 30 are connected to the corresponding outward push member 51 of the head 50. The driving direction of the outward push member 51 is transverse and perpendicular to the driving direction of the first linear module 20 and the second linear module 30.

[0082] The push mechanism allows the machine head body to move laterally in a direction perpendicular to the driving direction of the first linear module 20 and the second linear module 30, thereby adjusting its position relative to the work object and avoiding obstacles such as steel bars. The machine head body refers to all parts of the machine head 50 except for the push mechanism. In this embodiment, the push mechanism uses a cylinder. To ensure structural reliability, the cylinder body is slidably mounted on the slide plate of the linear module, and its cylinder rod is fixed to the slide plate of the linear module. The entire machine head body is connected to the cylinder body to ensure the installation stability of the machine head body. In this case, the cylinder body can be considered as the output end of the aforementioned push component 51.

[0083] Please continue to combine Figure 6 and Figure 7 And can be combined Figure 8The machine head 50 includes an open-end wrench 52 for clamping the boom 60. The open-end wrench 52 has a material inlet / outlet 101, and the feeding direction of the material inlet / outlet 101 is parallel to the length direction of the moving slide 10. Since the feeding direction of the material inlet / outlet 101 is parallel to the length direction of the moving slide 10, the entire machine head 50 can complete the feeding of the boom 60 when it is driven to move laterally. Furthermore, when the machine head 50 is removed from the boom 60 after installation, it only needs to be driven by the linear module unit and / or the linear drive assembly 40, without the need for external components to adjust the position of the machine head 50, making the process of separating the machine head 50 from the boom 60 faster. It is understood that the opening directions of the material inlet / outlet 101 of the two machine heads 50 in this embodiment are opposite, but it is not limited to being set in opposite directions. The opposite setting in this embodiment is mainly to make full use of the stroke of the linear module and the linear drive assembly 40 to accommodate the installation of booms 60 with pipes of different diameters.

[0084] In detail, the machine head 50 also includes a lifting drive 53, a screwing component 54, a mounting plate 55, and a striking component 56, which, together with an open-end wrench 52, can serve as a nailing part for nailing the boom 60.

[0085] The lifting drive component 53 is connected to the output end of the first linear module 20 or the second linear module 30. A mounting plate 55 is located at the output end of the lifting drive component 53. An open-end wrench 52 and a striking component 56 are both located on the mounting plate 55. A tightening component is connected to the open-end wrench 52 to tighten the boom 60 held by the open-end wrench 52. The striking component 56 can strike the boom 60 held by the open-end wrench 52 upwards. The lifting drive component 53 can be a cylinder, and the tightening component 54 can be an electric wrench that can be driven by a gear set within the open-end wrench 52, causing the boom 60 held by the gear at the material inlet / outlet 101 of the open-end wrench 52 to rotate. A perforated sleeve 521 is provided at the material inlet / outlet 101 of the open-end wrench 52. A gear is radially nested within the perforated sleeve 521 (both the gear and the perforated sleeve 521 have radial openings to form the material inlet / outlet 101), thereby driving the boom 60 to rotate. The plum blossom sleeve 521 can move axially relative to the gear. The striking assembly 56 includes a striking cylinder 561 and a counterweight 562. The striking cylinder 561 can drive the counterweight 562 to strike the lower end of the plum blossom sleeve 521 upwards, so that the plum blossom sleeve 521 and the supporting lifting rod 60 move upwards. When the expansion bolt of the lifting rod 60 enters the hole, the electric wrench works to make the nut of the lifting rod 60 rotate until the expansion bolt is broken, thus completing the fixing.

[0086] Through the cooperation of multiple components, the insertion and fixation of the boom 60 can be completed without manual intervention, which is very convenient. Both the mounting plate 55 and the striking assembly 56 have clearance portions corresponding to the material inlet / outlet 101, forming a channel for the boom 60 to enter and exit. Because both the mounting plate 55 and the striking assembly 56 have clearance portions (i.e.... Figure 8 From a top-down view of the material inlet / outlet 101, there is no structure obstructing the entry of the boom 60 into the material inlet / outlet 101. Therefore, it is not necessary to set separate installation positions for each component to avoid the boom 60, making the overall structure of the machine head 50 more compact and reducing space occupation. In detail, without the avoidance part, in order for the boom 60 to enter the material inlet / outlet 101 without interference, other components would need to be moved to other installation positions. By setting the avoidance part, the overall structure can be more compact, less cluttered, and space-saving.

[0087] The drill head 50 also includes a drilling section, which consists of an electric drill 571 and a configured cylinder to push the drill 571 upwards to drill. A photoelectric switch and a toothed detection plate can be configured to detect whether a rebar has been hit. Simply put, the drill 571 is movably mounted on a drilling base plate, which is connected to the slide plate of the linear module. The photoelectric switch is mounted on the drill 571, and the toothed detection plate is mounted on the drilling base plate. The toothed detection plate has alternating teeth and grooves. The drill 571 moves upwards under the push of the cylinder, allowing the photoelectric switch to output a periodically changing signal as it is either blocked or unblocked by the teeth. When an obstacle such as a rebar is hit, the output signal remains constant, thus indicating that a rebar has been encountered. The pushing member 51 allows the entire drill 571 to avoid rebar. Alternatively, the driving action of the linear module can cause the drill 571 to move in another direction within the horizontal plane to further avoid rebar.

[0088] Please combine Figures 1 to 3 as well as Figure 5 The dual-rod mounting mechanism 1000 also includes a lidar 500, which is connected to the movable slide 10 and can detect the spatial position and attitude of the movable slide 10. The positioning data from the lidar 500 can be used as the basis for adjusting the spatial position and attitude of the entire movable slide 10, so that the machine head 50 can operate in the required position. Please refer to... Figure 10When operating indoors, the length direction of the movable slide 10 is perpendicular to the extension direction of the axis of symmetry of the two suspension rods 60. The lidar 500 scans the load-bearing beams around the ceiling (environmental elements, the border part in the figure), thereby calculating the position of the movable slide 10 (distance L from the load-bearing beam and deflection angle Φ relative to the vertical line M of the axis of symmetry). The robot can be pre-set with the pipe routing data, and the chassis can move the entire double suspension rod mounting mechanism 1000 below the work point (i.e., adjust the spatial position) according to the pipe routing (which is also the extension direction of the axis of symmetry of the two suspension rods 60), so that the horizontal distance between the center of the movable slide 10 and the axis of symmetry is within the error range (allowable error ±100mm), and according to the length direction of the movable slide 10 relative to the vertical line of the axis of symmetry (…). Figure 10 The deflection angle Φ (indicated by M) is used to rotate the movable slide 10 through the rotary unit 300 (i.e., adjust the attitude of the movable slide 10), so that the length direction of the movable slide 10 is perpendicular to the axis of symmetry.

[0089] Please combine Figure 1 and Figure 2 The output end of the lifting unit 200 is connected to the lower part of the movable slide 10 and is used to drive the movable slide 10 to rise and fall. The lifting unit 200 enables the movable slide 10 to rise and fall, thereby changing the height of the machine head 50 for easier operation. The driving component of the lifting unit 200 can be a cylinder.

[0090] Please combine Figure 4 and Figure 9In this embodiment, the output end of the lifting unit 200 is floatingly connected to the rotary unit 300 via a floating unit 400, and the output end of the rotary unit 300 is connected to the lower side of the movable slide 10. The floating unit 400 includes a spring connecting rod 401 and a floating spring 402 sleeved on the spring connecting rod 401. The floating spring 402 is supported by the toothed part of the rotary unit 300 and compressed by the output end of the lifting unit 200. The rotary unit 300 can adjust the angle of the movable slide 10 in the horizontal plane to make the working position of the machine head 50 more suitable. The floating unit 400 can reduce the impact on the movable slide 10 and the components above it caused by the operation of the lifting unit 200, and also ensure that the position of the machine head 50 relative to the work object meets the construction requirements when the machine head 50 is working. During adjustment, in this embodiment, the rotary drive motor 301 of the rotary unit 300 drives the rotary drive gear 303 of the rotary drive reducer 302 to rotate, thereby causing the toothed support to rotate. The moving slide 10 rotates together with the toothed support by a deflection angle Φ. After the lifting unit 200 is lifted, the side support frame 70 and the middle support frame 80 abut against the ceiling. The multiple floating springs 402 of the floating unit 400 will be compressed. On the one hand, this can buffer the lifting force and protect the support frame and the ceiling. On the other hand, when the ground and the ceiling are not parallel, the different compression amounts of the floating springs 402 can ensure that all the side support frames 70 and the middle support frame 80 abut against the ceiling. This allows the left and right machine heads 50 to drill holes and install the hanging rods 60 perpendicular to the ceiling.

[0091] The principle of this embodiment is:

[0092] The double-rod installation mechanism 1000 of this application can be manually handled or integrated into the chassis and transported by the chassis to the work site.

[0093] Then, driven by the lifting unit 200, the movable slide 10 and its mounted components rise, causing the side support frame 70 and the intermediate support frame 80 to approach and touch the ceiling. After the limit switch on the side support frame 70 is triggered, the lifting unit 200 stops lifting. At this time, the lidar 500 works and adjusts the spatial position of the movable slide 10 by moving the chassis. The movable slide 10 can also be rotated by the rotary unit 300 to change its angle, ultimately making the movable slide 10 perpendicular to the axis of symmetry (the center line of the pipe's direction) in the horizontal plane.

[0094] After completing the preliminary position positioning, the first linear module 20 and the second linear module 30 respectively drive the left and right machine heads 50. Of course, the linear module can also be driven by a push-pull cylinder to further expand the adjustment range until the two machine heads 50 are axisymmetric about the center line of the pipeline orientation. Then, the lifting unit 200 continues to lift and maintain a certain pressing air pressure (such as 0.5 MPa) by its cylinder. At this time, the side support frame 70 and the middle support frame 80 both abut against the ceiling. During the subsequent drilling and installation of the suspension rod 60, the generated impact force will not affect the stability of the moving slide 10, and there will be no swinging or jumping. The overall middle support frame 80 can share the force of the two side support frames 70 and protect the structure.

[0095] Then, during the above adjustment process, the electric drill 571 is located below the position where drilling is required and only needs to be driven upward by the corresponding cylinder. After reaching the specified depth, the electric drill 571 is lowered again. Among them, this embodiment also provides a method for installing a suspension rod, which can avoid punching holes through steel bars. The steps for avoiding obstacles include: when the main body of the machine head encounters resistance when punching at the first point, the outer pushing member 51 drives the main body of the machine head to translate forward to the second point; when the main body of the machine head encounters resistance when punching at the second point, the linear module unit drives the outer pushing member 51 to make the main body of the machine head translate to the right to the third point; when the main body of the machine head encounters resistance when punching at the third point, the outer pushing member 51 drives the main body of the machine head to translate backward to the fourth point. For example, please combine Figure 11 , if there is a steel bar when punching at point A, the drill bit can be moved 30 mm to point B by the outer pushing member 51. If there is also a steel bar at point B, it can be moved to point C by 30 mm by the linear module. If there is still a steel bar, it can be moved 30 mm to point D. Since the steel bars on the ceiling are distributed in a "grid" pattern, moving in this way can effectively avoid the steel bars. Of course, the drilling spacing of the two machine heads 50 can maintain the initial preset spacing at each point, or can be adjusted respectively within the allowable drilling spacing value range to a position sufficient to avoid the steel bars and not affect the pipeline installation.

[0096] Under the drive of the linear module, the suspension rod 60 clamped by the open-ended wrench 52 moves to the position of the drilled hole, and the lifting drive member 53 is used to drive the suspension rod 60 to be pre-inserted into the hole and kept from falling by interference fit. Then, the hammering cylinder 561 is used to drive the hammer 562 to complete the hammering work, and then the nut of the suspension rod 60 is screwed by an electric wrench until the expansion bolt of the suspension rod 60 is screwed off to complete the fixation. After the fixation is completed, the machine head 50 only needs to move a short distance toward the middle along the length direction of the moving slide 10 on the side of the suspension rod 60, so that the suspension rod 60 can leave the material inlet and outlet 101 and be separated from the open-ended wrench 52. In this way, it is not necessary to rely on the lowering of the lifting unit 200 and the walking of the chassis to separate the suspension rod 60, and the process is simpler and more effective.

[0097] In summary, the dual-rod installation mechanism 1000 of this application relies on linear module units to drive the machine head 50 to move separately, and can drive the linear module units to move through the linear drive assembly 40. It can adapt to different installation ranges, and through the automated drilling and nailing of the rods 60 by the machine head 50, the automated installation of the rods 60 can be achieved without manual drilling and installation, which improves work efficiency, reduces labor costs, and avoids the risks of working at heights. When combined with the chassis to form a robot, the level of automation can be further improved, and the efficient installation of the rods 60 can be achieved.

[0098] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A double-rod installation mechanism, characterized in that, include: Movable slide table; A linear module unit, comprising a first linear module and a second linear module, wherein both the first linear module and the second linear module are disposed on the movable slide; A linear drive assembly, which is disposed on the movable slide and is capable of driving the first linear module and the second linear module to move along the movable slide; as well as The machine head is provided on both the first linear module and the second linear module and can drive the corresponding machine head to move parallel to the moving slide. The machine head is used to install the lifting rod on the work object. The first linear module and the second linear module are symmetrically arranged, with the length direction of the movable slide as the preset direction. The first linear module and the second linear module can move away from or towards each other along the preset direction. The machine heads respectively arranged on the first linear module and the second linear module can also move away from or towards each other along the preset direction. The linear module unit is disposed on the upper side of the movable slide, and the linear drive assembly is disposed on the lower side of the movable slide.

2. The double-rod installation mechanism according to claim 1, characterized in that, The movable slide includes a track base, linear rails, and module connecting plates. The linear rails are arranged along the length of the track base, and the module connecting plates are slidably disposed on the linear rails. The first linear module and the second linear module are respectively disposed on the corresponding module connecting plates.

3. The double-rod installation mechanism according to claim 1, characterized in that, The dual-rod mounting mechanism includes a side support frame. The side support frame is provided at the end of the first linear module away from the second linear module and at the end of the second linear module away from the first linear module. The side support frame extends upward relative to the movable slide.

4. The double-rod installation mechanism according to claim 3, characterized in that, The dual-rod mounting mechanism includes an intermediate support frame, which spans above the movable slide table and is located at the ends of the first linear module and the second linear module that are close to each other.

5. The double-rod installation mechanism according to claim 1, characterized in that, The machine head includes an outward push component and a machine head body. The machine head body is disposed at the output end of the outward push component. The output ends of the first linear module and the second linear module are both connected to the corresponding outward push component of the machine head. The driving direction of the outward push component is transverse and perpendicular to the driving directions of the first linear module and the second linear module.

6. The double-rod installation mechanism according to claim 1, characterized in that, The machine head includes an open-end wrench for clamping the lifting rod. The open-end wrench has a material inlet and outlet, and the feeding direction of the material inlet and outlet is parallel to the length direction of the moving slide.

7. The double-rod installation mechanism according to claim 6, characterized in that, The machine head includes a lifting drive component, a turning component, a mounting plate, and a striking component. The lifting drive component is connected to the output end of the first linear module or the second linear module. The mounting plate is disposed at the output end of the lifting drive component. The open-end wrench and the striking component are both disposed on the mounting plate. The turning component is throttledly connected to the open-end wrench to turn the boom held by the open-end wrench. The striking component can strike the boom held by the open-end wrench upwards.

8. The double-rod installation mechanism according to claim 7, characterized in that, Both the mounting plate and the striking assembly are provided with clearance portions corresponding to the material inlet and outlet, so as to form a channel for the boom to enter and exit together with the material inlet and outlet.

9. The double-rod installation mechanism according to claim 1, characterized in that, The dual-rod mounting mechanism also includes a lidar, which is connected to the movable slide and can detect the spatial position and attitude of the movable slide.

10. A robot, characterized in that, include: Chassis; as well as The double-rod mounting mechanism according to any one of claims 1-9 is disposed on the chassis.

11. A method for installing a suspension rod, characterized in that, The method utilizes the dual-rod mounting mechanism according to any one of claims 1-9, wherein the machine head of the dual-rod mounting mechanism includes an outward pushing member and a machine head body, the linear module unit is connected to the outward pushing member and drives the outward pushing member to translate in the left-right direction, the outward pushing member is connected to the machine head body and drives the machine head body to translate in the front-back direction, and the machine head body is capable of drilling holes. The method includes an obstacle avoidance step: When the drilling of the machine head body at the first point is blocked, the outward pushing component drives the machine head body to move forward to the second point; When the head body encounters resistance while drilling at the second point, the linear module unit drives the outward pushing component to move the head body to the right to the third point. When the main body of the machine head encounters resistance while drilling at the third point, the outward pushing component drives the main body of the machine head to move backward to the fourth point.

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