A basement duct screw rod hanger installation robot and an installation method thereof

Abstract

The basement air pipe screw rod hanger mounting robot and the mounting method thereof, which comprise a chassis part, a storage part mounted at the middle part of the chassis part and comprising a sleeve screw rod storage box unit, a marking chalk storage box unit and an expansion bolt storage box unit mounted on the upper surface of the robot chassis from left to right in sequence for providing the sleeve screw rod, the marking chalk and the expansion bolt, a lifting part mounted on the chassis part and at the two sides of the storage part, and a rotating wheel disc part mounted at the top end of the lifting part for realizing the omnidirectional scanning, positioning, marking, drilling, expansion bolt driving and screw rod mounting. The robot can sequentially scan, position, punch, drill the expansion bolt and mount the screw rod hanger at the place where the screw rod hanger needs to be mounted, greatly saves the manpower and material resources, improves the efficiency, reduces the errors caused by the artificial construction, such as the hanger not being perpendicular to the wall, and avoids the safety hazards caused by the high-altitude construction.

Description

Technical Field

[0001] This invention relates to the technical field of building engineering, and in particular to a robot for installing basement duct threaded rod hangers, as well as a method for installing basement duct threaded rod hangers. Background Technology

[0002] The installation of threaded rod hangers for basement ductwork mainly involves applying the threaded rod hanger system to the installation process of basement ductwork, and ensuring the safety and comfort of the duct support system through precise design layout and accurate material selection.

[0003] The following problems may exist in existing manual construction: inaccurate dimensional calibration leads to insecure screw rod installation, which can easily cause equipment vibration and safety hazards; on-site construction personnel fail to install supports and hangers according to design requirements or fail to adjust the level properly, resulting in inaccurate position of supports and hangers, causing the middle of the duct to sag and affecting the air ventilation effect; on-site construction personnel lack sufficient understanding of the materials, dimensions, and models of screw rod hangers, leading to mismatched accessories and incorrect dimensions during construction; and the lack of standardized tools or equipment used during on-site construction and installation results in low installation accuracy and large errors.

[0004] Therefore, a standardized and intelligent robot and method for installing basement duct threaded rod hangers is needed. Summary of the Invention

[0005] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a robot for installing basement duct threaded rod hangers, which can sequentially scan, locate, drill, insert expansion bolts, and install threaded rod hangers at the locations where threaded rod hangers need to be installed, thereby greatly saving manpower and material resources, improving efficiency, reducing errors caused by manual construction such as hangers not being perpendicular to the wall, and avoiding safety hazards caused by high-altitude construction.

[0006] This invention also provides a method for installing threaded rod hangers for basement ductwork, which can be directly applied to the existing installation of threaded rod hangers for basement ductwork. Each installation process can be completed by mechanical components, effectively improving construction efficiency and installation quality.

[0007] To achieve the above objectives, the present invention employs the following technical measures:

[0008] The basement duct threaded rod hanger installation robot of the present invention includes: a chassis portion, serving as the robot's base; a storage portion, installed in the middle of the chassis portion, comprising, from left to right, a sleeve threaded rod storage box unit, a marking chalk storage box unit, and an expansion bolt storage box unit installed on the upper surface of the robot chassis, for providing sleeve threaded rods, marking chalk, and expansion bolts; and a lifting portion, installed on the chassis portion and on both sides of the storage portion, comprising a first track, on which a first electric push rod mounting plate is mounted via an electric trolley, a plurality of first electric push rods are fixedly connected to the first electric push rod mounting plate, and the output ends of the first electric push rods are connected to a second electric push rod mounting plate; a plurality of second electric push rods are provided on the lower surface of the second electric push rod mounting plate near the first electric push rods, and the output ends of the second electric push rods pass through the second electric push rod mounting plate and connect to a rotating wheel mounting plate; the second electric push rod mounting plate is provided with auxiliary... The installation unit includes a rotating wheel section mounted on the top of the lifting section. This section comprises two longitudinal fourth tracks mounted on a mounting plate of the rotating wheel section, serving as a chassis. A rotating motor mounting plate is mounted on each fourth track via an electric trolley. A rotating motor is located in the center of each rotating motor mounting plate, and the output end of the rotating motor is connected to the rotating wheel. The rotating wheel has a circular center with eight symmetrical wheel extension plates extending outwards. An arc-shaped wheel stabilizing plate is located between every two wheel extension plates. A fifth track extending along the length of each wheel extension plate is provided on the wheel extension plate. An electric push rod is mounted on each fifth track via an electric trolley, and the output end of the electric push rod is connected to each unit mounting plate. The eight units, arranged in four groups on each unit mounting plate, are a scanning and positioning unit, a drilling and mounting unit, a chalk marking unit, and a lead screw mounting unit, used to achieve omnidirectional scanning, positioning, marking, drilling, insertion of expansion bolts, and lead screw installation.

[0009] Preferably, the sleeve screw storage box unit consists of a main storage box as the main body, and the main storage box is provided with a transfer mechanism and a secondary storage mechanism inside; the transfer mechanism includes a transfer track installed inside the main storage box, and the transfer track is provided with an input point and an output point, which are respectively close to the storage discharge hole of the secondary storage mechanism and the transfer lifting seat of the transfer mechanism; the transfer track is provided with a transfer wheel, and the transfer wheel is installed on an electric trolley through a transfer rotary motor, and the outer ring of the transfer wheel is provided with several circular openings.

[0010] Furthermore, a first electric push rod for transfer is located near the output point of the transfer track on the right side close to the main storage box. The bottom of the first electric push rod for transfer is installed on the inner upper surface of the main storage box, and its output end is connected to a transfer lifting seat. The transfer lifting seat is an inverted L-shaped baffle. A rectangular slot for transfer is provided on the longer side near the bottom of the first electric push rod for transfer. A second electric push rod for transfer is located at the bottom end of the rectangular slot for transfer near the first electric push rod for transfer. A transfer lifting plate is located at the top of the second electric push rod for transfer away from the first electric push rod for transfer. The output end of the second electric push rod for transfer is connected to a transfer lifting push plate located below the transfer lifting plate. The transfer lifting push plate is located at the output point of the transfer track.

[0011] Furthermore, the secondary storage mechanism consists of a secondary storage box as its main body. The bottom of the secondary storage box is installed inside the main storage box via several box support rods. A storage discharge hole is located at the bottom left side of the secondary storage box. The size of the storage discharge hole matches the size of the sleeve at the bottom of the lead screw. Storage inner baffles are located on both sides of the storage discharge hole. A sloping track for an inwardly inclined pushing mechanism is located on the right side of the inner storage baffle inside the box. Several lead screws can be pre-stored on this sloping track. The pushing mechanism… The mechanism consists of an electric push rod installed inside the housing and a push plate connected to its output end. The electric push rod pushes the push plate to lift on one side, causing the sleeve screw that originally slid into the pushing mechanism to be pushed from the horizontal direction to the vertical direction, so that it can fall out from the storage discharge hole. Near the bottom of the storage discharge hole, on the lower surface of the bottom end of the auxiliary storage housing, there is a discharge electric push rod. The output end of the discharge electric push rod is connected to a discharge baffle. The discharge baffle can be controlled to block and open the storage discharge hole by the extension and retraction of the discharge electric push rod.

[0012] Preferably, the auxiliary installation unit consists of two longitudinal second tracks as the main body. An electric trolley is provided on the second track. The electric trolley is connected to a track mounting plate via a miniature electric push rod. Two third tracks are provided on the upper and lower surfaces of the track mounting plate. An auxiliary extension plate is connected to the third track via the electric trolley. Two sleeve screw mounting electric drills are provided on the end of the auxiliary extension plate away from the middle electric trolley.

[0013] Furthermore, the scanning and positioning unit consists of a wall-mounted 3D laser scanner installed on each unit mounting plate; the drilling and mounting unit consists of two front and rear electric drilling actuators, facing the end of the opening of the third electric actuator. The output end of the electric drilling actuator is connected to a drilling rotary motor, and the output end of the drilling rotary motor is connected to a drilling installation drill. One drilling installation drill is fitted with an expansion bolt mounting sleeve, and the other drilling installation drill is fitted with a drill bit; the chalk marking unit consists of a vertical and a horizontal marking electric actuator. The horizontal marking electric actuator is mounted on a vertical auxiliary electric actuator, which is mounted on each unit mounting plate. By pushing the actuator outward, the height of the horizontal marking electric actuator can be higher than that of the vertical marking electric actuator mounted on the upper surface of each unit mounting plate. The output ends of both marking electric actuators are connected to marking electric clamps; the lead screw mounting unit consists of several sets of outward-facing lead screw electric clamps installed at both ends of each unit mounting plate.

[0014] Preferably, the inner ring of the transfer wheel has a cross-shaped opening in the middle. The output end of the transfer rotary motor is connected to a wheel mounting plate. The cross-shaped boss on the upper part of the wheel mounting plate matches the cross-shaped opening. The bottom of the cross-shaped boss has a support baffle of a certain area, so that the transfer wheel can be inserted into the cross-shaped boss through the cross-shaped opening and fixed relative to the wheel mounting plate. The transfer rotary motor can drive the transfer wheel to rotate, which can be used for feeding or discharging. When it is needed, the transfer wheel can be directly lifted by the transfer lifting plate so that its cross-shaped opening is separated from the cross-shaped boss and then lifted for use.

[0015] Accordingly, the present invention also provides an installation method for a robot for installing basement duct threaded rod hangers, the steps of which are as follows:

[0016] S1. Scanning process: When the scanning process is performed, the electric trolley on the fourth track moves the rotating motor mounting plate on it laterally. At the same time, the rotating motor controls the entire rotating wheel to rotate. Then, the two sets of scanning positioning units on the fifth track move on the track. At the same time, the wall 3D laser scanner is started to scan and record the entire wall in all directions.

[0017] S2. Component Storage and Retrieval: Before the equipment enters the installation phase, when expansion bolts, marking chalk, and threaded rods need to be retrieved, the first and second electric push rods of the lifting section are used to lower the mounting plate of the second electric push rod and the mounting plate of the rotating wheel to a suitable height. The rotating motor then rotates the entire rotating wheel, controlling the drilling installation unit, chalk marking unit, and threaded rod installation unit to move sequentially to the appropriate position on the fifth track, i.e., above the output point of the transfer track and the transfer lifting seat. When retrieving expansion bolts and marking chalk, the transfer wheel and transfer rotating motor are first moved below the storage discharge hole via the electric trolley below, aligning the empty opening on the transfer wheel with the storage discharge hole. By opening the electric push rod of its auxiliary storage mechanism, the discharge baffle is no longer blocked from the storage discharge hole, allowing the expansion bolts and marking chalk to fall into the empty openings of the transfer wheel. After all the components are filled, the entire transfer wheel and its auxiliary mechanisms are moved to the output point of the transfer track. At this point, the transfer wheel has moved above the transfer lifting plate. The transfer lifting seat is then raised by the first electric push rod, and the transfer lifting plate is raised simultaneously. The transfer wheel is lifted, and its cross-shaped opening separates from the cross-shaped boss at the bottom, thus raising the expansion bolts and marking chalk. Once it reaches a suitable height, it can be removed by drilling holes and installing an electric drill and marking electric clamp. After removal, the transfer wheel is lowered for further component replenishment.

[0018] When using the lead screw, the general method is the same as for expansion bolts and marking chalk. However, when storing and retrieving it inside the auxiliary storage box, when the lead screw slides onto the pushing mechanism, the electric push rod of the pushing mechanism is activated to push up the push plate at its output end, causing the lead screw to rise on one side. This turns the originally horizontal lead screw vertical, allowing it to fall from the storage discharge hole. After falling, the lead screw is inserted into the circular opening on the transfer wheel for fixed transport. Once the lead screw is lifted to a suitable height by the transfer mechanism, the upper end of the lead screw is first clamped by the lead screw electric clamp. After clamping, the entire rotating wheel can be lifted by the second electric push rod. Then, by extending the auxiliary extension plate, the lead screw is fixed by the electric drill mounted on it.

[0019] S3. Marking and Positioning: After scanning is completed, construction personnel can use the scan data and construction drawings to determine the installation point of the screw hanger. After the determination is completed, the positioning and marking process can be carried out. At this time, the vertical auxiliary electric push rod of the chalk marking unit is used to raise the horizontal marking electric push rod. The marking electric push rod extends the marking electric clamp at its output end. The marking electric clamp picks up the marking chalk and retracts the horizontal marking electric push rod. At this time, the entire rotating wheel part can be raised and the chalk marking unit is moved to a suitable position for horizontal marking. After the horizontal marking is completed, the vertical marking electric push rod is extended so that its marking electric clamp is below the marking electric clamp of the horizontal marking electric push rod. The upper clamp is released and the lower clamp is clamped, so that the marking chalk falls into the lower marking electric clamp and is clamped. The horizontal marking electric push rod is retracted. Then the vertical marking electric push rod can be extended and retracted to make vertical marking, and finally cross positioning marking is achieved.

[0020] S4. Drilling and driving in expansion bolts: When drilling and driving in expansion bolts are required, the drilling motor is pushed out by the drilling electric push rod, and then the drilling installation electric drill on it is rotated by the drilling motor so that the sleeve end is facing down. The first transfer electric push rod is pushed up the transfer lifting plate, and then the second transfer electric push rod is pushed up the transfer lifting plate so that the bottom of the expansion bolt is pushed up and inserted into the sleeve for fixation. Then the drilling installation electric drill is rotated by the drilling motor so that it faces upward. At this time, the entire rotating wheel can be moved to a suitable height, and the drilling installation unit can be moved to the marked position. First, the drilling installation electric drill is used for drilling, and then the drilling installation electric drill with the sleeve is moved and switched to install the expansion bolt.

[0021] S5. Screw Installation: During the screw installation process, the electric trolley under the first electric push rod mounting plate can be moved to a suitable position on the first track. The first electric push rod can then be used to raise and lower the second electric push rod mounting plate. When the auxiliary installation unit reaches a suitable height, the second electric push rod can be used to push the rotating wheel mounting plate to a suitable height, thus raising and lowering the rotating wheel. When installing the sleeve screw, the screw installation unit is moved to a suitable position, the entire rotating wheel is moved to a suitable height, and the third electric push rods on both sides of the wheel extension plate below the screw installation unit are retracted, opening the channels on both sides of the fifth track. The sleeve screw is then clamped by the screw electric clamp. When the rotating wheel... When the upper end of the lead screw is clamped, the entire rotating wheel is raised by the second electric push rod. Then, by controlling the electric trolley on the third track, the auxiliary extension plate extends until the drill bit of the sleeve lead screw installation drill is directly below the sleeve lead screw. The rotating wheel is then lowered so that the sleeve of the lead screw is inserted into the drill sleeve head and fixed. The lead screw installation process can then be carried out. The auxiliary extension plates on the upper and lower surfaces are oriented in opposite directions, which corresponds exactly to the two sets of opposite lead screw installation units on the rotating wheel. During installation, the upper part is aligned with the center hole of the expansion bolt. The sleeve lead screw installation drill is started simultaneously by raising the first electric push rod to screw the lead screw into the expansion bolt to complete the installation. At this point, the entire lead screw hanger installation process is completed, and the next lead screw hanger installation can be carried out in a cycle.

[0022] Based on the above, the beneficial effects of the basement duct threaded rod hanger installation robot and its installation method of the present invention are as follows:

[0023] 1. Compared to existing technologies, this invention, through its storage section designed on the robot chassis, enables the storage and automatic retrieval of construction components such as lead screws, expansion bolts, and marking chalk. Each of the lead screw storage unit, marking chalk storage unit, and expansion bolt storage unit in this structure is equipped with a transfer mechanism and a secondary storage mechanism. The relative size of these mechanisms can be adjusted according to the type of component being stored. For example, for longer lead screws, the storage box includes an auxiliary feeding mechanism, and the size of the opening on the transfer wheel is precisely large enough to insert the lead screw and place the sleeve at the top. Expansion bolts and marking chalk, due to their smaller size and length, can be directly stored in the secondary storage box. The material is fed through a slope inside the machine; the first and second electric push rods for picking up components can push the components to the appropriate height in two stages. If it is still inconvenient to pick up after the first push, the component can be pushed out from the bottom of the transfer wheel by the lifting plate for a second lifting. This is efficient, convenient and highly adaptable. Alternatively, the overall design can be changed to a horizontal parallel design according to actual needs. At the internal component picking point, i.e., the transfer mechanism, a double first electric push rod mechanism can be designed so that when the screw installation unit on the rotating wheel is rotated to the horizontal direction and in the same direction as the auxiliary installation unit, the sleeve screw can be picked up at both ends simultaneously, further improving the picking efficiency.

[0024] 2. This invention, through the design of a first track on the robot chassis, in conjunction with a first electric push rod and a second electric push rod thereon, enables secondary propulsion of the rotating wheel section, accommodating the installation of screw jacks at higher heights. Simultaneously, the auxiliary installation unit located in the middle of the second electric push rod mounting plate can be separated from the rotating wheel section by the action of the second electric push rod, better cooperating with the screw jack installation unit thereon for screw jack installation, thus covering a wider range of jack installations and improving adaptability. In practice, multiple sets of lifting sections and rotating wheel sections can be added parallel to the first track as needed. For example, the left and right sets of mechanisms can simultaneously install the screw jacks. Because the rotating wheel section can rotate, it can unidirectionally access components; therefore, the two sets of mechanisms will not interfere with each other, further improving efficiency.

[0025] 3. This invention utilizes a rotating wheel at the top of the lifting section. This rotating wheel can move laterally on the fourth track and rotate under the action of a rotating motor. Furthermore, the radial fifth track on its special eight-directional wheel extension plate allows for further fine-tuning of the installation location, enabling omnidirectional scanning, positioning, marking, drilling, installation of expansion bolts, and screw rod installation. Simultaneously, the drilling installation unit, chalk marking unit, and screw rod installation unit on it can cooperate with the lifting and storage sections to achieve automatic material feeding and installation. Each process can be completed through mechanical mechanisms, making it more intelligent and efficient. Attached Figure Description

[0026] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the overall structure of the chassis portion of the present invention;

[0029] Figure 3 This is a schematic diagram of the overall structure of the storage portion of the present invention;

[0030] Figure 4 This is a schematic diagram of the overall structure of the sleeve screw storage box unit of the present invention;

[0031] Figure 5 This is a schematic diagram of the overall structure of the transfer mechanism of the present invention;

[0032] Figure 6 This is a schematic diagram of the overall structure of the secondary storage mechanism of the present invention;

[0033] Figure 7 This is a bottom view of the sub-storage mechanism of the present invention;

[0034] Figure 8 This is a schematic diagram of the overall structure of the lifting part of the present invention;

[0035] Figure 9 This is a schematic diagram of the overall structure of the auxiliary installation unit of the present invention;

[0036] Figure 10 This is a bottom view of the overall structure of the rotating disk portion of the present invention;

[0037] Figure 11 This is a top view of the overall structure of the rotating disk portion of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1000 - Chassis Section:

[0040] 1001 - Robot chassis; 1002 - Moving wheels;

[0041] 2000 - Storage Section:

[0042] 2100-Sleeve Screw Storage Box Unit:

[0043] 2101-Main storage box; 2110-Transfer mechanism; 2111-Transfer track; 2112-Transfer rotary motor; 2113-Transfer wheel; 2114-Transfer first electric push rod; 2115-Transfer lifting seat; 2115a-Transfer rectangular slot; 2115b-Transfer lifting plate; 2116-Transfer second electric push rod; 2117-Transfer lifting and ejection plate; 2120-Secondary storage mechanism; 2121-Sleeve screw; 2122-Secondary storage box; 2122a-Storage inner baffle; 2122b-Storage discharge hole; 2122c-Box support rod; 2122d-Discharge electric push rod; 2122e-Discharge baffle; 2123-Pushing mechanism;

[0044] 2200 - Marking Chalk Storage Box Unit;

[0045] 2300 - Expansion Bolt Storage Box Unit;

[0046] 3000 - Lifting section:

[0047] 3001 - First track; 3002 - First electric actuator mounting plate; 3003 - First electric actuator; 3004 - Second electric actuator mounting plate; 3005 - Second electric actuator; 3006 - Rotating disc mounting plate;

[0048] 3100 - Auxiliary installation unit; 3101 - Second rail; 3102 - Miniature electric actuator; 3103 - Rail mounting plate; 3104 - Third rail; 3105 - Auxiliary extension plate; 3106 - Sleeve screw mounting drill;

[0049] 4000-Spinning Wheel Section:

[0050] 4001 - Fourth track; 4002 - Rotary motor mounting plate; 4003 - Rotary motor; 4004 - Rotary wheel; 4004a - Wheel extension plate; 4004b - Wheel stabilizing plate; 4005a - Third electric actuator; 4005b - Electric actuator socket; 4006 - Fifth track;

[0051] 4100 - Scanning and positioning unit; 4101 - Mounting plates for each unit; 4102 - Wall-mounted 3D laser scanner;

[0052] 4200 - Drilling installation unit; 4201 - Electric drilling actuator; 4202 - Drilling rotary motor; 4203 - Drilling installation electric drill;

[0053] 4300 - Chalk marking unit; 4301 - Vertical auxiliary electric actuator; 4302 - Marking electric actuator; 4303 - Marking electric clamp;

[0054] 4400 - Lead screw mounting unit; 4401 - Lead screw electric clamp. Detailed Implementation

[0055] Below, in conjunction with Figures 1 to 11 This invention provides a detailed description of a robot for installing basement duct threaded rod hangers and its installation method.

[0056] Depend on Figure 1 As shown, a basement duct threaded rod hanger installation robot includes a chassis portion 1000 as an integral base, a storage portion 2000 installed in the middle, and lifting portions 3000 installed on the chassis portion 1000 and on both sides of the storage portion 2000. It also includes a rotating wheel portion 4000 installed on the top of the lifting portion 3000.

[0057] Depend on Figure 2 As shown, the chassis portion 1000 includes a robot chassis 1001 as the main body, and a number of wheels 1002 mounted around the robot chassis 1001.

[0058] Depend on Figure 3-7 As shown, the storage section 2000 includes, from left to right, a lead screw storage box unit 2100, a chalk storage box unit 2200, and an expansion bolt storage box unit 2300, all mounted on the upper surface of the robot chassis 1001. It should be noted that the relative positions and number of each storage box unit are not unique and can be modified according to actual needs. For example, since the rotary wheel section 4000 often retrieves the lead screw laterally, the overall design here can be changed to a horizontally parallel design (shorter in length and wider in width). The figure shows a vertically parallel design (longer in length and shorter in width). The chalk storage box unit 2200 and the expansion bolt storage box unit 2300 are designed similarly.

[0059] The sleeve screw storage box unit 2100 consists of a main storage box 2101, which contains a transfer mechanism 2110 and a secondary storage mechanism 2120. The transfer mechanism 2110 includes a transfer track 2111 installed inside the main storage box 2101. The transfer track 2111 has an input point and an output point, which are located near the storage discharge hole 2122b of the secondary storage mechanism 2120 and the transfer lifting seat 2115 of the transfer mechanism 2110, respectively. The transfer track 2111 has a transfer wheel 2113, which is mounted on an electric trolley via a transfer rotary motor 2112. The outer ring of the transfer wheel 2113 has several circular openings, the size of which matches the size of the items to be installed, such as screws, marking chalk, and expansion bolts. Here, the transfer wheel 2113 in the sleeve screw storage box unit 2100 only needs to match the screw. The inner ring of the transfer wheel 2113 has a cross-shaped opening in the middle. The output end of the transfer rotary motor 2112 is connected to the wheel mounting plate. The cross-shaped boss on the upper part of the wheel mounting plate matches the cross-shaped opening. The bottom of the cross-shaped boss has a support baffle of a certain area. This structural design allows the transfer wheel 2113 to be inserted into the cross-shaped boss through the cross-shaped opening and fixed relative to the wheel mounting plate. The transfer rotary motor 2112 can drive the transfer wheel 2113 to rotate, which can be used for feeding or discharging. When it is needed, the transfer wheel 2113 can be directly lifted by the transfer lifting plate 2115b so that its cross-shaped opening is disengaged from the cross-shaped boss and then lifted for use.

[0060] Near the output point of transfer track 2111, i.e. Figure 5 A first electric push rod 2114 is located on the right side near the main storage box 2101. The bottom of the first electric push rod 2114 is installed on the inner upper surface of the main storage box 2101. Its output end is connected to a transfer lifting seat 2115. The transfer lifting seat 2115 is an inverted L-shaped baffle. A transfer rectangular slot 2115a is provided on the longer side near the bottom of the first electric push rod 2114. A second electric push rod 2116 is provided at the bottom end of the side of the transfer rectangular slot 2115a near the first electric push rod 2114. A transfer lifting plate 2115b is provided at its top end away from the first electric push rod 2114. The output end of the second electric push rod 2116 is connected to a transfer lifting push plate 2117 located below the transfer lifting plate 2115b. The transfer lifting push plate 2117 is located at the output point of the transfer track 2111.

[0061] The secondary storage mechanism 2120 consists of a secondary storage box 2122 as its main body. The bottom of the secondary storage box 2122 is installed inside the main storage box 2101 via several box support rods 2122c. A storage discharge hole 2122b is located at the bottom left side of the interior of the secondary storage box 2122. The size of the storage discharge hole 2122b matches the size of the bottom sleeve of the sleeve screw 2121. Storage inner baffles 2122a are located on both sides of the storage discharge hole 2122b. A sloping track for an inwardly inclined pushing mechanism 2123 is located on the right side of the storage inner baffle 2122a inside the box. Several sleeve screws 2121 can be pre-stored on this sloping track. 123 consists of an electric push rod installed inside the housing and a push plate connected to its output end. The electric push rod pushes the push plate to lift on one side, so that the sleeve screw 2121, which originally slid into the push mechanism 2123, is pushed from the horizontal direction to the vertical direction, and can then fall out from the storage discharge hole 2122b. Near the bottom of the storage discharge hole 2122b and on the lower surface of the bottom end of the auxiliary storage housing 2122, there is a discharge electric push rod 2122d. The output end of the discharge electric push rod 2122d is connected to a discharge baffle 2122e. The discharge baffle 2122e can be controlled to block and open the storage discharge hole 2122b by the pushing and retracting of the discharge electric push rod 2122d.

[0062] The basic structures of the marking chalk storage box unit 2200 and the expansion bolt storage box unit 2300 are similar to those of the sleeve screw storage box unit 2100. The only difference is that the size of the opening on the transfer wheel 2113, the size of the transfer lifting plate 2115b, and the size of the transfer lifting push plate 2117 are matched to the size and length of the components to be transferred, such as the marking chalk and the expansion bolt. Here, the marking chalk is a combination of chalk and a chalk clamp. The sleeve screw 2121 is slightly different in structure because it is longer. At the same time, its auxiliary storage mechanism 2120 is smaller and can directly use the structure of the sloping bottom plate and the storage discharge hole 2122b for output discharge without the need for the pushing mechanism 2123 and other structures.

[0063] The purpose of this structure is that when expansion bolts, marking chalk, and threaded rods need to be retrieved, the first electric push rod 3003 and the second electric push rod 3005 of the lifting part 3000 first lower the second electric push rod mounting plate 3004 and the rotating wheel mounting plate 3006 to a suitable height. Then, the rotating motor 4003 rotates the entire rotating wheel 4004, controlling the drilling mounting unit 4200, chalk marking unit 4300, and threaded rod mounting unit 4400 on it to move sequentially to the appropriate position on the fifth track 4006, namely, above the output point of the transfer track 2111 and the transfer lifting seat 2115. When retrieving expansion bolts and marking chalk, first move the transfer wheel 2113 and transfer motor 2112 to below the storage discharge hole 2122b via the electric trolley below them, aligning the empty opening on the transfer wheel 2113 with the storage discharge hole 2122b. Then, by opening the discharge electric push rod 2122d of its auxiliary storage mechanism 2120, the discharge baffle 2122e is no longer blocking the storage discharge hole 2122b, allowing the expansion bolts and marking chalk to fall into the empty opening of the transfer wheel 2113. At this point, the transfer wheel 2113 can be rotated by the transfer motor 2112 to switch to the next empty opening. Repeat the above operation to fill the remaining openings until they are completely filled. It should be noted that, depending on actual needs, an electric push rod can be installed between the electric trolley and the transfer rotary motor 2112 to minimize the height difference between the transfer wheel 2113 and the falling component, ensuring filling accuracy and efficiency. After filling is complete, move the entire transfer wheel 2113 and its associated mechanisms to the output point of the transfer track 2111. At this point, the transfer wheel 2113 has moved above the transfer lifting plate 2115b. Then, the first electric push rod 2114 lifts the transfer lifting seat 2115, and the transfer lifting plate 211... 5b rises synchronously, the transfer wheel 2113 is lifted, its cross-shaped opening disengages from the cross-shaped boss at the bottom, and then rises along with the expansion bolts and marking chalk. After rising to a suitable height, it can be removed by drilling and installing the electric drill 4203 and marking electric clamp 4303. If there are problems such as height or components being stuck in the transfer wheel 2113 during removal, the second electric push rod 2116 can be controlled to push out the transfer lifting and pushing plate 2117. The transfer lifting and pushing plate 2117 can push up the expansion bolts and marking chalk from the bottom, making it easier to clamp. After clamping, the transfer wheel 2113 can be lowered to replenish the components.When retrieving the lead screw, the general procedure is the same as for expansion bolts and marking chalk. However, when retrieving it from inside the secondary storage box 2122, when the lead screw 2121 slides onto the pushing mechanism 2123, the electric push rod of the pushing mechanism 2123 is activated, pushing up the push plate at its output end. This raises one side of the lead screw 2121, turning the originally horizontal lead screw 2121 vertical, allowing it to fall through the storage discharge hole 2122b. After falling, the lead screw 2121... 21 are fixed and transported by inserting them into the circular openings on the transfer wheel 2113. After the sleeve screw 2121 is lifted to a suitable height by the transfer mechanism 2110, the upper end of the sleeve screw 2121 is first clamped by the screw electric clamp 4401. After clamping, the entire rotating wheel part 4000 can be lifted by the second electric push rod 3005, and then the sleeve end of the screw is fixed by the extension plate 3105 and the sleeve screw mounting electric drill 3106 on it.

[0064] Compared to existing technologies, this invention, through the design of a storage section 2000 on the robot chassis 1001, enables the storage and automatic retrieval of construction components such as lead screws, expansion bolts, and marking chalk. The lead screw storage box unit 2100, marking chalk storage box unit 2200, and expansion bolt storage box unit 2300 of this structure are all equipped with a transfer mechanism 2110 and a secondary storage mechanism 2120. The relative size of the mechanisms can be adjusted according to the type of component to be stored. For example, for longer lead screws, an auxiliary unloading push mechanism 2123 is provided in the storage box, and the size of the opening on the transfer wheel 2113 is just right to insert the lead screw and place the sleeve at the upper end. Expansion bolts and marking chalk, due to their smaller size and length, can be directly unloaded using the ramp inside the secondary storage box 2122. The first electric push mechanism for retrieving components... The rod 2114 and the second electric push rod 2116 can push the component to a suitable height in two stages. If it is still inconvenient to pick up after the first push, it can be pushed out from the bottom of the component by the lifting plate 2117 through the transfer wheel 2113 to achieve a second lifting. It is efficient, convenient and highly adaptable. The overall design can also be changed to a horizontal parallel design (shorter in length and wider in width) according to actual needs. The figure shows a vertical parallel design (longer in length and shorter in width). The internal component retrieval point, i.e., the transfer mechanism 2110, can be designed with mechanisms such as the double transfer first electric push rod 2114, so that when the screw installation unit 4400 on the rotating wheel part 4000 is rotated to the horizontal and in the same direction as the auxiliary installation unit 3100, the sleeve screw can be picked up at both ends simultaneously (only one end can be picked up in the figure, and the other end can be picked up after rotation), which further improves the retrieval efficiency.

[0065] Depend on Figure 8-9As shown, the lifting part 3000 includes a first track 3001 mounted on the upper surface of the robot chassis 1001 and on both sides of the storage part 2000, forming the main body. A first electric push rod mounting plate 3002 is mounted on the first track 3001 via an electric trolley. A plurality of first electric push rods 3003 are fixedly connected to the first electric push rod mounting plate 3002. The output end of the first electric push rod 3003 is connected to a second electric push rod mounting plate 3004. The second electric push rod mounting plate 3004 spans across the front and rear first tracks 3001, connecting the two sets of first electric push rods 3003. The lower surface of the second electric push rod mounting plate 3004 near the first electric push rod 3003 is provided with a plurality of second electric push rods 3005. The output end of the second electric push rod 3005 passes through the second electric push rod mounting plate 3004 and is connected to the rotating wheel part mounting plate 3006. The second electric push rod mounting plate 3004 is provided with an auxiliary mounting unit 3100. The auxiliary mounting unit 3100 is mainly composed of two longitudinal second rails 3101. An electric trolley is provided on the second rails 3101. The electric trolley is connected to the rail mounting plate 3103 through a miniature electric push rod 3102. The upper and lower surfaces of the rail mounting plate 3103 are respectively provided with two third rails 3104. The third rails 3104 are connected to an auxiliary extension plate 3105 through the electric trolley. The auxiliary extension plate 3105 is provided with two front and rear sleeve screw mounting electric drills 3106 at one end away from the middle electric trolley.

[0066] The purpose of this structure is that, during scanning, transfer, and installation processes, the electric trolley under the first electric push rod mounting plate 3002 can be moved to a suitable position on the first track 3001 by controlling it. Then, the first electric push rod 3003 can raise and lower the second electric push rod mounting plate 3004. When the auxiliary installation unit 3100 reaches a suitable height, the second electric push rod 3005 can push the rotating wheel mounting plate 3006 to a suitable height to achieve the raising and lowering of the rotating wheel part 4000. When it is necessary to install the sleeve screw 2121, when the rotating wheel part 4000... When the upper end of the lead screw is clamped, the entire rotating wheel part 4000 is raised by the second electric push rod 3005. Then, by controlling the electric trolley on the third track 3104, the auxiliary extension plate 3105 extends until the drill bit of the sleeve lead screw mounting electric drill 3106 is directly below the sleeve lead screw 2121. The rotating wheel part 4000 is lowered so that the sleeve of the lead screw is inserted into the electric drill sleeve head and fixed, and then the lead screw installation process can be carried out. The auxiliary extension plates 3105 on the upper and lower surfaces are in opposite directions, which can correspond to the two sets of opposite lead screw mounting units 4400 on the rotating wheel part 4000.

[0067] Compared to existing technologies, this invention, through the design of a first track 3001 on the robot chassis 1001, in conjunction with a first electric push rod 3003 and a second electric push rod 3005, enables the propulsion of the rotating wheel section 4000, accommodating the installation of screw jacks at higher heights. Simultaneously, the auxiliary installation unit 3100 located in the middle of the second electric push rod mounting plate 3004 can be separated from the rotating wheel section 4000 by the action of the second electric push rod 3005, better cooperating with the screw jack installation unit 4400 for screw jack installation. This allows for wider coverage of jack installations and improved adaptability. In practice, multiple sets of lifting sections 3000 and rotating wheel sections 4000 can be added parallel to the first track 3001 as needed. For example, if the left and right sets of mechanisms simultaneously install the screw jacks, the rotating wheel section 4000 can rotate, allowing for unidirectional component retrieval. Therefore, the two sets of mechanisms do not interfere with each other, further improving efficiency.

[0068] Depend on Figure 10-11 As shown, the rotating disk portion 4000 includes two longitudinal fourth tracks 4001 mounted on a rotating disk portion mounting plate 3006 as a chassis. A rotating motor mounting plate 4002 is mounted on the fourth tracks 4001 via an electric trolley. A rotating motor 4003 is located in the center of the rotating motor mounting plate 4002. The output end of the rotating motor 4003 is connected to a rotating disk 4004. The rotating disk 4004 has a circular structure in the center, with eight symmetrical disk extension plates 4004a extending outwards. Between every two wheel extension plates 4004a, there is an arc-shaped wheel stabilizing plate 4004b. Except for the wheel extension plate 4004a of the screw mounting unit 4400, which is a double-opening wheel extension plate 4004a, the rest are single-opening wheel extension plates 4004a. The double-opening means that there are two electric push rod sockets 4005b at each end of the wheel extension plate 4004a, while the single-opening means that there is only one electric push rod socket 4005b. The single-opening wheel extension plates 4004a are generally clockwise.

[0069] The wheel stabilizing plate 4004b is fixedly connected to the wheel extension plate 4004a at only one end. A third electric push rod 4005a is provided at the upper end of its open end. An electric push rod socket 4005b is provided on the outer side of the other wheel extension plate 4004a near the opening. The third electric push rod 4005a can be pushed out to insert into the electric push rod socket 4005b, thereby fixing both ends of the wheel stabilizing plate 4004b, making the overall device more stable. When each unit of the mounting component needs to pass through the push rod via the fifth track 4006, the third electric push rod 4005a is retracted to achieve a temporary opening. The screw mounting unit 4400 needs to be set as a double-opening structure because it is a two-way clamping screw, so as to facilitate the two-way synchronous removal of the mounting screw.

[0070] The wheel extension plate 4004a is provided with a fifth track 4006 extending along its length. Electric push rods are mounted on the fifth track 4006 via an electric trolley. The output ends of the electric push rods are connected to unit mounting plates 4101. The eight units mounted on each unit mounting plate 4101 in four groups are a scanning positioning unit 4100, a drilling mounting unit 4200, a chalk marking unit 4300, and a lead screw mounting unit 4400. The scanning positioning unit 4100 consists of a wall-mounted 3D laser scanner 4102 mounted on each unit mounting plate 4101. The drilling mounting unit 4200 consists of two drilling electric push rods 4201, one at the front and one at the back, facing the opening of the third electric push rod 4005a. The output end of the drilling electric push rod 4201 is connected to a drilling rotary motor 4202. The output of the drilling rotary motor 4202... The output end is connected to a drilling and mounting electric drill 4203. One drilling and mounting electric drill 4203 is fitted with an expansion bolt mounting sleeve, and the other drilling and mounting electric drill 4203 is fitted with a drill bit. The chalk marking unit 4300 consists of a vertical and a horizontal marking electric push rod 4302 as its main body. The horizontal marking electric push rod 4302 is mounted on the vertical auxiliary electric push rod 4301. The vertical auxiliary electric push rod 4301 is mounted on each unit mounting plate 4101. By pushing the push rod out, the height of the horizontal marking electric push rod 4302 can be slightly higher than the vertical marking electric push rod 4302 mounted on the upper surface of each unit mounting plate 4101. The output ends of both marking electric push rods 4302 are connected to marking electric clamps 4303. The screw mounting unit 4400 consists of several sets of outward screw electric clamps 4401 mounted at both ends of each unit mounting plate 4101.

[0071] The purpose of this structure is to allow the electric trolley on the fourth track 4001 to move the rotary motor mounting plate 4002 laterally during the scanning process. Simultaneously, the rotary motor 4003 controls the rotation of the entire rotating disk 4004. Two sets of scanning positioning units 4100 on the fifth track 4006 move along the track, while the wall 3D laser scanner 4102 is activated to perform a comprehensive scan of the entire wall. After scanning, construction personnel can use the scan data and construction drawings to determine the installation points of the threaded rod hangers. Once determined, the positioning and marking process can begin. At this point, the vertical auxiliary electric push rod 4301 of the chalk marking unit 4300 is used to raise the horizontal marking electric push rod 4302. The electric actuator 4302 extends its output end to the electric marking clamp 4303, which picks up the marking chalk. The horizontal electric actuator 4302 retracts, allowing the entire rotating wheel 4000 to be raised and the chalk marking unit 4300 moved to a suitable position for horizontal marking. After horizontal marking, the vertical electric actuator 4302 extends, positioning its marking clamp 4303 below the horizontal electric actuator 4302's clamp. The upper clamp is released, and the lower clamp is tightened, causing the marking chalk to fall into and be clamped. The horizontal electric actuator 4302 retracts, and the vertical electric actuator 4302 can then be used to extend and retract for vertical marking, ultimately achieving cross-shaped positioning. Note: When drilling and inserting expansion bolts are required, the drilling motor 4202 is pushed out by the drilling electric push rod 4201. The drilling motor 4202 then rotates the drilling mounting drill 4203 so that its sleeve end faces downwards. The first transfer electric push rod 2114 pushes up the transfer lifting plate 2115b, and the second transfer electric push rod 2116 pushes up the transfer lifting ejector plate 2117, causing the bottom of the expansion bolt to be pushed up and inserted into the sleeve for fixation. The drilling motor 4202 then rotates the drilling mounting drill 4203 so that it faces upwards. At this point, the entire rotating wheel 4000 can be moved to a suitable height, and the drilling mounting unit 4200 can be moved to the marked position. Drilling is then performed first by the drilling mounting drill 4203. The drill 4203 with a sleeve is switched to the drilling and installation electric drill 4203 for installation of expansion bolts. When the sleeve screw 2121 needs to be installed, the screw installation unit 4400 is moved to a suitable position, the overall rotating wheel part 4000 is moved to a suitable height, and the third electric push rods 4005a on both sides of the wheel extension plate 4004a below the screw installation unit 4400 are retracted, so that the channels on both sides of the fifth track 4006 are opened. Then, the sleeve screw 2121 is clamped by the screw electric clamp 4401, and the sleeve screw installation electric drill 3106 is used to clamp the sleeve at the bottom end of the screw. During installation, the top is aligned with the center hole of the expansion bolt. The sleeve screw installation electric drill 3106 is started simultaneously by raising the first electric push rod 3003 to screw the screw into the expansion bolt to complete the installation.

[0072] Compared to existing technologies, this invention features a rotating wheel 4000 at the top of the lifting section 3000. The rotating wheel 4004 can move laterally on the fourth track 4001 and rotate under the action of the rotating motor 4003. Furthermore, the fifth track 4006 on its special eight-directional wheel extension plate 4004a allows for further fine-tuning of the installation location, enabling omnidirectional scanning, positioning, marking, drilling, installation of expansion bolts, and screw rod installation. Meanwhile, the drilling installation unit 4200, chalk marking unit 4300, and screw rod installation unit 4400 on it can work with the lifting section 3000 and the storage section 2000 to achieve automatic feeding and installation. Each process can be completed through mechanical mechanisms, making it more intelligent and efficient.

[0073] The basement duct threaded rod hanger installation robot of the present invention can pre-store the threaded rod with sleeve and various construction components such as expansion bolts and marking chalk in the corresponding storage units. When needed, it can automatically retrieve the components by cooperating with the internal mechanism and the lifting part and its various mechanisms. After retrieval, the installation units on the rotating wheel part sequentially scan, position, drill, insert expansion bolts, and install the threaded rod hanger at the location where the threaded rod hanger needs to be installed. This greatly saves manpower and material resources, improves efficiency, reduces errors caused by manual construction such as the hanger not being perpendicular to the wall, and avoids the safety hazards caused by high-altitude construction.

[0074] Accordingly, the installation method of the basement duct threaded rod hanger installation robot of the present invention comprises the following steps:

[0075] S1. Scanning process: When the scanning process is performed, the electric trolley on the fourth track 4001 can drive the rotary motor mounting plate 4002 on it to move laterally. At the same time, the rotary motor 4003 controls the entire rotary disk 4004 to rotate. Then, the two sets of scanning positioning units 4100 on the fifth track 4006 move on the track. At the same time, the wall 3D laser scanner 4102 is started to scan and record the entire wall in all directions.

[0076] S2. Component Storage and Retrieval: Before the equipment enters the installation phase, when expansion bolts, marking chalk, and threaded rods need to be retrieved, the first electric push rod 3003 and the second electric push rod 3005 of the lifting section 3000 are used to lower the second electric push rod mounting plate 3004 and the rotating wheel mounting plate 3006 to a suitable height. The rotating motor 4003 rotates the entire rotating wheel 4004, controlling the drilling installation unit 4200, chalk marking unit 4300, and threaded rod installation unit 4400 on it to move sequentially to the appropriate positions on the fifth track 4006, namely the output point of the transfer track 2111 and the transfer lifting seat 2. Above 115; When retrieving expansion bolts and marking chalk, first move the transfer wheel 2113 and transfer rotary motor 2112 to below the storage discharge hole 2122b via the electric trolley below, so that the empty opening (circular transfer hole) on the transfer wheel 2113 is aligned with the storage discharge hole 2122b. By opening the discharge electric push rod 2122d of its auxiliary storage mechanism 2120, the discharge baffle 2122e is no longer blocking the storage discharge hole 2122b, allowing the expansion bolts and marking chalk to fall into the empty opening of the transfer wheel 2113. At this time, the transfer wheel 2113 can be rotated by the transfer rotary motor 2112. Switch to the next available opening and repeat the above operation to fill until it is completely filled. It should be noted that, depending on actual needs, an electric push rod can be set between the electric trolley and the transfer rotary motor 2112 to ensure that the height difference between the transfer wheel 2113 and the falling component is small, thus ensuring the accuracy and efficiency of filling. After all filling is completed, move the entire transfer wheel 2113 and its auxiliary mechanism to the output point of the transfer track 2111. At this time, the transfer wheel 2113 has been moved above the transfer lifting plate 2115b. Then, the transfer lifting seat 2115 is raised by the first electric push rod 2114. The lifting plate 2115b rises synchronously, and the transfer wheel 2113 is lifted. Its cross-shaped opening separates from the cross-shaped boss at the bottom, and then rises with each expansion bolt and marking chalk. After it is raised to a suitable height, it can be removed by drilling and installing the electric drill 4203 and the marking electric clamp 4303. If there are problems such as height or components being stuck in the transfer wheel 2113 during removal, the second electric push rod 2116 can be controlled to push out the transfer lifting and pushing plate 2117. The transfer lifting and pushing plate 2117 can push up the expansion bolts and marking chalk from the bottom, making it easier to clamp. After clamping, the transfer wheel 2113 can be lowered to replenish the components.

[0077] When retrieving the sleeve screw 2121, the general procedure is the same as for expansion bolts and marking chalk. However, when retrieving it from inside the auxiliary storage box 2122, when the sleeve screw 2121 slides onto the pushing mechanism 2123, the electric push rod of the pushing mechanism 2123 is activated, pushing up the push plate at its output end, causing the sleeve screw 2121 to rise on one side. This turns the originally horizontal sleeve screw 2121 vertical, allowing it to fall from the storage discharge hole 2122b. After falling, the sleeve... The lead screw is inserted into the circular opening on the transfer wheel 2113 for fixed transport. After the sleeve lead screw 2121 is lifted to a suitable height by the transfer mechanism 2110, the upper end of the sleeve lead screw 2121 is first clamped by the lead screw electric clamp 4401. After clamping, the entire rotating wheel part 4000 can be lifted by the second electric push rod 3005. Then, by extending the auxiliary extension plate 3105, the sleeve lead screw mounting electric drill 3106 on it is used to fix the sleeve end of the lead screw.

[0078] S3. Marking and Positioning: After scanning is completed, construction personnel can use the scanned data and construction drawings to determine the installation point of the screw hanger. Once determined, the positioning and marking process can begin. First, the vertical auxiliary electric push rod 4301 of the chalk marking unit 4300 is used to raise the horizontal marking electric push rod 4302. This marking electric push rod 4302 extends its output end to the marking electric clamp 4303, which picks up the marking chalk. The horizontal marking electric push rod 4302 is then retracted, allowing the entire rotating disc section 4 to be raised. 000, and move the chalk marking unit 4300 to a suitable position to draw horizontal lines. After completing the horizontal line drawing, push out the vertical marking electric push rod 4302 so that its marking electric clamp 4303 is located below the marking electric clamp of the horizontal marking electric push rod 4302. Release the upper clamp and clamp the lower clamp so that the marking chalk falls into the lower marking electric clamp and is clamped. Retract the horizontal marking electric push rod 4302, and then the vertical marking electric push rod 4302 can be extended and retracted to draw vertical lines, finally achieving cross positioning marking.

[0079] S4. Drilling and driving in expansion bolts: When drilling and driving in expansion bolts are required, the drilling electric push rod 4201 pushes out the drilling rotary motor 4202, and then the drilling rotary motor 4202 rotates the drilling mounting electric drill 4203 on it so that its sleeve end faces down. The first transfer electric push rod 2114 pushes up the transfer lifting plate 2115b, and then the second transfer electric push rod 2116 pushes up the transfer lifting ejector plate 2117 so that the bottom of the expansion bolt is pushed up and inserted into the sleeve for fixation. Then the drilling rotary motor 4202 rotates the drilling mounting electric drill 4203 so that it faces upward. At this time, the overall rotating wheel part 4000 can be moved to a suitable height, and the drilling mounting unit 4200 can be moved to the marked position. First, the drilling mounting electric drill 4203 used for drilling is used for drilling, and then the drilling mounting electric drill 4203 with sleeve is moved and switched to install the expansion bolt.

[0080] S5. Screw Installation: During the screw installation process, the electric trolley under the first electric push rod mounting plate 3002 can be moved to a suitable position on the first track 3001. Then, the second electric push rod mounting plate 3004 can be raised and lowered by the first electric push rod 3003. When the auxiliary installation unit 3100 reaches a suitable height, the rotating wheel part mounting plate 3006 can be pushed to a suitable height by the second electric push rod 3005 to achieve the raising and lowering of the rotating wheel part 4000. When it is necessary to install the sleeve screw, the screw installation unit 4400 is moved to a suitable position, the entire rotating wheel part 4000 is moved to a suitable height, and the third electric push rods 4005a on both sides of the wheel extension plate 4004a below the screw installation unit 4400 are retracted, opening the channels on both sides of the fifth track 4006. Then, the sleeve screw 2121 is clamped by the screw electric clamp 4401. When the rotating wheel part 4000 has clamped the upper end of the lead screw, the entire rotating wheel part 4000 is raised by the second electric push rod 3005. Then, by controlling the electric trolley on the third track 3104, the auxiliary extension plate 3105 extends until the drill bit of the sleeve lead screw installation drill 3106 is directly below the sleeve lead screw 2121. The rotating wheel part 4000 is lowered so that the sleeve of the lead screw is inserted into the sleeve head of the drill and fixed. Then the lead screw installation process can be carried out. The auxiliary extension plates 3105 on the upper and lower surfaces are oriented in opposite directions, which can correspond to the two sets of opposite lead screw installation units 4400 on the rotating wheel part 4000. During installation, the upper part is aligned with the center hole of the expansion bolt. The sleeve lead screw installation drill 3106 is started simultaneously by raising the first electric push rod 3003 to screw the lead screw into the expansion bolt to complete the installation. At this time, the entire lead screw hanger installation process is completed, and the next lead screw hanger installation can be carried out in a cycle.

[0081] The basement duct threaded rod hanger installation method of the present invention can be directly applied to the existing basement duct threaded rod hanger installation construction. First, the scanning and positioning unit on the rotating wheel part scans the entire area of ​​the basement where the threaded rod hanger needs to be installed. After the construction personnel calculate with the construction drawings, the installation locations are determined. Then, the positioning marks are made by marking the location with chalk crosses using the chalk marking unit on the rotating wheel part, which facilitates subsequent positioning and re-inspection to ensure that the installation location and angle are correct. When installing the duct threaded rod hanger at each location, the rotating wheel part is first lowered by the lifting part, and the expansion bolts are retrieved in conjunction with the internal transportation mechanism of the storage part and the drilling installation unit. Then, the rotating wheel part is raised, and the positioning marks are rotated by the scanning and positioning unit. Then, the drilling installation unit drills holes and drives in the expansion bolts. Finally, the sleeve threaded rod is retrieved in the same way and installed by the threaded rod installation unit on the rotating wheel part through the auxiliary installation unit in the middle of the lifting part. After completion, the next duct threaded rod hanger can be installed. This method is intelligent and efficient, and each installation process can be completed by mechanical components, effectively improving construction efficiency and installation quality.

[0082] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A robot for installing basement duct threaded rod hangers, characterized in that, include: The chassis (1000) serves as the base of the robot; The storage section (2000) is installed in the middle of the chassis section (1000) and includes a sleeve screw storage box unit (2100), a marking chalk storage box unit (2200), and an expansion bolt storage box unit (2300) installed sequentially from left to right on the upper surface of the robot chassis (1001) for providing sleeve screws, marking chalk, and expansion bolts; The lifting section (3000) is installed on the chassis section (1000) and on both sides of the storage section (2000). It includes a first track (3001), on which a first electric push rod mounting plate (3002) is mounted via an electric trolley. A plurality of first electric push rods (3003) are fixedly connected to the first electric push rod mounting plate (3002). The output ends of the first electric push rods (3003) are connected to a second electric push rod mounting plate (3004). A plurality of second electric push rods (3005) are provided on the lower surface of the second electric push rod mounting plate (3004) near the first electric push rods (3003). The output ends of the second electric push rods (3005) pass through the second electric push rod mounting plate (3004) and are connected to the rotating wheel section mounting plate (3006). An auxiliary mounting unit (3100) is provided on the second electric push rod mounting plate (3004). A rotating wheel section (4000), mounted on the top of the lifting section (3000), includes two longitudinal fourth tracks (4001) mounted on the rotating wheel section mounting plate (3006) as a chassis. A rotating motor mounting plate (4002) is mounted on the fourth tracks (4001) via an electric trolley. A rotating motor (4003) is located in the center of the rotating motor mounting plate (4002), and the output end of the rotating motor (4003) is connected to a rotating wheel (4004). The rotating wheel (4004) has a circular structure in the center, with eight symmetrical wheel extension plates (4004a) extending outwards. 4a) An arc-shaped wheel stabilizing plate (4004b) is provided between every two; the wheel extension plate (4004a) is provided with a fifth track (4006) extending along its length direction, and an electric push rod is installed on the fifth track (4006) by an electric trolley. The output end of the electric push rod is connected to each unit mounting plate (4101); among them, eight units in four groups installed on each unit mounting plate (4101) are scanning and positioning unit (4100), drilling and mounting unit (4200), chalk marking unit (4300), and screw mounting unit (4400), which are used to realize omnidirectional scanning, positioning, marking, drilling, driving in expansion bolts, and screw mounting; The sleeve screw storage box unit (2100) consists of a main storage box (2101) as its main body. The main storage box (2101) is equipped with a transfer mechanism (2110) and a secondary storage mechanism (2120) inside. The transfer mechanism (2110) includes a transfer track (2111) installed inside the main storage box (2101). The transfer track (2111) is equipped with an input point and an output point, which are respectively close to the storage discharge hole (2122b) of the secondary storage mechanism (2120) and the transfer lifting seat (2115) of the transfer mechanism (2110). The transfer track (2111) is provided with a transfer wheel (2113), which is mounted on an electric trolley via a transfer rotary motor (2112). The outer ring of the transfer wheel (2113) is provided with several circular openings. Near the output point of the transfer track (2111), close to the right side of the main storage box (2101), there is a first electric push rod (2114) for transfer. The bottom of the first electric push rod (2114) for transfer is installed on the inner upper surface of the main storage box (2101), and its output end is connected to a transfer lifting seat (2115). The transfer lifting seat (2115) is an inverted L-shaped baffle. A transfer rectangular slot (2115a) is provided on the end of the longer side near the bottom of the first transfer electric push rod (2114). A transfer second electric push rod (2116) is provided at the bottom end of the side of the transfer rectangular slot (2115a) near the first transfer electric push rod (2114). A transfer lifting plate (2115b) is provided at the top of the second transfer electric push rod (2116) away from the first transfer electric push rod (2114). The output end of the second transfer electric push rod (2116) is connected to a transfer lifting push plate (2117) located below the transfer lifting plate (2115b). The transfer lifting push plate (2117) is located at the output point of the transfer track (2111).

2. The robot for installing basement duct threaded rod hangers according to claim 1, characterized in that, The secondary storage mechanism (2120) consists of a secondary storage box (2122) as its main body. The bottom of the secondary storage box (2122) is installed inside the main storage box (2101) by several box support rods (2122c). The secondary storage box (2122) has a storage discharge hole (2122b) at the bottom of the middle left side inside. The size of the storage discharge hole (2122b) matches the size of the bottom sleeve of the sleeve screw (2121). Storage inner baffles (2122a) are provided on both sides of the storage discharge hole (2122b). The right side of the storage inner baffle (2122a) inside the box has a sloping track for a pushing mechanism (2123) that is inclined inward. Several sleeve screws (2121) can be stored in advance on the sloping track. The pushing mechanism (2123) consists of an electric push rod installed inside the housing and a push plate connected to its output end. The electric push rod pushes the push plate to lift on one side, so that the sleeve screw (2121) that originally slid into the pushing mechanism (2123) is pushed from the horizontal direction to the vertical direction, and can then fall out from the storage discharge hole (2122b). Near the bottom of the storage discharge hole (2122b) and on the lower surface of the bottom end of the auxiliary storage housing (2122), there is a discharge electric push rod (2122d). The output end of the discharge electric push rod (2122d) is connected to a discharge baffle (2122e). The discharge baffle (2122e) can be blocked and opened by the extension and retraction of the discharge electric push rod (2122d).

3. The robot for installing basement duct threaded rod hangers according to claim 2, characterized in that, The auxiliary installation unit (3100) consists of two longitudinal second tracks (3101) forming the main body. An electric trolley is provided on the second track (3101). The electric trolley is connected to a track mounting plate (3103) via a miniature electric push rod (3102). The upper and lower surfaces of the track mounting plate (3103) are respectively provided with two third tracks (3104). The third tracks (3104) are connected to an auxiliary extension plate (3105) via the electric trolley. Two sleeve screw mounting electric drills (3106) are provided on the end of the auxiliary extension plate (3105) away from the middle electric trolley.

4. The basement duct threaded rod hanger installation robot according to claim 3, characterized in that, The scanning and positioning unit (4100) consists of a wall-mounted 3D laser scanner (4102) mounted on each unit mounting plate (4101). The drilling and mounting unit (4200) consists of two front and rear drilling electric push rods (4201), which face the end of the opening of the third electric push rod (4005a). The output end of the drilling electric push rod (4201) is connected to a drilling rotary motor (4202). The output end of the drilling rotary motor (4202) is connected to a drilling installation electric drill (4203). One drilling installation electric drill (4203) is fitted with an expansion bolt mounting sleeve, and the other drilling installation electric drill (4203) is fitted with an electric drill bit. The chalk marking unit (4300) consists of a vertical and a horizontal marking electric push rod (4302) as its main body. The horizontal marking electric push rod (4302) is mounted on the vertical auxiliary electric push rod (4301), and the vertical auxiliary electric push rod (4301) is mounted on each unit mounting plate (4101). By pushing the push rod out of the vertical auxiliary electric push rod (4301), the height of the horizontal marking electric push rod (4302) can be higher than the vertical marking electric push rod (4302) mounted on the upper surface of each unit mounting plate (4101). The output ends of the two marking electric push rods (4302) are connected to marking electric clamps (4303). The lead screw mounting unit (4400) consists of several sets of outward-facing lead screw electric clamps (4401) mounted on both ends of each unit mounting plate (4101).

5. The basement duct threaded rod hanger installation robot according to claim 4, characterized in that, The inner ring of the transfer wheel (2113) has a cross-shaped opening. The output end of the transfer rotary motor (2112) is connected to the wheel mounting plate. The cross-shaped boss on the upper part of the wheel mounting plate matches the cross-shaped opening. The bottom of the cross-shaped boss has a support baffle of a certain area, so that the transfer wheel (2113) can be inserted into the cross-shaped boss through the cross-shaped opening and fixed relative to the wheel mounting plate. The transfer rotary motor (2112) can drive the transfer wheel (2113) to rotate, which can be used for feeding or discharging. When it is needed, the transfer wheel (2113) can be directly lifted by the transfer lifting plate (2115b) so that its cross-shaped opening is separated from the cross-shaped boss and then lifted for use.

6. An installation method for a basement duct threaded rod hanger installation robot as described in claim 5, characterized in that, The steps are as follows: S1. Scanning process: When the scanning process is performed, the electric trolley on the fourth track (4001) drives the rotary motor mounting plate (4002) on it to move laterally. At the same time, the rotary motor (4003) controls the entire rotary disk (4004) to rotate. Then, the scanning positioning units (4100) on the two sets of the fifth track (4006) move on the track. At the same time, the wall 3D laser scanner (4102) is activated to scan and record the entire wall in all directions. S2. Component Storage and Retrieval: Before the equipment enters the installation construction, when expansion bolts, marking chalk, and threaded rods need to be retrieved, the first electric push rod (3003) and the second electric push rod (3005) of the lifting part (3000) are used to lower the second electric push rod mounting plate (3004) and the rotating wheel mounting plate (3006) to a suitable height. The rotating motor (4003) rotates the entire rotating wheel (4004), controlling the drilling installation unit (4200), chalk marking unit (4300), and threaded rod installation unit (4400) on it to move sequentially to the appropriate position on the fifth track (4006), i.e., the transfer track. The output point of (2111) is above the transfer lifting seat (2115); when taking expansion bolts and marking chalk, first move its transfer wheel (2113) and transfer rotary motor (2112) to the lower part of the storage discharge hole (2122b) through the electric trolley below it, so that the empty opening on the transfer wheel (2113) is aligned with the storage discharge hole (2122b), and by opening the discharge electric push rod (2122d) of its auxiliary storage mechanism (2120), the discharge baffle (2122e) no longer blocks the storage discharge hole (2122b), and the expansion bolts and marking chalk can fall into the empty opening of the transfer wheel (2113); After all the loading is completed, move the entire transfer wheel (2113) and its auxiliary mechanisms to the output point of the transfer track (2111). At this time, the transfer wheel (2113) has been moved above the transfer lifting plate (2115b). At this time, the transfer lifting seat (2115) is raised by the first electric push rod (2114), and the transfer lifting plate (2115b) is raised synchronously. The transfer wheel (2113) is lifted, and its cross-shaped opening is separated from the cross-shaped boss at the bottom. Then, it is raised with each expansion bolt and marking chalk. After it is raised to a suitable height, it can be taken out by drilling and installing electric drill (4203) and marking electric clamp (4303). After the clamping is completed, the transfer wheel (2113) is lowered to replenish the components. When the sleeve screw (2121) is retrieved, the method is the same as that for expansion bolts and marking chalk. Only when it is stored and retrieved inside the auxiliary storage box (2122), when the sleeve screw (2121) slides onto the pushing mechanism (2123), the electric push rod of the pushing mechanism (2123) is activated, pushing up the push plate at its output end, causing the sleeve screw (2121) to rise on one side, turning the originally horizontal sleeve screw (2121) vertical, and then allowing it to fall from the storage discharge hole (2122b). After falling, the sleeve screw... The sleeve screw (2121) is fixed and transported by inserting it into the circular opening on the transfer wheel (2113). After the sleeve screw (2121) is lifted to a suitable height by the transfer mechanism (2110), the upper end of the sleeve screw (2121) is first clamped by the screw electric clamp (4401). After clamping, the entire rotating wheel part (4000) can be lifted by the second electric push rod (3005). Then, by extending the auxiliary extension plate (3105), the sleeve screw installation electric drill (3106) on it is used to fix the sleeve end of the screw. S3. Marking and Positioning: After scanning is completed, construction personnel can use the scanned data and construction drawings to determine the installation point of the screw hanger. After determination, the positioning and marking process can be carried out. At this time, the vertical auxiliary electric push rod (4301) of the chalk marking unit (4300) is used to raise the horizontal marking electric push rod (4302). The marking electric push rod (4302) pushes out the marking electric clamp (4303) at its output end. The marking electric clamp (4303) clamps the marking chalk and retracts the horizontal marking electric push rod (4302). At this time, the entire rotating wheel part can be raised. 4000), and move the chalk marking unit (4300) to a suitable position to draw horizontal lines. After completing the horizontal line drawing, push out the vertical marking electric push rod (4302) so that its marking electric clamp (4303) is located below the marking electric clamp of the horizontal marking electric push rod (4302). Release the upper clamp and clamp the lower clamp so that the marking chalk falls into the lower marking electric clamp and is clamped. Retract the horizontal marking electric push rod (4302), and then the vertical marking electric push rod (4302) can be extended and retracted to draw vertical lines, and finally achieve cross positioning marking. S4. Drilling and driving in expansion bolts: When drilling and driving in expansion bolts are required, the drilling rotary motor (4202) is pushed out by the drilling electric push rod (4201), and then the drilling installation electric drill (4203) on it is rotated by the drilling rotary motor (4202) so that its sleeve end faces down. The first transfer electric push rod (2114) pushes up the transfer lifting plate (2115b), and then the second transfer electric push rod (2116) pushes up the transfer lifting ejection plate (2115b). 17) Push the bottom of the expansion bolt into the sleeve for fixation, and then rotate the drilling installation electric drill (4203) by the drilling rotary motor (4202) to make it face upward. At this time, the whole rotating wheel part (4000) can be moved to a suitable height, and the drilling installation unit (4200) can be moved to the marked position. First, the drilling installation electric drill (4203) used for drilling is used for drilling, and then the drilling installation electric drill (4203) with sleeve is moved and switched to install the expansion bolt. S5. Screw Installation: During the screw installation process, the electric trolley under the first electric push rod mounting plate (3002) can be moved to a suitable position on the first track (3001). Then, the second electric push rod mounting plate (3004) can be raised and lowered by the first electric push rod (3003). When the auxiliary installation unit (3100) reaches a suitable height, the rotating wheel mounting plate (3006) can be pushed to a suitable height by the second electric push rod (3005). The rotating wheel section (4000) is raised and lowered. When it is necessary to install the sleeve screw, the screw mounting unit (4400) is moved to a suitable position, the entire rotating wheel section (4000) is moved to a suitable height, and the third electric push rods (4005a) on both sides of the wheel extension plate (4004a) below the screw mounting unit (4400) are retracted, so that the channels on both sides of the fifth track (4006) are opened, and then the sleeve screw (212) is clamped by the screw electric clamp (4401). 1) When the rotating wheel section (4000) has clamped the upper end of the lead screw, the entire rotating wheel section (4000) is raised by the second electric push rod (3005). Then, by controlling the electric trolley on the third track (3104), the auxiliary extension plate (3105) extends until the drill bit of the sleeve lead screw mounting electric drill (3106) is directly below the sleeve lead screw (2121). The rotating wheel section (4000) is then lowered so that the sleeve of the lead screw is inserted into the sleeve head of the electric drill and fixed. The screw installation process can be carried out. The auxiliary extension plates (3105) on the upper and lower surfaces are oriented in opposite directions, which can correspond to the two sets of opposite screw installation units (4400) on the rotating wheel part (4000). During installation, the upper part is aligned with the center hole of the expansion bolt. The first electric push rod (3003) is raised to simultaneously start the sleeve screw installation electric drill (3106) to screw the screw into the expansion bolt to complete the installation. At this point, the entire screw hanger installation process is completed, and the next screw hanger installation can be carried out in a cycle.

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