An intelligent building construction device

Abstract

The application discloses a kind of building intelligent construction equipment, including realizing each construction work step respectively corresponding automatic mechanical hand device, it is characterized in that, still include the vertical support bracket being located in the building to be built around side setting, vertical support bracket upper end between horizontal erection has a load-bearing plate, load-bearing plate is provided with the guide rail path with longitudinal and transverse interlaced guide rail travel system, guide rail travel system includes multiple controlled longitudinal and transverse movement mobile base, the automatic mechanical hand device each downward hoist in corresponding mobile base.This application can be used to realize the automation construction of house building, it is convenient to better realize the overall management and control to each process robot, can better improve the automation degree and efficiency of house building.

Description

Technical Field

[0001] This invention relates to the field of building construction and assembly technology, and specifically to an intelligent building construction equipment. Background Technology

[0002] Intelligent construction refers to a housing construction method that fully utilizes intelligent and related technologies during the construction process. By applying intelligent systems and employing automated machinery, the level of intelligence in the construction process is improved, reliance on human labor is reduced, and the goal of safe construction is achieved, thereby increasing the cost-effectiveness and reliability of buildings. For example, prefabricated buildings typically employ intelligent construction methods.

[0003] Prefabricated construction refers to transferring a large amount of on-site work from traditional construction methods to factories. Building components and accessories (such as floor slabs, wall panels, stairs, balconies, etc.) are prefabricated in factories, transported to the construction site, and assembled on-site using reliable connection methods. With the development of prefabricated construction, prefabricated components are gradually becoming modular and standardized, and the construction process is increasingly achieving fully dry construction. Furthermore, with the development of information technology, the measurement and detection accuracy of intelligent equipment such as sensors, drones, and multi-joint robotic arms has been greatly improved, laying the foundation for the automated and intelligent construction of prefabricated buildings. Currently, most prefabricated buildings are low-rise; in the future, with the development of new materials and the optimization of structural nodes, they will inevitably evolve towards high-rise buildings.

[0004] However, whether it's prefabricated construction or other structural buildings, construction typically involves both internal and external work simultaneously, such as wall panel installation, tile laying, wall plastering, and exterior decoration. In current intelligent construction, these steps are handled by mature robotic arms, but different robots often work alternately to complete specific installation tasks. For example, transport robots, wall panel installation robots, tile laying robots, and plastering robots are all designed for specific installation tasks, individually controlled, and perform single functions. Their system integration and overall coordination are poor, making it difficult to achieve comprehensive building construction, and human intervention remains significant.

[0005] With the standardization and modularization of prefabricated building components, the future will inevitably see fully automated and intelligent building construction, much like the assembly line manufacturing of automobiles. Therefore, there is a need to design intelligent building construction equipment that can conveniently and effectively manage and control robots at each stage of the process, thereby improving the efficiency of building construction. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is: how to provide a building intelligent construction equipment that can conveniently and better realize the overall management and control of robots in various processes, so as to better improve the automation level and efficiency of building construction.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] An intelligent building construction equipment includes automated robotic arms for each construction step. It is characterized by further including vertical support brackets located around the perimeter of the building to be constructed. A bearing plate is horizontally mounted between the upper ends of the vertical support brackets, positioned above the building. A guide rail system with crisscrossing guide rail paths is mounted on the bearing plate. The guide rail system includes multiple controllable movable bases, each of which is suspended downwards from its corresponding movable base.

[0009] In this way, the equipment will enable each automated robotic arm device for each construction step to be hoisted onto a guide rail system horizontally set above the building. It can be controlled to move to the corresponding work position to complete each construction step. This will enable better overall management and control of the robots in each process, and better improve the degree of automation and efficiency of construction.

[0010] Furthermore, the vertical support bracket is a tower crane bracket with a self-climbing function.

[0011] In this way, the vertical support frame can be raised layer by layer as the building is constructed, enabling the building to be constructed in multiple layers upwards.

[0012] Furthermore, a wall-connecting support is horizontally provided on the inner side of the vertical support bracket, and the inner end of the wall-connecting support is used to contact and support the outer surface of the constructed wall.

[0013] This ensures better stability of the vertical support frame.

[0014] Furthermore, a material platform is also provided on the upper part of the vertical support frame near the bearing plate.

[0015] This allows construction materials to be temporarily placed on the material platform.

[0016] Furthermore, the automated robotic arm device includes, but is not limited to, a robotic arm for stacking building components, a robotic arm for bolt installation, a robotic arm for automatic welding, and a robotic arm for wall decoration.

[0017] In this way, all steps and processes of building construction can be realized. Specifically, each robotic arm device itself is a mature existing technology. The structure typically includes a mounting base, a large arm rotatably mounted on the mounting base, a small arm rotatably mounted on the large arm, and an actuator mounted at the end of the small arm to achieve three-dimensional movable operation. Its specific structure is existing technology and will not be described in detail here.

[0018] Furthermore, the vertical support brackets are arranged in rows on the left and right and are set opposite each other in pairs. Between the upper ends of each pair of opposite vertical support brackets, there is an upwardly protruding arc-shaped hanger. The hanger is connected with downward hanging rods at even intervals below, and the lower end of the hanging rods is fixed downward to the upper surface of the bearing plate.

[0019] This is because the load-bearing plate is horizontally mounted on top of the vertical support, and during operation, a movable base on the load-bearing plate moves the robotic arm on it, generating a large downward unbalanced load. This load, when transmitted to the fixed installation positions at both ends of the load-bearing plate, can easily cause damage to the ends, leading to a safety accident. Therefore, by adding an arc-shaped hanger and rod, the unbalanced gravity load on the load-bearing plate is transmitted to the hanger via the guide rod, and then, relying on the arc-shaped structure of the hanger, the load force is directly transmitted vertically downward from both ends of the hanger to the vertical support frame, where it is offset by the ground's supporting force. This greatly improves the stability and reliability of the guide rail travel system, and increases the system's safety factor.

[0020] Furthermore, the guide rail walking system includes multiple support columns fixed vertically downward below the support plate and arranged in a rectangular array. A rectangular track plate is horizontally fixed at the lower end of each support column on the same horizontal plane. The track plates are provided with equal-width walking gaps to form a grid-like guide rail path with crisscrossing arrangement. The movable base is fitted above the track plate and is equipped with a walking device to drive it to move along the guide rail path. The width of the movable base is smaller than the distance between adjacent support columns so that it is not restricted by the support columns when moving along the guide rail path. A connecting column is vertically arranged downward at the middle of the lower surface of the movable base. The connecting column passes downward through the walking gap between each track plate and is equipped with a corresponding automated robotic arm device.

[0021] In this way, the upper surface of the track plate forms a bearing surface, and the movable base can move along the guide rail path by relying on the walking device. The guide rail path itself is arranged in a crisscross pattern, so the automated robotic arm device corresponding to each step can be moved to the corresponding position to realize the construction operation, so that the automated robotic arm devices in each position can work synchronously, which greatly improves the efficiency of house construction.

[0022] Furthermore, the movable base and the adjacent support columns are in a clearance sliding fit.

[0023] This way, the moving base will not generate resistance when it moves, and when the robotic arm is working, it can rely on the support columns on both sides of the moving base to achieve limit and provide support torque, preventing the moving base from twisting and ensuring the stability of the robotic arm.

[0024] Furthermore, the lower surface of the track slab is equipped with reinforcing ribs to further enhance its structural strength and improve support reliability.

[0025] Furthermore, the walking device includes four rows of rectangularly arranged support wheels located on the front and rear sides and left and right sides of the support column on the lower surface of the movable base. The lower ends of the support wheels are in contact with the upper surface of the track plate on both sides of the walking gap. Each row has no less than three support wheels, and the distance between two adjacent support wheels is greater than the width of the walking gap. The walking device also includes a horizontally rotatable steering wheel located on the upper surface of the movable base. The steering wheel is connected to a steering motor and can be controlled by it to turn. A drive wheel is mounted upward on the upper end of the steering wheel. The drive wheel is connected to a drive motor, and the upper end of the drive wheel is in pressure contact with the lower surface of the support plate to achieve driving.

[0026] By positioning the drive wheels at the top, and controlling the direction via the steering wheel, the structure is not only simpler but also ensures continuous contact between the drive wheels and the lower surface of the support plate for propulsion. This prevents the drive wheels from falling into the travel gaps and stopping if positioned at the bottom. The lower support wheels only provide auxiliary support for movement. Their arrangement in rows with a spacing greater than the width of the travel gaps ensures the mobile base can pass smoothly through these gaps without jamming or getting stuck. This guarantees the reliability and stability of the mobile base's drive control.

[0027] Furthermore, the drive wheels and steering wheel are mounted together via a flexible mounting bracket.

[0028] In this way, an upward preload can be applied to the drive wheel through the flexible mounting bracket, ensuring reliable contact between the drive wheel and the lower surface of the support plate, and ensuring reliable driving performance.

[0029] Furthermore, a pressure sensor and an upward pressure device are installed between the mounting bracket and the steering wheel. This allows the upward pressure device to actively apply pressure when insufficient upward pressure is detected on the drive wheels, adjusting and maintaining the pressure between the drive wheels and the lower surface of the support plate within a suitable range to ensure the stability and reliability of the driving effect.

[0030] Furthermore, the support wheels are omnidirectional wheels. This makes steering control easier, ensuring that all support wheels in contact with the upper surface of the track plate rotate in the same direction when the mobile base moves, thus better guaranteeing the smooth movement of the mobile base.

[0031] Furthermore, the lower surface of the support plate is roughened. This allows for better rolling friction on the drive wheels, preventing slippage.

[0032] Furthermore, the support columns have a rectangular horizontal cross-section, and the spacing between any adjacent support columns is equal. Each support column surface is provided with a contact coil for conducting electricity. The contact coil is connected to the power grid. Elastic power-receiving rods extend obliquely outward and upward from the four corners of the upper surface of the movable base. The top of each elastic power-receiving rod has a power-receiving end that is in pressure contact with the contact coil and conducts electricity. The elastic power-receiving rods are electrically connected to the drive motor, steering motor, and automated robotic arm device (to provide power). The distance between the power-receiving ends of two elastic power-receiving rods on the same side is greater than the distance between adjacent support columns. Automated robotic arm device.

[0033] In this way, by using two pairs of oppositely positioned elastic current-receiving rods, it can be ensured that at least one pair of elastic current-receiving rods is in contact with the contact coil and receiving electricity during the movement of the mobile base. This contact-based power receiving method not only avoids the potential for power outages and shutdowns that are common with battery-powered systems, thus maintaining operational continuity, but also ensures that the mobile base always moves in a position directly facing the center of the guide rail path, and that the connecting post at the lower end of the mobile base is always centered within the travel clearance. This prevents contact with the side of the track plate during movement and turning, avoiding jamming or obstruction, and better guaranteeing the smoothness and reliability of the equipment's operation.

[0034] Furthermore, the elastic current receiving rod is an arc shape that bends outward and downward. A contact pressure roller made of conductive material is provided on the outward and downward side of the upper end of the elastic current receiving rod to form a receiving end. An arc-shaped groove is provided above the outer edge of the contact coil. The arc-shaped groove is used to make contact with the contact pressure roller for conducting electricity. When the elastic current receiving rod is not under force, the contact pressure roller extends outward beyond the arc-shaped groove by a distance smaller than the radius of the contact pressure roller.

[0035] In this way, after the elastic current-receiving rod passes through the gap between the support columns, its own elasticity and the action of the contact pressure roller allow it to be bent, enabling the contact pressure roller to smoothly enter the arc-shaped groove of the contact coil on the surface of the next support column, forming a tight contact fit. This completes the smooth transition between gaps. Simultaneously, the elasticity generated by the elastic rod's own arc bending helps maintain the moving base in the center between the two support columns during movement, ensuring that the connecting column at the lower end of the moving base is centered in the movement gap without jamming. Furthermore, the rounded corners of the contact coil on the support column surface reduce collisions when the contact pressure roller enters the arc-shaped groove of the contact coil, resulting in a smoother fit. The contact pressure roller can be made of metal or graphite to ensure conductivity.

[0036] Furthermore, the support plate is assembled from multiple support plate blocks, with at least one suspension rod installed above each block. Each support plate block, its supporting column, and the corresponding track plate connected to that column constitute an independent integrated unit module. These integrated unit modules are then joined together using splicing structures (such as mortise and tenon joints) along the periphery of the support plate. This facilitates the assembly of multiple integrated unit modules to form a guide rail system that matches the plan shape of the building under construction, improving the equipment's versatility in the construction of various building structures.

[0037] In summary, this invention can be used to realize the automated construction of buildings, facilitate better overall management and control of robots in each process, and improve the automation level and efficiency of building construction. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of the device of the present invention.

[0039] Figure 2 This is a schematic diagram of the guide rail walking system of the device of the present invention.

[0040] Figure 3 This is a bottom-view structural diagram of the guide rail walking system of the device of the present invention.

[0041] Figure 4 This is a schematic diagram of the structure of the elastic current receiving rod and the contact coil. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to specific embodiments.

[0043] Implementation method:

[0044] See Figure 1-4 An intelligent building construction equipment includes an automated robotic arm device 1 that realizes each construction step, and a vertical support bracket 2 set around the perimeter of the building to be constructed. A bearing plate 3 is horizontally erected between the upper ends of the two rows of vertical support brackets 2 and located above the building to be constructed. A guide rail walking system with crisscrossing guide rail paths 4 is set on the bearing plate 3. The guide rail walking system includes multiple movable bases 5 that can be controlled to move in both directions. The automated robotic arm device 1 is suspended downward on the corresponding movable base 5.

[0045] In this way, the equipment will enable each automated robotic arm device for each construction step to be hoisted onto a guide rail system horizontally set above the building. It can be controlled to move to the corresponding work position to complete each construction step. This will enable better overall management and control of the robots in each process, and better improve the degree of automation and efficiency of construction.

[0046] The vertical support bracket 2 is a tower crane bracket with a self-climbing function.

[0047] In this way, the vertical support frame can be raised layer by layer as the building is constructed, enabling the building to be constructed in multiple layers upwards.

[0048] The vertical support bracket 2 is also horizontally provided with a wall-connecting support 6, the inner end of which is used to contact and support the outer surface of the constructed wall.

[0049] This ensures better stability of the vertical support frame.

[0050] Among them, a material platform 7 is also provided on the upper part of the vertical support frame 2 near the bearing plate.

[0051] This allows construction materials to be temporarily placed on the material platform.

[0052] The automated robotic arm device 1 includes, but is not limited to, a robotic arm for stacking building components, a robotic arm for bolt installation, a robotic arm for automatic welding, and a robotic arm for wall decoration.

[0053] In this way, all steps and processes of building construction can be realized. Specifically, each robotic arm device itself is a mature existing technology. The structure typically includes a mounting base, a large arm rotatably mounted on the mounting base, a small arm rotatably mounted on the large arm, and an actuator mounted at the end of the small arm to achieve three-dimensional movable operation. Its specific structure is existing technology and will not be described in detail here.

[0054] The vertical support brackets 2 are arranged in rows on both sides, facing each other. Between the upper ends of each pair of facing vertical support brackets 2, there is an upwardly protruding arc-shaped hanger 8. Evenly spaced downward-facing hanging rods 9 are connected to the lower part of the hanger 8, with the lower ends of the hanging rods 9 fixed downwards to the upper surface of the support plate. Depending on the shape of the building area, the vertical support frame can also be arranged in a ring around the perimeter of the building to be constructed. An inverted bowl-shaped hanger is erected at the upper end of each vertical support bracket, with evenly spaced downward-facing hanging rods connected to the lower part of the hanger, and the lower ends of the hanging rods fixed downwards to the upper surface of the support plate.

[0055] This is because the load-bearing plate is horizontally mounted on top of the vertical support, and during operation, a movable base on the load-bearing plate moves the robotic arm on it, generating a large downward unbalanced load. This load, when transmitted to the fixed installation positions at both ends of the load-bearing plate, can easily cause damage to the ends, leading to a safety accident. Therefore, by adding an arc-shaped hanger and rod, the unbalanced gravity load on the load-bearing plate is transmitted to the hanger via the guide rod, and then, relying on the arc-shaped structure of the hanger, the load force is directly transmitted vertically downward from both ends of the hanger to the vertical support frame, where it is offset by the ground's supporting force. This greatly improves the stability and reliability of the guide rail travel system, and increases the system's safety factor.

[0056] The guide rail walking system includes multiple support columns 10 vertically fixed below the bearing plate 3 and arranged in a rectangular array. Each support column 10 has a rectangular track plate 11 horizontally fixed at its lower end on the same horizontal plane. The track plates 11 are provided with equal-width walking gaps to form a grid-like guide rail path 4. The movable base 5 is fitted above the track plate and is equipped with a walking device to drive it to move along the guide rail path 4. The width of the movable base 5 is smaller than the distance between adjacent support columns 10 so that it is not restricted by the support columns when moving along the guide rail path. A connecting column 12 is vertically set downward at the middle of the lower surface of the movable base. The connecting column 12 passes downward through the walking gap between the track plates and is equipped with a corresponding automated robotic arm device 1.

[0057] In this way, the upper surface of the track plate forms a bearing surface, and the movable base can move along the guide rail path by relying on the walking device. The guide rail path itself is arranged in a crisscross pattern, so the automated robotic arm device corresponding to each step can be moved to the corresponding position to realize the construction operation, so that the automated robotic arm devices in each position can work synchronously, which greatly improves the efficiency of house construction.

[0058] The movable base has a clearance sliding fit with the adjacent support column.

[0059] This way, the moving base will not generate resistance when it moves, and when the robotic arm is working, it can rely on the support columns on both sides of the moving base to achieve limit and provide support torque, preventing the moving base from twisting and ensuring the stability of the robotic arm.

[0060] The lower surface of the track slab 11 is provided with a reinforcing rib structure (not shown in the figure). This improves its structural strength and enhances the reliability of the support.

[0061] The walking device includes four rows of rectangular support wheels 13 located on the front and rear sides and left and right sides of the support column on the lower surface of the mobile base. The lower ends of the support wheels 13 are in contact with the upper surfaces of the track plates 11 on both sides of the walking gap. Each row has no less than three support wheels, and the distance between two adjacent support wheels is greater than the width of the walking gap. The walking device also includes a horizontally rotatable steering wheel 14 located on the upper surface of the mobile base. The steering wheel 14 is connected to a steering motor (not shown in the figure) and can be controlled by it to turn. A drive wheel 15 is mounted upward on the upper end of the steering wheel 14. The drive wheel 15 is connected to a drive motor (not shown in the figure), and the upper end of the drive wheel 15 is in pressure contact with the lower surface of the support plate 3 to achieve driving.

[0062] By positioning the drive wheels at the top, and controlling the direction via the steering wheel, the structure is not only simpler but also ensures continuous contact between the drive wheels and the lower surface of the support plate for propulsion. This prevents the drive wheels from falling into the travel gaps and stopping if positioned at the bottom. The lower support wheels only provide auxiliary support for movement. Their arrangement in rows with a spacing greater than the width of the travel gaps ensures the mobile base can pass smoothly through these gaps without jamming or getting stuck. This guarantees the reliability and stability of the mobile base's drive control.

[0063] In practice, as an alternative structural method for the walking device, the support wheels under the mobile base can be omitted, and the lower surface of the mobile base can be directly connected to the upper surface of the track plate through sliding friction (this structure is simpler, but the lubrication problem is difficult to solve and the friction is greater). Alternatively, a ball bearing device can be installed on the lower surface of the mobile base to roll into contact with the upper surface of the track plate (this eliminates the need for universal wheels, but the implementation is more difficult). The remaining parts of the structure can be the same as the walking device structure described above.

[0064] The drive wheel 15 and the steering wheel 14 are mounted together via a flexible mounting bracket.

[0065] In this way, an upward preload can be applied to the drive wheel through the flexible mounting bracket, ensuring reliable contact between the drive wheel and the lower surface of the support plate, and ensuring reliable driving performance.

[0066] The mounting bracket and steering wheel are equipped with a pressure sensor and an upward pressure device (not shown in the figure). This allows the upward pressure device to actively apply pressure when insufficient upward pressure is detected on the drive wheels, adjusting and maintaining the pressure between the drive wheels and the lower surface of the support plate within a suitable range to ensure the stability and reliability of the driving effect.

[0067] Among them, support wheel 13 is a swivel wheel. This makes steering control more convenient, ensuring that when the mobile base moves, all support wheels in contact with the surface of the track plate rotate in the same direction, thus better ensuring the smooth movement of the mobile base.

[0068] The lower surface of the bearing plate 3 is roughened. This allows for better rolling friction on the drive wheel and prevents slippage.

[0069] The support column 10 has a rectangular horizontal cross-section and the spacing between any adjacent support columns is equal. Each support column has a contact coil 16 for conducting electricity. The contact coil 16 is connected to the power grid. The four corners of the upper surface of the movable base 5 are respectively provided with elastic power receiving rods 17 extending outward and upward. The top of the elastic power receiving rod 17 has a power receiving end that is in pressure contact with the contact coil and conducts electricity. The elastic power receiving rod 17 is electrically connected to the drive motor, the steering motor and the automated manipulator device (to provide power). The distance between the power receiving ends of two elastic power receiving rods on the same side is greater than the distance between adjacent support columns.

[0070] In this way, by using two pairs of oppositely positioned elastic current-receiving rods, it can be ensured that at least one pair of elastic current-receiving rods is in contact with the contact coil and receiving electricity during the movement of the mobile base. This contact-based power receiving method not only avoids the potential for power outages and shutdowns that are common with battery-powered systems, thus maintaining operational continuity, but also ensures that the mobile base always moves in a position directly facing the center of the guide rail path, and that the connecting post at the lower end of the mobile base is always centered within the travel clearance. This prevents contact with the side of the track plate during movement and turning, avoiding jamming or obstruction, and better guaranteeing the smoothness and reliability of the equipment's operation.

[0071] Among them, see Figure 4 The elastic current receiving rod 17 is an arc shape that bends outward and downward. A conductive contact pressure roller 18 is provided on the outward and downward side of the upper end of the elastic current receiving rod to form a receiving end. An arc-shaped groove is provided on the upper outer side of the contact coil 16. The arc-shaped groove is used to make contact with the contact pressure roller 18 for conducting electricity. When the elastic current receiving rod 17 is not under force, the contact pressure roller extends outward beyond the arc-shaped groove by a distance smaller than the radius of the contact pressure roller.

[0072] In this way, after the elastic current-receiving rod passes through the gap between the support columns, its own elasticity and the action of the contact pressure roller allow it to be bent, enabling the contact pressure roller to smoothly enter the arc-shaped groove of the contact coil on the surface of the next support column, forming a tight contact fit. This completes the smooth transition between gaps. Simultaneously, the elasticity generated by the elastic rod's own arc bending helps maintain the moving base in the center between the two support columns during movement, ensuring that the connecting column at the lower end of the moving base is centered in the movement gap without jamming. Furthermore, the rounded corners of the contact coil on the support column surface reduce collisions when the contact pressure roller enters the arc-shaped groove of the contact coil, resulting in a smoother fit. The contact pressure roller can be made of metal or graphite to ensure conductivity.

[0073] The support plate is constructed by assembling multiple support plate blocks. Each support plate block has at least one suspension rod above it. Each support plate block, its supporting column, and the corresponding track plate connected to the supporting column constitute an independent integrated unit module. These integrated unit modules are then joined together using splicing structures (such as mortise and tenon joints) along the periphery of the support plate. This facilitates the assembly of multiple integrated unit modules to form a guide rail system that matches the floor plan of the building under construction, improving the equipment's versatility in the construction of various building structures.

[0074] In addition, during implementation, multiple suspended robotic arms (i.e., automated manipulators) can work together to precisely install building components in designated positions. Many robotic arms travel along preset routes on a grid-like track, completing the installation of building components in different areas. The specific movement paths of the robotic arms and interference issues are resolved through computer software and other means, with careful design, such as using BIM-assisted construction, to ensure that each robotic arm completes component installation in an orderly manner. These control structures are all conventional existing technologies and will not be detailed here. Secondly, considering automated assembly during implementation, the robotic arms' ability to grasp materials or components needs to be taken into account. Therefore, a material stacking platform can be set up around the inner side of the support frame below the scaffold. Each robotic arm moves to the material stacking platform to grasp materials, and then moves along the grid-like track to the installation configuration. Under the control of the computer program, the robotic arms can automatically rotate the components to the accurate position and install them.

[0075] Secondly, regarding material transportation, traditional methods can be used, such as using tower cranes mounted on supports to lift materials from the ground to material stacking platforms. Alternatively, automated conveyor systems can be employed, further achieving unmanned, automated, and intelligent operation.

[0076] In addition, for specific installation monitoring, various sensors can be used to achieve sensing and detection. This can be done by installing 360-degree cameras on the scaffolding, or by using drones to take pictures of the building installation from top to bottom, or by patrolling. The images can be processed by computer, and the installation accuracy of the components can be confirmed or monitored based on information such as the height and angle of the photo points, as well as the projection, edge lines, and contours of the building components. Of course, the images can also be used as auxiliary positioning for the installation of building components to improve installation accuracy and progress detection.

Claims

1. An intelligent building construction equipment, comprising automated robotic arms for each construction step, characterized in that, It also includes vertical support brackets located around the perimeter of the building to be constructed. A bearing plate is horizontally mounted between the upper ends of the vertical support brackets. A guide rail walking system with crisscrossing guide rail paths is set on the bearing plate. The guide rail walking system includes multiple controllable moving bases. Each of the automated robotic arms is suspended downward on its corresponding moving base. The guide rail walking system includes multiple support columns fixed vertically downward below the support plate and arranged in a rectangular array. A rectangular track plate is horizontally fixed at the lower end of each support column on the same horizontal plane. The track plates are provided with equal-width walking gaps to form a grid-like guide rail path with crisscrossing arrangement. The movable base is fitted above the track plate and is equipped with a walking device to drive it to move along the guide rail path. The width of the movable base is smaller than the distance between adjacent support columns so that it is not restricted by the support columns when moving along the guide rail path. A connecting column is vertically arranged downward at the middle of the lower surface of the movable base. The connecting column passes downward through the walking gap between each track plate and is equipped with a corresponding automated robotic arm device. The support column has a rectangular horizontal cross-section and the spacing between any adjacent support columns is equal. Each support column has a contact coil for conducting electricity on its surface. The contact coil is connected to the power grid. The four corners of the upper surface of the movable base are provided with elastic power receiving rods that extend obliquely outward and upward. The top of the elastic power receiving rod has a power receiving end that is in pressure contact with the contact coil and conducts electricity. The elastic power receiving rod is electrically connected to the drive motor, the steering motor, and the automated manipulator. The distance between the power receiving ends of two elastic power receiving rods on the same side is greater than the distance between adjacent support columns. The elastic power receiving rod is an arc shape that bends outward and downward. A contact pressure roller made of conductive material is provided on the outward and downward side of the upper end of the elastic power receiving rod to form a power receiving end. An arc-shaped groove is provided above the outer edge of the contact coil. The arc-shaped groove is used to make contact with the contact pressure roller for conduction. When the elastic power receiving rod is not under force, the contact pressure roller extends outward beyond the arc-shaped groove by a distance smaller than the radius of the contact pressure roller.

2. The intelligent building construction equipment as described in claim 1, characterized in that, The vertical support bracket is a tower crane bracket with self-climbing function.

3. The intelligent building construction equipment as described in claim 1, characterized in that, The vertical support bracket is also horizontally provided with a wall-connecting support member, the inner end of which is used to contact and support the outer surface of the constructed wall.

4. The intelligent building construction equipment as described in claim 1, characterized in that, A material platform is also provided on the upper part of the vertical support bracket near the bearing plate.

5. The intelligent building construction equipment as described in claim 1, characterized in that, The automated robotic arm device includes a robotic arm for stacking building components, a robotic arm for bolt installation, a robotic arm for automatic welding, and a robotic arm for wall decoration.

6. The intelligent building construction equipment as described in claim 1, characterized in that, The vertical support brackets are arranged in rows on the left and right and are set opposite each other in pairs. Each pair of opposite vertical support brackets is also equipped with an upward-protruding arc-shaped hanger at the top. The hangers are evenly spaced and connected to downward hanging rods. The lower end of the hanging rods is fixed downward to the upper surface of the bearing plate.

7. The intelligent building construction equipment as described in claim 1, characterized in that, The lower surface of the track slab is equipped with reinforcing ribs.

8. The intelligent building construction equipment as described in claim 1, characterized in that, The walking device includes four rows of rectangularly arranged support wheels located on the front and rear sides and left and right sides of the support column on the lower surface of the movable base. The lower ends of the support wheels are in contact with the upper surface of the track plate on both sides of the walking gap. Each row has no less than three support wheels, and the distance between two adjacent support wheels is greater than the width of the walking gap. The walking device also includes a horizontally rotatable steering wheel located on the upper surface of the movable base. The steering wheel is connected to a steering motor and can be controlled by it to turn. A drive wheel is mounted upward on the upper end of the steering wheel. The drive wheel is connected to a drive motor, and the upper end of the drive wheel is in pressure contact with the lower surface of the support plate to achieve drive.

9. The intelligent building construction equipment as described in claim 8, characterized in that, The drive wheels and steering wheel are mounted together via a flexible mounting bracket; The support wheels are swivel wheels.

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