A mobile robot for wave plate laying and a working method thereof

Abstract

The application discloses a mobile robot for corrugated plate laying and a working method thereof, and relates to the technical field of laying corrugated plates on H-shaped steel. The mobile robot comprises a walking mechanism, a mechanical arm arranged on the walking mechanism, and a grabbing mechanism arranged on an execution end of the mechanical arm and used for grabbing the corrugated plate. The walking mechanism comprises a bottom frame, a reducer I fixed to the rear side of the bottom frame, and two reducers II. The top of the reducer I is fixed with a driving motor. The driving motor is connected with an input shaft of the reducer I. Two transmission shafts are respectively connected with input shafts of the two reducers II. Output shafts located at the front sides of the two reducers II are all connected with screws. The two screws are all rotationally installed on the front side of the bottom frame. The mobile robot has the advantages of compact structure, greatly improved corrugated plate laying efficiency, reduced work intensity of workers, and high automation degree.

Description

Technical Field

[0001] This invention relates to the technical field of laying corrugated plates on H-beams, and in particular to a mobile robot for laying corrugated plates and its working method. Background Technology

[0002] The construction process of a bridge is as follows: First, two concrete piers are constructed on the foundation. Then, parallel H-beams are erected between the piers. Next, multiple corrugated plates are laid along the length of the two H-beams. Finally, concrete pouring is carried out, thus completing the construction of a bridge section. The structure of the corrugated plates is as follows: Figure 1 As shown, it includes a plate body, with baffles 31 welded to both long edges of the plate body. To complete the laying of the corrugated plate, a crane is currently used to lift the corrugated plate onto the H-beams. The specific operation method is as follows: the crane operator operates the crane's telescopic boom to lift the corrugated plate from the ground, and then a worker standing at a high position directs the crane operator to ensure that the lifted plate is laid between the two H-beams, thus completing the laying of the first corrugated plate. This operation is repeated to fill the space between the two H-beams with corrugated plates.

[0003] However, while hoisting can achieve the installation of corrugated panels, the following technical drawbacks still exist in actual use:

[0004] I. The time required from hoisting the corrugated sheet to laying it is long, resulting in a long laying time for a single sheet, while the number of sheets to be laid is large, which undoubtedly increases the laying efficiency. II. Multiple workers are needed to work together to complete the laying of a single corrugated sheet, which undoubtedly increases the workload of the workers. Therefore, there is an urgent need for a mobile robot and its working method that can greatly improve the laying efficiency of corrugated sheets and reduce the workload of workers. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a mobile robot and its working method for corrugated board laying that is compact in structure, greatly improves the efficiency of corrugated board laying, reduces the labor intensity of workers, and has a high degree of automation.

[0006] The objective of this invention is achieved through the following technical solution: a mobile robot for laying corrugated plates, comprising a walking mechanism, a robotic arm mounted on the walking mechanism, and a gripping mechanism for gripping corrugated plates mounted on the execution end of the robotic arm. The walking mechanism comprises a base frame, a reducer I and two reducers II fixed to the rear side of the base frame. A drive motor is fixed to the top of the reducer I and is connected to the input shaft of the reducer I. A transmission shaft is connected to the output shaft on the left and right sides of the reducer I. The two transmission shafts are respectively connected to the input shafts of the two reducers II. A lead screw is connected to the output shaft on the front side of the two reducers II. The two lead screws are rotatably mounted on the front side of the base frame.

[0007] Two arched beams are set between the two lead screws. The left and right ends of the arched beams are threaded to the two lead screws. Turntables are rotatably mounted on the bottom surfaces of the left and right ends of the arched beams. Driven wheels supported on the ground are fixed on the bottom surfaces of the turntables. Vertical steering wheel assemblies are set on the two arched beams. The driving wheel of the vertical steering wheel assembly is supported on the ground, and the driving wheel and the driven wheel are arranged parallel to each other.

[0008] Two guide rods are fixed between the front and rear sides of the bottom frame. The guide rods are located below the lead screw and pass through the arched beam.

[0009] Nuts are fixed on the inner walls of the left and right ends of the arched beam, and the two nuts are threaded onto the two lead screws respectively.

[0010] A shelf for storing corrugated plates is fixed to the upper right side of the bottom frame.

[0011] The mounting plate of the vertical steering wheel assembly located on the front side is positioned directly below the arched end of the arched beam. The servo motor and travel motor of the vertical steering wheel assembly are positioned above the mounting plate, and the drive wheel of the vertical steering wheel assembly is positioned below the mounting plate. A connecting rod is hinged between the mounting plate and the arched end of the arched beam. An annular plate is fixed to the upper end of the connecting rod, and a spring is sleeved on the connecting rod. One end of the spring is fixed to the annular plate, and the other end is fixed to the top surface of the mounting plate. Under the elastic force of the spring, the drive wheel is in close contact with the ground. The vertical steering wheel assembly is equipped with a steering mechanism for driving the driven wheels to turn. The steering mechanism includes a steering cylinder and a steering rod. The two ends of the steering rod are respectively hinged to the turntables of the two driven wheels, and the piston rod of the steering cylinder is fixed to the steering rod.

[0012] The gripping mechanism includes a suction cup, an electromagnet, and an annular seat fixed to the bottom of the actuator end of the robotic arm. The suction cup is fixed to the bottom of the annular seat. Electromagnets are fixed to the bottom surface of the suction cup and at its four corners. Two double-acting electric cylinders are fixed to the bottom surface of the suction cup between the two electromagnets on the front side and the two electromagnets on the rear side. Rubber pressure heads are fixed to the working ends of the two piston rods of the double-acting electric cylinders.

[0013] A battery is fixed on the top surface of the base frame. The battery is connected to the robotic arm, walking motor, servo motor, and electromagnet. The robot also includes a remote controller, which is connected to the servo motor, walking motor, drive motor, robotic arm, and steering cylinder.

[0014] A method for operating a mobile robot for laying corrugated sheets includes the following steps:

[0015] S1. Adjustment of the distance between the two drive wheels: The worker first measures the distance between the two H-beams, and then controls the drive motor to start via the remote controller. The torque of the drive motor is reduced by reducer I and drives the two transmission shafts to rotate. The torque of the two transmission shafts is reduced by reducer II and drives the two lead screws to rotate. With the cooperation of the lead screws and nuts, the nuts drive the arch beams to move along the length of the lead screws. The two arch beams move in opposite directions, and the arch beams drive the vertical steering wheel assemblies on their respective assemblies to move in opposite directions, which in turn drives the two drive wheels to move in opposite directions. When the distance between the two drive wheels is measured to be equal to the distance between the two H-beams, the drive motor is controlled to shut down.

[0016] S2. Stack multiple corrugated plates inside the plate frame, and then use a crane to lift the entire mobile robot onto the top surface of a pier. At this time, the two driving wheels and four driven wheels of the mobile robot are supported on the top surface of the pier A.

[0017] S3. Control the start of the walking motor of the two vertical steering wheel assemblies. The walking motor drives the drive wheel to rotate on the vertical plane. The drive wheel drives the entire mobile robot to walk. The two drive wheels travel on the top surface of the two H-beams respectively, and then the driven wheel travels on the H-beams.

[0018] S4. The laying of the first corrugated plate includes the following steps:

[0019] S41. After the entire mobile robot has been moving for a period of time, the walking motors of the two vertical steering wheel assemblies are turned off by the remote controller, the drive wheel stops rotating, and the entire mobile robot stops moving. Then, the robotic arm is controlled to move. The actuator of the robotic arm drives the gripping mechanism to move towards the top corrugated plate, ensuring that the two double-acting electric cylinders are respectively inserted into the two grooves of the corrugated plate, and at the same time ensuring that the two longitudinal electromagnets are respectively in contact with the two protrusions of the corrugated plate. After they are in place, the switch between the control power supply and the electromagnet is turned on. After the electromagnet is energized, the electromagnet will attract the corrugated plate.

[0020] S42. After adsorption, the piston rod of the double-acting electric cylinder is extended, and the piston rod drives the rubber pressure head to extend. The rubber pressure head abuts against the baffle of the corrugated plate to achieve secondary fixation of the corrugated plate.

[0021] S43. After the corrugated plate is adsorbed and fixed, the robotic arm is controlled to move so that the gripped corrugated plate is laid between the two H-beams, thus realizing the laying of the first corrugated plate.

[0022] S5. Continue to control the start of the walking motor of the two vertical steering wheel assemblies. The walking motor drives the drive wheel to continue to rotate. When the entire mobile robot moves to the next laying station, repeat the operation of steps S4 to S5 to lay the second corrugated plate between the two H-beams. Repeat this operation to fill the space between the two H-beams with corrugated plates.

[0023] S6. When the entire mobile robot moves to the top surface of the pier B, the servo motor controlling the two vertical steering wheel assemblies is activated. The servo motor drives the drive wheel to turn 90° on the horizontal plane, thus realizing the steering of the drive wheel. Then, the piston rod of the steering electric cylinder is extended, the piston rod drives the steering rod to move, the steering rod drives the two turntables to rotate, and the turntables drive the driven wheel to rotate synchronously. When the piston rod of the steering electric cylinder is fully extended, the driven wheel turns 90° on the horizontal plane, thus realizing the steering of the driven wheel. At this time, the driven wheel is in the same direction as the drive wheel.

[0024] S7. Start the walking motor of the vertical steering wheel assembly. The walking motor drives the drive wheel to rotate. The drive wheel drives the entire mobile robot to move laterally along the pier B. When the entire mobile robot moves to the next two H-beams, first control the walking motor to turn off, then control the servo motor to start. The servo motor drives the drive wheel to reset its direction. Then control the piston rod of the steering cylinder to retract. The piston rod drives the steering rod to reset, the steering rod drives the turntable to reset, and the turntable drives the driven wheel to reset its direction. At this time, the driven wheel and the drive wheel are aligned again. The two drive wheels are opposite to the other two H-beams respectively. Repeat the operation of steps S3 to S5 to fill the space between the other two H-beams with corrugated plates.

[0025] The present invention has the following advantages: it has a compact structure, greatly improves the efficiency of corrugated plate laying, reduces the labor intensity of workers, and has a high degree of automation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the corrugated plate structure;

[0027] Figure 2 This is a schematic diagram of the structure of the present invention;

[0028] Figure 3 This is a schematic diagram showing the connection between the base frame, threaded rod, and arched beam.

[0029] Figure 4 This is a schematic diagram of the arch beam structure;

[0030] Figure 5This is a schematic diagram showing the connection between the vertical steering wheel assembly and the arched beam.

[0031] Figure 6 for Figure 5 A bottom view;

[0032] Figure 7 This is a structural schematic diagram of the vertical steering wheel assembly;

[0033] Figure 8 This is a schematic diagram showing the connection between the gripping mechanism and the robotic arm;

[0034] Figure 9 for Figure 8 A schematic diagram of direction A;

[0035] Figure 10 A schematic diagram of the gripping mechanism gripping the corrugated plate;

[0036] Figure 11 A schematic diagram for laying corrugated plates;

[0037] In the diagram, 1-walking mechanism, 2-robotic arm, 3-actuator, 4-gripping mechanism, 5-base frame, 6-reducer I, 7-reducer II, 8-drive motor, 9-drive shaft, 10-lead screw, 11-arch beam, 12-turntable, 13-driven wheel, 14-guide rod, 15-nut, 16-plate frame, 17-connecting rod, 18-mounting plate, 19-servo motor, 20-steering cylinder, 21-steering rod, 22-drive wheel, 23-ring plate, 24-spring, 25-suction cup, 26-electromagnet, 27-ring seat, 28-double-acting cylinder, 29-rubber pressure head, 30-battery, 31-baffle, 32-corrugated plate, 33-H-beam, 34-walking motor. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings. The scope of protection of the present invention is not limited to the following description:

[0039] like Figures 1-9As shown, a mobile robot for laying corrugated plates includes a walking mechanism 1, a robotic arm 2 mounted on the walking mechanism 1, and a gripping mechanism 4 for gripping corrugated plates mounted on the execution end 3 of the robotic arm 2. The walking mechanism 1 includes a base frame 5, a reducer I6 and two reducers II7 fixed to the rear side of the base frame 5. A drive motor 8 is fixed to the top of the reducer I6 and is connected to the input shaft of the reducer I6. A transmission shaft 9 is connected to the output shaft on the left and right sides of the reducer I6. The two transmission shafts 9 are respectively connected to the input shafts of the two reducers II7. A lead screw 10 is connected to the output shaft on the front side of the two reducers II7. The two lead screws 10 are rotatably mounted on the front side of the base frame 5. A plate rack 16 for storing corrugated plates is fixed to the upper right side of the base frame 5. Two guide rods 14 are fixed between the front and rear sides of the base frame 5. The guide rods 14 are located below the lead screws 10 and pass through the arched beam 11. The gripping mechanism 4 includes a suction cup 25, an electromagnet 26, and an annular seat 27 fixed to the bottom of the execution end 3 of the robotic arm 2. The suction cup 25 is fixed to the bottom of the annular seat 27. Electromagnets 26 are fixed to the bottom surface of the suction cup 25 and at its four corners. Two double-acting electric cylinders 28 are fixed to the bottom surface of the suction cup 25 between the two front electromagnets 26 and the two rear electromagnets 26. Rubber pressure heads 29 are fixed to the working ends of the two piston rods of the double-acting electric cylinders 28.

[0040] Two arched beams 11 are arranged between the two lead screws 10. The left and right ends of the arched beams 11 are threaded to the two lead screws 10. Turntables 12 are rotatably mounted on the bottom surfaces of the left and right ends of the arched beams 11. Driven wheels 13 supported on the ground are fixed on the bottom surfaces of the turntables 12. Vertical steering wheel assemblies are arranged on the two arched beams 11. The driving wheel 22 of the vertical steering wheel assembly is supported on the ground, and the driving wheel 22 is arranged parallel to the driven wheel 13. Nuts 15 are fixed on the inner walls of the left and right ends of the arched beams 11. The two nuts 15 are threaded to the two lead screws 10 respectively.

[0041] The mounting plate 18 of the vertical steering wheel assembly located on the front side is positioned directly below the arched end of the arched beam 11. The servo motor 19 and the travel motor 34 of the vertical steering wheel assembly are positioned above the mounting plate 18. The drive wheel 22 of the vertical steering wheel assembly is positioned below the mounting plate 18. A connecting rod 17 is hinged between the mounting plate 18 and the arched end of the arched beam 11. An annular plate 23 is fixed to the upper end of the connecting rod 17. A spring 24 is sleeved on the connecting rod 17. One end of the spring 24 is fixed to the annular plate 23, and the other end is fixed to the top surface of the mounting plate 18. Under the elastic force of the spring 24, the drive wheel 22 is in close contact with the ground. The vertical steering wheel assembly is provided with a steering mechanism for driving the driven wheel 13 to turn. The steering mechanism includes a steering cylinder 20 and a steering rod 21. The two ends of the steering rod 21 are respectively hinged to the turntables 12 of the two driven wheels 13. The piston rod of the steering cylinder 20 is fixed to the steering rod 21.

[0042] A battery 30 is fixed on the top surface of the bottom frame 5. The battery 30 is connected to the robotic arm 2, the walking motor 34, the servo motor 19, and the electromagnet 26. The robot also includes a remote controller, which is connected to the servo motor 19, the walking motor 34, the drive motor 8, the robotic arm 2, and the steering cylinder 20.

[0043] A method for operating a mobile robot for laying corrugated sheets includes the following steps:

[0044] S1. Adjustment of the distance between the two drive wheels 22: The worker first measures the distance between the two H-beams 33, and then controls the drive motor 8 to start via the remote controller. The torque of the drive motor 8 is reduced by the reducer I6 and drives the two transmission shafts 9 to rotate. The torque of the two transmission shafts 9 is reduced by the reducer II7 and drives the two lead screws 10 to rotate. With the cooperation of the lead screw 10 and the nut 15, the nut 15 drives the arch beam 11 to move along the length of the lead screw 10. The two arch beams 11 move relative to each other or in opposite directions. The arch beams 11 drive the vertical steering wheel assemblies on their respective arch beams to move relative to each other or in opposite directions, which in turn drives the two drive wheels 22 to move relative to each other or in opposite directions. When the distance between the two drive wheels 22 is measured to be equal to the distance between the two H-beams 33, the drive motor 8 is controlled to shut down.

[0045] S2. Stack multiple corrugated plates 32 inside the frame 16, and then use a crane to lift the entire mobile robot onto the top surface of a pier. At this time, the two active wheels 22 and four driven wheels 13 of the mobile robot are supported on the top surface of the pier A.

[0046] S3. The walking motor 34 of the two vertical steering wheel assemblies is started. The walking motor 34 drives the active wheel 22 to rotate on the vertical plane. The active wheel 22 drives the entire mobile robot to walk. The two active wheels 22 travel on the top surfaces of the two H-beams 33 respectively, and then the driven wheel 13 travels on the H-beams 33.

[0047] S4. The laying of the first corrugated plate includes the following steps:

[0048] S41. After the entire mobile robot has been moving for a period of time, the walking motors 34 of the two vertical steering wheel assemblies are turned off by the remote controller, the drive wheel 22 stops rotating, and the entire mobile robot stops moving. Then, the robotic arm 2 is controlled to move. The actuator 3 of the robotic arm 2 drives the gripping mechanism 4 to move towards the top corrugated plate 32, ensuring that the two double-acting electric cylinders 28 are respectively inserted into the two grooves of the corrugated plate 32, and at the same time ensuring that the two longitudinal electromagnets 26 are respectively in contact with the two protrusions of the corrugated plate 32. After they are in place, the switch between the control power supply and the electromagnet is turned on. After the electromagnet 26 is energized, the electromagnet 26 attracts the corrugated plate 32.

[0049] S42. After adsorption, the piston rod of the double-acting electric cylinder 28 extends, driving the rubber pressure head 29 to extend. The rubber pressure head 29 abuts against the baffle 31 of the corrugated plate 32. Figure 10 As shown, this is to achieve secondary fixation of the corrugated plate 32;

[0050] S43. After the corrugated plate 32 is adsorbed and fixed, the robotic arm 2 is controlled to move so that the gripped corrugated plate 32 is laid between the two H-beams 33, as shown. Figure 11 As shown, this enables the laying of the first corrugated plate 32;

[0051] S5. Continue to control the start of the walking motor 34 of the two vertical steering wheel assemblies. The walking motor 34 drives the drive wheel 22 to continue to rotate. When the entire mobile robot moves to the next laying station, repeat the operation of steps S4 to S5 to lay the second corrugated plate 32 between the two H-beams 33. Repeat this operation to fill the space between the two H-beams 33 with corrugated plates 32.

[0052] S6. When the entire mobile robot moves to the top surface of the pier B, the servo motor 19 controlling the two vertical steering wheel assemblies is activated. The servo motor 19 drives the drive wheel 22 to turn 90° on the horizontal plane, thereby realizing the steering of the drive wheel 22. Then, the piston rod of the steering electric cylinder 20 is extended, and the piston rod drives the steering rod 21 to move. The steering rod 21 drives the two turntables 12 to rotate, and the turntables 12 drive the driven wheel 13 to rotate synchronously. When the piston rod of the steering electric cylinder 20 is fully extended, the driven wheel 13 turns 90° on the horizontal plane, thereby realizing the steering of the driven wheel 13. At this time, the driven wheel 13 is in the same direction as the drive wheel 22.

[0053] S7. Start the walking motor 34 of the vertical steering wheel assembly. The walking motor 34 drives the drive wheel 22 to rotate. The drive wheel 22 drives the entire mobile robot to move laterally along the pier B. When the entire mobile robot moves to the next two H-beams 33, first control the walking motor 34 to turn off, and then control the servo motor 19 to start. The servo motor 19 drives the drive wheel 22 to reset its direction. Then control the piston rod of the steering cylinder 20 to retract. The piston rod drives the steering rod 21 to reset. The steering rod 21 drives the turntable 12 to reset. The turntable 12 drives the driven wheel 13 to reset its direction. At this time, the driven wheel 13 and the drive wheel 22 are aligned again. The two drive wheels 22 are opposite to the other two H-beams 33 respectively. Repeat the operation of steps S3 to S5 to fill the space between the other two H-beams 33 with corrugated plates 32.

[0054] As shown in steps S1 to S6, during the entire process of laying the corrugated plate, the mobile robot lays the corrugated plate 32 along the length of the H-beam 33, and the robotic arm 2 directly grasps the corrugated plate 32. Therefore, compared with using a crane to lift and lay the corrugated plate, this mobile robot greatly shortens the laying time of the corrugated plate 32, thereby greatly improving the laying efficiency. In addition, multiple workers are not required to cooperate in the laying of the corrugated plate, thus greatly reducing the workload of the workers.

[0055] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mobile robot for laying corrugated plates, characterized in that: It includes a walking mechanism (1), a robotic arm (2) mounted on the walking mechanism (1), and a gripping mechanism (4) mounted on the execution end (3) of the robotic arm (2) for gripping the corrugated plate. The walking mechanism (1) includes a base frame (5), a reducer I (6) fixed on the back of the base frame (5), and two reducers II (7). A drive motor (8) is fixed on the top of the reducer I (6). The drive motor (8) is connected to the input shaft of the reducer I (6). A transmission shaft (9) is connected to the output shaft on the left and right sides of the reducer I (6). The two transmission shafts (9) are respectively connected to the input shafts of the two reducers II (7). A lead screw (10) is connected to the output shaft on the front side of the two reducers II (7). The two lead screws (10) are rotatably mounted on the front side of the base frame (5). Two arched beams (11) are provided between the two lead screws (10). The left and right ends of the arched beams (11) are threaded to the two lead screws (10). Turntables (12) are rotatably mounted on the bottom surfaces of the left and right ends of the arched beams (11). Driven wheels (13) supported on the ground are fixed on the bottom surfaces of the turntables (12). Vertical steering wheel assemblies are provided on the two arched beams (11). The driving wheel (22) of the vertical steering wheel assembly is supported on the ground, and the driving wheel (22) and the driven wheel (13) are arranged in parallel.

2. The mobile robot for laying corrugated plates according to claim 1, characterized in that: Two guide rods (14) are fixed between the front and rear sides of the bottom frame (5). The guide rods (14) are located below the lead screw (10) and pass through the arch beam (11).

3. A mobile robot for laying corrugated plates according to claim 1, characterized in that: Nuts (15) are fixed on the inner walls of the left and right ends of the arched beam (11), and the two nuts (15) are threaded onto the two lead screws (10) respectively.

4. A mobile robot for laying corrugated plates according to claim 1, characterized in that: A shelf (16) for storing corrugated plates is fixed on the upper right side of the bottom frame (5).

5. A mobile robot for laying corrugated plates according to claim 1, characterized in that: The mounting plate (18) of the vertical steering wheel assembly located on the front side is positioned directly below the arched end of the arched beam (11). The servo motor (19) and the travel motor (34) of the vertical steering wheel assembly are positioned above the mounting plate (18). The drive wheel (22) of the vertical steering wheel assembly is positioned below the mounting plate (18). A connecting rod (17) is hinged between the mounting plate (18) and the arched end of the arched beam (11). An annular plate (23) is fixed to the upper end of the connecting rod (17). A spring (24) is sleeved on the connecting rod (17). 4) One end is fixed on the annular plate (23), and the other end is fixed on the top surface of the mounting plate (18). Under the elastic force of the spring (24), the driving wheel (22) is in close contact with the ground. The vertical steering wheel assembly is provided with a steering mechanism for driving the driven wheel (13) to turn. The steering mechanism includes a steering electric cylinder (20) and a steering rod (21). The two ends of the steering rod (21) are respectively hinged to the turntable (12) of the two driven wheels (13). The piston rod of the steering electric cylinder (20) is fixed on the steering rod (21).

6. A mobile robot for laying corrugated plates according to claim 1, characterized in that: The gripping mechanism (4) includes a suction cup (25), an electromagnet (26), and an annular seat (27) fixed to the bottom of the execution end (3) of the robotic arm (2). The suction cup (25) is fixed to the bottom of the annular seat (27). Electromagnets (26) are fixed to the bottom surface of the suction cup (25) and at its four corners. Two double-acting electric cylinders (28) fixed to the bottom surface of the suction cup (25) are arranged between the two electromagnets (26) on the front side and the two electromagnets (26) on the rear side. Rubber pressure heads (29) are fixed to the working ends of the two piston rods of the double-acting electric cylinders (28).

7. A mobile robot for laying corrugated plates according to claim 1, characterized in that: A battery (30) is fixed on the top surface of the bottom frame (5). The battery (30) is connected to the robotic arm (2), the walking motor (34), the servo motor (19), and the electromagnet (26). The robot also includes a remote controller, which is connected to the servo motor (19), the walking motor (34), the drive motor (8), the robotic arm (2), and the steering cylinder (20).

8. A method for operating a mobile robot for laying corrugated plates, comprising the mobile robot for laying corrugated plates as described in any one of claims 1 to 7, characterized in that: It includes the following steps: S1. Adjustment of the distance between the two drive wheels (22): The worker first measures the distance between the two H-beams (33), and then controls the drive motor (8) to start via the remote controller. The torque of the drive motor (8) is reduced by the reducer I (6) and drives the two transmission shafts (9) to rotate. The torque of the two transmission shafts (9) is reduced by the reducer II (7) and drives the two lead screws (10) to rotate. With the cooperation of the lead screw (10) and the nut (15), the nut (15) drives the arch beam (11) to move along the length direction of the lead screw (10). The two arch beams (11) move relative to each other or in opposite directions. The arch beams (11) drive the vertical steering wheel assemblies on each of them to move relative to each other or in opposite directions, and then drive the two drive wheels (22) to move relative to each other or in opposite directions. When the distance between the two drive wheels (22) is measured to be equal to the distance between the two H-beams (33), the drive motor (8) is controlled to shut down. S2. Stack multiple corrugated plates (32) inside the plate frame (16), and then use a crane to lift the entire mobile robot onto the top surface of a pier. At this time, the two active wheels (22) and four driven wheels (13) of the mobile robot are supported on the top surface of the pier A. S3. The walking motor (34) of the two vertical steering wheel assemblies is started. The walking motor (34) drives the active wheel (22) to rotate on the vertical plane. The active wheel (22) drives the entire mobile robot to walk. The two active wheels (22) travel on the top surface of the two H-beams (33) respectively, and then the driven wheel (13) travels on the H-beams (33). S4. The laying of the first corrugated plate includes the following steps: S41. After the entire mobile robot has been traveling for a period of time, the walking motor (34) of the two vertical steering wheel assemblies is turned off by the remote controller, the drive wheel (22) stops rotating, the entire mobile robot stops moving, and then the mechanical arm (2) is controlled to move. The execution end (3) of the mechanical arm (2) drives the gripping mechanism (4) to move towards the top corrugated plate (32), ensuring that the two double-acting electric cylinders (28) are respectively inserted into the two grooves of the corrugated plate (32), and at the same time ensuring that the two longitudinal electromagnets (26) are respectively in contact with the two protrusions of the corrugated plate (32). After they are in place, the switch between the control power supply and the electromagnet is turned on. After the electromagnet (26) is energized, the electromagnet (26) attracts the corrugated plate (32). S42. After adsorption, the piston rod of the double-acting electric cylinder (28) is extended, and the piston rod drives the rubber pressure head (29) to extend. The rubber pressure head (29) abuts against the baffle (31) of the corrugated plate (32) to achieve secondary fixation of the corrugated plate (32). S43. After the corrugated plate (32) is adsorbed and fixed, the robotic arm (2) is controlled to run so that the gripped corrugated plate (32) is laid between the two H-beams (33), thereby realizing the laying of the first corrugated plate (32). S5. Continue to control the start of the walking motor (34) of the two vertical steering wheel assemblies. The walking motor (34) drives the drive wheel (22) to continue to rotate. When the entire mobile robot moves to the next laying station, repeat the operation of steps S4 to S5 to lay the second corrugated plate (32) between the two H-beams (33). Repeat this operation to fill the space between the two H-beams (33) with corrugated plates (32). S6. When the entire mobile robot moves to the top surface of the pier B, the servo motor (19) controlling the two vertical steering wheel assemblies is started. The servo motor (19) drives the drive wheel (22) to turn 90° on the horizontal plane, thus realizing the steering of the drive wheel (22). Then, the piston rod of the steering cylinder (20) is extended, and the piston rod drives the steering rod (21) to move. The steering rod (21) drives the two turntables (12) to rotate. The turntables (12) drive the driven wheel (13) to rotate synchronously. When the piston rod of the steering cylinder (20) is fully extended, the driven wheel (13) turns 90° on the horizontal plane, thus realizing the steering of the driven wheel (13). At this time, the driven wheel (13) is in the same direction as the drive wheel (22). S7. Start the walking motor (34) of the vertical steering wheel assembly. The walking motor (34) drives the drive wheel (22) to rotate. The drive wheel (22) drives the entire mobile robot to move laterally along the pier B. When the entire mobile robot moves to the next two H-beams (33), first control the walking motor (34) to shut down, and then control the servo motor (19) to start. The servo motor (19) drives the drive wheel (22) to reset its direction. Then control the piston rod of the steering cylinder (20) to retract. The piston rod drives the steering rod (21) to reset. The steering rod (21) drives the turntable (12) to reset. The turntable (12) drives the driven wheel (13) to reset its direction. At this time, the driven wheel (13) and the drive wheel (22) are aligned again. The two drive wheels (22) are opposite to the other two H-beams (33) respectively. Repeat the operation of steps S3 to S5 to fill the space between the other two H-beams (33) with corrugated plates (32).

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