A multifunctional building construction system

Abstract

The present invention discloses a multifunctional construction system, which includes a robot center and a construction robot. The robot center includes a bracket and a replacement mechanism. The construction robot includes a walking mechanism, a construction mechanical arm, a construction execution mechanism, a material box mechanism, and a rapid assembly and disassembly mechanism. The construction mechanical arm is mounted on the walking mechanism. The construction execution mechanism is detachably connected to the construction mechanical arm. The material box mechanism is provided on the walking mechanism. The material box mechanism is used to provide raw materials to the construction execution mechanism. The rapid assembly and disassembly mechanism is mounted on the construction mechanical arm. The bracket is used to temporarily store the construction execution mechanism and the material box mechanism. This multifunctional construction system enables a construction robot to meet the construction needs of multiple processes and can automatically replace the material box mechanism and the construction execution mechanism, thereby reducing construction costs and improving construction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and in particular to a multifunctional building construction system. Background Art

[0002] The main way to improve the automation of building construction is to use construction robots to assist in construction. However, the research on construction robots is in its infancy. The current construction robots are only designed for a single function and a single process. The entire construction process requires a large number of different types of robots to collaborate to complete, which requires a high one-time investment. In addition, the construction mechanisms of existing construction robots and other structures that need to be replaced need to be manually replaced according to actual needs during the construction process, which affects construction efficiency.

[0003] Therefore, there is an urgent need to provide a multifunctional construction system that can enable a construction robot to meet the construction needs of multiple processes and automatically replace the material box mechanism and construction execution mechanism, thereby reducing construction costs and improving construction efficiency. Summary of the Invention

[0004] The purpose of the present invention is to propose a multifunctional building construction system, which can enable a construction robot to meet the construction needs of multiple processes, and can automatically replace the material box mechanism and the construction execution mechanism, thereby reducing construction costs and improving construction efficiency.

[0005] In order to achieve the above technical effects, the technical solutions of the present invention are as follows:

[0006] The present invention discloses a multifunctional building construction system, comprising: a robot center, which includes a bracket and a replacement mechanism; a construction robot, which includes a walking mechanism, a construction mechanical arm, a construction execution mechanism, a material box mechanism and a quick assembly and disassembly mechanism, the construction mechanical arm is installed on the walking mechanism, the construction execution mechanism is detachably connected to the construction mechanical arm, the material box mechanism is arranged on the walking mechanism, the material box mechanism is used to provide raw materials to the construction execution mechanism, and the quick assembly and disassembly mechanism is installed on the construction mechanical arm; wherein: the bracket is used to temporarily store the construction execution mechanism and the material box mechanism; the quick assembly and disassembly mechanism is used to install the construction execution mechanism temporarily stored on the bracket to the construction mechanical arm or to disassemble the construction execution mechanism on the construction mechanical arm to the bracket; the replacement mechanism is used to install the material box mechanism temporarily stored on the bracket to the walking mechanism or to disassemble the material box mechanism on the walking mechanism to the bracket.

[0007] In some embodiments, the robot center further includes a charging mechanism, and the walking mechanism is provided with a charging connector that cooperates with the charging mechanism, and the charging mechanism is used to charge the construction robot.

[0008] In some specific embodiments, the bracket includes: a first frame structure, the first frame structure is provided with a plurality of first accommodating positions arranged at intervals along the vertical direction, the first accommodating positions are used to accommodate the construction execution mechanism; a second frame structure, the second frame structure is used to support the first frame structure and is placed on an external support surface, the second frame structure is provided with a second accommodating position, the second accommodating position is used to accommodate the material box mechanism.

[0009] In some more specific embodiments, the second frame structure includes a frame body and a plurality of support plates connected to the frame body and arranged at intervals in the vertical direction, the second accommodation position is formed on the support plate, and the replacement mechanism is arranged on the support plate and parallel to the second accommodation position and / or above the second accommodation position.

[0010] In some embodiments, the replacement mechanism includes a replacement robot arm, and the execution end of the replacement robot arm is provided with a matching structure for matching with the material box mechanism;

[0011] The matching structure includes an electromagnetic device capable of engaging with the material box mechanism; or:

[0012] The mating structure includes a clamping claw mechanism capable of clamping the magazine mechanism.

[0013] In some embodiments, the construction execution mechanism includes a construction structure and a first quick-release plate connected to the construction structure; the quick assembly and disassembly mechanism includes a replacement drive member and a second quick-release plate, the replacement drive member being mounted on the end of the construction robot arm, and the replacement drive member being capable of clamping or releasing the first quick-release plate when the second quick-release plate is docked with the first quick-release plate;

[0014] The second quick-release plate is further provided with a material delivery pipe, one end of which is connected to the material box mechanism, and the other end of which is connected to the material feed pipe on the first quick-release plate.

[0015] In some embodiments, the first quick-release plate is provided with a clamping portion and a plurality of first positioning portions arranged around the clamping portion; the replacement drive member includes a clamping claw, which can clamp or release the clamping portion, and the second quick-release plate is also provided with a second positioning portion that cooperates with the first positioning portion.

[0016] In some embodiments, the traveling mechanism includes: a frame, the frame being provided with a fixing portion for fixing the material box mechanism; wheels, the wheels being mounted on the frame; and a traveling drive motor, the traveling drive motor being mounted on the frame and being used to drive the wheels to rotate.

[0017] A shooting module, which is arranged on the vehicle frame; a power supply module, which is arranged on the vehicle frame and is used to supply power to the shooting module and the travel drive motor.

[0018] In some embodiments, the material box mechanism includes: a material box body, which is provided with a feeding port; a feed pump, which is provided on the material box body and is used to output the raw materials in the material box body to the construction execution mechanism.

[0019] In some embodiments, the construction robot further includes a lifting mechanism, which is disposed on the walking mechanism and is used to drive the construction mechanical arm to move up and down.

[0020] The beneficial effects of the multifunctional building construction system of the present invention are as follows: in the actual working process, the construction robot can move to the position corresponding to the robot center according to different process requirements (for example: wall plastering, wall grinding, screw hole sealing, wall putty, wall spraying, wall roller coating, brick moving and wall building, etc.), and place the construction execution mechanism required for the previous process at the end of the construction robot arm on the bracket of the robot center through the quick assembly and disassembly mechanism, and then replace the construction execution mechanism required for the subsequent process. At the same time, the replacement mechanism on the robot center can replace the material box mechanism of the construction robot. Therefore, only one construction robot can complete multiple processes, reducing construction costs. In addition, during the construction process, the material box mechanism and the construction execution mechanism of the construction robot are automatically replaced, which reduces the labor intensity of construction personnel and improves construction efficiency.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a structural diagram of a multifunctional building construction system according to an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of a robot center according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram of another direction of the robot center according to an embodiment of the present invention;

[0025] Figure 4This is a schematic structural diagram of another direction of the robot center according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of the exploded structure of the robot center according to an embodiment of the present invention;

[0027] Figure 6 is a schematic structural diagram of a construction robot according to an embodiment of the present invention;

[0028] Figure 7 1 is a schematic diagram of the exploded structure of a construction robot according to an embodiment of the present invention;

[0029] Figure 8 2. It is a schematic diagram of the coordination structure of the construction mechanical arm and the rapid assembly and disassembly structure according to an embodiment of the present invention;

[0030] Figure 9 This is a structural diagram of a construction execution mechanism according to an embodiment of the present invention;

[0031] Figure 10 It is a structural diagram of another construction execution mechanism according to an embodiment of the present invention;

[0032] Figure 11 1 is a schematic structural diagram of a walking mechanism according to an embodiment of the present invention;

[0033] Figure 12 Schematic diagram of the internal structure of the walking mechanism according to an embodiment of the present invention;

[0034] Figure 13 1 is a structural diagram of a material box mechanism according to an embodiment of the present invention;

[0035] Reference numerals:

[0036] 100, robot center; 110, bracket; 111, first frame structure; 1110, first storage location; 1111, placement rack; 112, second frame structure; 1120, second storage location; 1121, support legs; 1122, frame body; 1123, support plate; 120, replacement mechanism; 121, replacement robot arm; 1211, mating structure; 122, electrical control box; 123, transport roller; 130, charging mechanism;

[0037] 200. Construction robot; 210. Travel mechanism; 211. Vehicle frame; 2111. Fixed frame; 2112. Magnetic structure; 212. Wheels; 213. Travel drive motor; 214. Camera module; 215. Power supply module; 216. Radar; 217. Charging port; 218. Controller; 220. Construction execution mechanism; 221. Construction structure; 222. First quick-release plate; 2221. Clamping part; 2222. First positioning part; 223. Feed pipe; 230. Material box mechanism; 231. Material box body; 2311. Feeding port; 2312. Operation panel; 2313. Magnet structure; 232. Feeding pump; 240. Construction robot arm; 250. Quick assembly and disassembly mechanism; 251. Replacement of driving parts; 252. Second quick-release plate; 2521. Second positioning part; 2522. Feeding pipe; 260. Lifting mechanism. DETAILED DESCRIPTION

[0038] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific implementation methods.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of the features, and are used to distinguish and describe features, without distinction of order or importance. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0042] Reference below Figures 1-13The specific structure of the multifunctional building construction system according to the embodiment of the present invention is described.

[0043] The present invention discloses a multifunctional building construction system, such as Figure 1 As shown, the multifunctional construction system includes a robot center 100 and a construction robot 200. The robot center 100 includes a bracket 110 and a replacement mechanism 120. The construction robot 200 includes a walking mechanism 210, a construction mechanical arm 240, a construction execution mechanism 220, a material box mechanism 230 and a quick assembly and disassembly mechanism 250. The construction mechanical arm 240 is installed on the walking mechanism 210. The construction execution mechanism 220 is detachably connected to the construction mechanical arm 240. The material box mechanism 230 is arranged on the walking mechanism 210. The material box mechanism 230 is used to provide raw materials to the construction execution mechanism 220. The quick assembly and disassembly mechanism 250 is installed on the construction mechanical arm 240. The bracket 110 is used to temporarily store the construction execution mechanism 220 and the material box mechanism 230; the quick assembly and disassembly mechanism 250 is used to install the construction execution mechanism 220 temporarily stored on the bracket 110 to the construction machinery arm 240 or to remove the construction execution mechanism 220 on the construction machinery arm 240 to the bracket 110; the replacement mechanism 120 is used to install the material box mechanism 230 temporarily stored on the bracket 110 to the walking mechanism 210 or to remove the material box mechanism 230 on the walking mechanism 210 to the bracket 110.

[0044] It can be understood that in the actual working process, the construction robot 200 can move to the position corresponding to the robot center 100 according to different process requirements (for example: wall plastering, wall grinding, screw hole sealing, wall putty, wall spraying, wall roller coating, brick moving and wall building, etc.), and place the construction execution mechanism 220 required for the previous process at the end of the construction robot arm 240 on the bracket 110 of the robot center 100 through the quick assembly and disassembly mechanism 250, and then replace the construction execution mechanism 220 required for the subsequent process. At the same time, the replacement mechanism 120 on the robot center 100 can replace the material box mechanism 230 of the construction robot 200. Therefore, only one construction robot 200 can complete multiple processes, reducing construction costs. In addition, during the construction process, the material box mechanism 230 and the construction execution mechanism 220 of the construction robot 200 are automatically replaced, reducing the labor intensity of construction personnel and improving construction efficiency.

[0045] It should be noted that this specification only cites two construction execution mechanisms 220, one of which is a brick moving fixture ( Figure 9 As shown), the other is a slurry coating tool ( Figure 10 As shown), in an embodiment of the present invention, the construction execution mechanism 220 can be of multiple types and is not limited to the two types mentioned above.

[0046] In some embodiments, the robot center 100 further includes a charging mechanism 130. The walking mechanism 210 is provided with a charging connector that cooperates with the charging mechanism 130. The charging mechanism 130 is used to charge the construction robot 200. Thus, during actual operation, the construction robot 200 can be automatically charged, thereby improving user satisfaction.

[0047] In some specific embodiments, such as Figure 2-Figure 4 As shown, the bracket 110 includes a first frame structure 111 and a second frame structure 112. The first frame structure 111 is provided with a plurality of first accommodating positions 1110 spaced apart in the vertical direction. The first accommodating positions 1110 are used to accommodate the construction execution mechanism 220. The second frame structure 112 is used to support the first frame structure 111 and is placed on an external support surface. The second frame structure 112 is provided with second accommodating positions 1120. The second accommodating positions 1120 are used to accommodate the material box mechanism 230. It can be understood that by providing the first frame structure 111 and the second frame structure 112, the first accommodating positions 1110 for accommodating the construction execution mechanism 220 and the second accommodating positions 1120 for accommodating the material box mechanism 230 are partitioned. This not only facilitates construction personnel to replenish the construction execution mechanism 220 and the material box mechanism 230, but also facilitates the construction robot 200 to accurately position the robot as needed during actual work, thereby facilitating the replacement of the construction execution mechanism 220 and the material box mechanism 230.

[0048] In some optional embodiments, such as Figure 5 As shown, the bottom wall of the second frame structure 112 is provided with support legs 1121 that abut against the external support surface. It is understood that the additional support legs 1121 can act as a buffer, preventing the second frame structure 112 from directly contacting and damaging the external support surface. It should be noted that the number, distribution location, material, and connection method of the support legs 1121 with the second frame structure 112 can be selected according to actual needs and are not limited herein.

[0049] In some more specific embodiments, Figure 5As shown, the second frame structure 112 includes a frame body 1122 and a plurality of support plates 1123 connected to the frame body 1122 and spaced apart in the vertical direction. The second accommodation position 1120 is formed on the support plates 1123. The replacement mechanism 120 is disposed on the support plates 1123 and is arranged in parallel with the second accommodation position 1120 and / or above the second accommodation position 1120. It is understood that the support plates 1123 can ensure support for the replacement mechanism 120 and the material box mechanism 230, ensuring the placement stability of the replacement mechanism 120 and the material box mechanism 230. The replacement mechanism 120 is disposed on the support plates 1123 and is arranged in parallel with the second accommodation position 1120 and / or above the second accommodation position 1120, which can facilitate the replacement mechanism 120 to replace the material box mechanism 230.

[0050] In some embodiments, as Figure 2 As shown, a placement rack 1111 matching the shape of the construction execution mechanism 220 is provided on the first accommodation position 1110. Thus, it is possible to ensure that construction execution mechanisms 220 of different shapes are stably maintained on the first accommodation position 1110, thereby facilitating the replacement of the construction execution mechanism 220 by the construction robot 200.

[0051] In some embodiments, as Figure 2 and Figure 5 As shown, the replacement mechanism 120 includes a replacement robot arm 121, and the execution end of the replacement robot arm 121 is provided with a mating structure 1211 that mates with the material box mechanism 230. It is understandable that the replacement robot arm 121 is highly flexible, and using the replacement robot arm 121 to replace the material box mechanism 230 facilitates operation, allowing the material box mechanism 230 to be quickly and stably removed from the construction robot 200 or moved to the construction robot 200.

[0052] In some optional embodiments, the mating structure 1211 includes an electromagnetic device capable of engaging with the container mechanism 230, and the container is provided with a magnet structure 2313 that engages with the electromagnetic device. It is understood that the electromagnetic device and the magnetic attraction structure 2112 can be engaged or released to ensure that the container mechanism 230 can be quickly and stably removed from the construction robot 200 or moved to the construction robot 200.

[0053] In some optional embodiments, the matching structure 1211 includes a clamping mechanism capable of clamping the material box mechanism 230. This can also facilitate the transportation of the material box mechanism 230.

[0054] In some specific embodiments, such as Figure 2 and Figure 5As shown, the replacement mechanism 120 further includes a plurality of transport rollers 123, which transport the material box mechanism 230 to the construction robot 200 or receive the material box mechanism 230 from the construction robot 200. Therefore, in actual operation, the transport rollers 123 can be used in conjunction with the replacement robot arm 121. Specifically, the replacement robot arm 121 places the replaced material box mechanism 230 on the transport rollers 123, which then transport it to the designated second receiving position 1120. The replacement robot arm 121 then places the new material box mechanism 230 on the transport rollers 123, which then transport it to the construction robot 200. This reduces the workload of the replacement robot arm 121 and reduces the failure rate of the replacement robot arm 121.

[0055] In some embodiments, as Figure 7 As shown, the construction execution mechanism 220 includes a construction structure 221 and a first quick-release plate 222 connected to the construction structure 221; Figure 8 As shown, the quick assembly and disassembly mechanism 250 includes a replacement drive member 251 and a second quick-release plate 252. The replacement drive member 251 is mounted on the end of the construction robot arm 240. When the second quick-release plate 252 docks with the first quick-release plate 222, the replacement drive member 251 can clamp or release the first quick-release plate 222. It is understood that during the actual disassembly process, the traveling mechanism 210 drives the construction robot arm 240 to move to a designated position, and then the replacement drive member 251 releases the first quick-release plate 222. The traveling mechanism 210 drives the construction robot arm 240 in a direction away from the construction execution mechanism 220. Since the replacement drive member 251 has already released the first quick-release plate 222 at this time, the movement of the construction robot arm 240 will not drive the construction execution mechanism 220 to move, thereby allowing the construction execution mechanism 220 to be placed in the designated position. During the actual installation process, the walking mechanism 210 drives the construction mechanical arm 240 to move to the specified position, so that the first quick-release plate 222 and the second quick-release plate 252 are docked, and then the driving member 251 is replaced to clamp the first quick-release plate 222. The walking mechanism 210 drives the construction mechanical arm 240 to move in the direction away from the construction execution mechanism 220. Since the replacement driving member 251 has clamped the first quick-release plate 222 at this time, the construction mechanical arm 240 will drive the construction execution mechanism 220 to move during its movement, so that the construction execution mechanism 220 is installed to the end of the construction mechanical arm 240.

[0056] In some specific embodiments, such as Figure 9As shown, the first quick-release plate 222 is provided with a clamping portion 2221 and a plurality of first positioning portions 2222 disposed around the clamping portion 2221. The replacement drive member 251 includes a clamping claw that can clamp or release the clamping portion 2221. The second quick-release plate 252 is also provided with a second positioning portion 2521 that cooperates with the first positioning portion 2222. It will be understood that during actual operation, the cooperation between the first positioning portion 2222 and the second positioning portion 2521 can ensure that the first quick-release plate 222 and the second quick-release plate 252 are stably aligned, thereby ensuring that the clamping claw can stably clamp the clamping portion 2221, and ensuring that the construction execution mechanism 220 is stably mounted on the end of the construction robot arm 240.

[0057] It should be noted that the gripper can be pneumatic or electric according to actual needs. The gripper structure shown in the figure is only a simplified schematic diagram. The shape and specific structure of the gripper can be selected according to existing technology. In addition, other structures can also be used to replace the drive member 251, such as an electromagnetic attraction structure.

[0058] In some more specific embodiments, one of the first positioning portion 2222 and the second positioning portion 2521 is a positioning post, and the other is a positioning hole. It should be noted that in some embodiments, the first positioning portion 2222 is a positioning post, and the second positioning portion 2521 is a positioning hole; in some embodiments, the first positioning portion 2222 is a positioning hole, and the second positioning portion 2521 is a positioning post; in some embodiments, a portion of the first positioning portion 2222 is a positioning post, and another portion of the first positioning portion 2222 is a positioning hole, and a portion of the second positioning portion 2521 is a positioning post, and another portion of the second positioning portion 2521 is a positioning hole. The specific distribution of the positioning posts and positioning holes can be selected based on actual needs. It is understood that using positioning posts and positioning holes as the first positioning portion 2222 and the second positioning portion 2521 allows for more convenient and accurate positioning, ensuring precise alignment of the first quick-release plate 222 and the second quick-release plate 252, thereby facilitating replacement of the construction actuator 220.

[0059] In some specific embodiments, such as Figure 10 As shown, the second quick-release plate 252 is provided with a material delivery pipe 2522. One end of the material delivery pipe 2522 is connected to the material box mechanism 230, and the other end is connected to the feed pipe 223 on the first quick-release plate 222. It can be understood that when the first quick-release plate 222 and the second quick-release plate 252 are connected, the material delivery pipe 2522 can accurately connect with the feed pipe 223, so that the raw materials in the material box mechanism 230 can be continuously delivered to the construction structure 221, thereby ensuring that the construction robot 200 can operate continuously and further improving construction efficiency.

[0060] It should be noted that the joints of the feed pipe 223 and the delivery pipe 2522 have a sealing joint, which can effectively prevent leakage of raw materials. The specific structure of the sealing joint is prior art and is not limited here.

[0061] In some embodiments, as Figure 11-12 As shown, the traveling mechanism 210 includes a frame 211, wheels 212, a traveling drive motor 213, a power supply module 215, and a camera module 214. The frame 211 is provided with a fixing portion for fixing the material box mechanism 230. The wheels 212 are mounted on the frame 211. The traveling drive motor 213 is mounted on the frame 211 and is used to drive the wheels 212 to rotate. The camera module 214 is provided on the frame 211. The power supply module 215 is provided on the frame 211 and is used to supply power to the camera module 214 and the traveling drive motor 213. It is understood that during actual operation, the traveling drive motor 213 drives the wheels 212 to rotate to enable the frame 211 to travel. The use of the power supply module 215 ensures that the traveling mechanism does not require an external power supply, so that the movement path of the traveling mechanism 210 is not restricted, better meeting construction requirements. The camera module 214 can capture the surrounding environment of the traveling mechanism 210, thereby facilitating path planning for the traveling mechanism 210. By fixing the material box mechanism 230 by the fixing portion, the stability of the material box mechanism 230 on the traveling mechanism 210 can be ensured, thereby preventing the material box mechanism 230 from tipping over during the movement of the traveling mechanism 210 .

[0062] Optional, such as Figure 11-12 As shown, the traveling mechanism 210 further includes a radar 216 disposed on the vehicle frame 211. This allows for better detection of the surrounding environment of the traveling mechanism 210, further facilitating path planning for the traveling mechanism 210.

[0063] Optional, such as Figure 12 As shown, the traveling mechanism 210 further includes a controller 218 mounted on the vehicle frame 211. The controller 218 is electrically connected to the traveling drive motor 213, the power supply module 215, and the camera module 214. This enables intelligent control of the traveling mechanism 210. It should be noted that the controller 218 can be a single-chip microcomputer, a distributed controller, or a control chip, depending on practical needs. The controller 218 is conventional technology, and the specific type and control logic of the controller 218 are not necessarily defined herein.

[0064] In some specific embodiments, such as Figure 11As shown, the fixing portion includes a fixing frame 2111 and a magnetic structure 2112 provided on the fixing frame 2111. The lower portion of the material box mechanism 230 is plugged into the fixing frame 2111 and is attracted to the magnetic structure 2112. It can be understood that the lower portion of the material box mechanism 230 is plugged into the fixing frame 2111 and is attracted to the magnetic structure 2112. Through the dual fixation of the fixing frame 2111 and the magnetic structure 2112, the installation stability of the material box mechanism 230 on the walking mechanism 210 can be improved, and the material box mechanism 230 can be prevented from tipping over during the movement of the walking mechanism 210. Of course, in other embodiments of the present invention, the fixing portion can also include other fixing structures that cooperate with the material box mechanism 230, for example, the fixing portion is a fixing hole, a fixing column is provided below the material box mechanism 230, and so on.

[0065] In some embodiments, as Figure 13 As shown, the material box mechanism 230 includes a material box body 231 and a material delivery pump 232. The material box body 231 is provided with a feeding port 2311. The material delivery pump 232 is provided on the material box body 231. The material delivery pump 232 is used to output the raw materials in the material box body 231 to the construction execution mechanism 220. It can be understood that in the actual working process, the material delivery pump 232 can continuously deliver the raw materials in the material box body 231 to the construction execution mechanism 220, thereby ensuring that the construction robot 200 can operate continuously and further improve the construction efficiency.

[0066] Preferably, Figure 13 As shown, a feeding port 2311 is provided on the material box body 231. It is understandable that in the actual working process, if the material box body 231 is not replaced, raw materials can also be added to the material box body 231 through the feeding port 2311, so that the construction robot 200 has multiple feeding methods, improving user satisfaction.

[0067] Preferably, Figure 13 As shown, an operation panel 2312 is provided on the material box body 231. The operation panel 2312 can be used to control the speed of the feed pump 232. The operation panel 2312 can also display the height of the raw materials in the material box body 231 in real time, which is convenient for operators to monitor.

[0068] In some embodiments, as Figure 6-Figure 7 As shown, the construction robot 200 further includes a lifting mechanism 260, which is disposed on the walking mechanism 210 and is used to drive the construction arm 240 to move upward and downward. It is understood that in actual operation, relying solely on the range of motion of the construction arm 240 for construction may result in blind spots. In this embodiment, the additional lifting mechanism 260 can raise and lower the construction arm 240 according to actual needs, thereby expanding the construction range of the construction arm 240 and better meeting construction needs.

[0069] It should be noted that, in the embodiment of the present invention, the lifting mechanism 260 can select a linear drive structure such as a cylinder, an electric push rod, etc. according to actual needs, and the specific type of the lifting mechanism 260 is not limited here.

[0070] Example:

[0071] Reference below Figures 1-13 A multifunctional building construction system according to a specific embodiment of the present invention is described.

[0072] like Figure 1 As shown, the multifunctional building construction system includes a robot center 100 and a construction robot 200 .

[0073] like Figure 2-Figure 5 As shown, the robot center 100 includes a support 110, a replacement mechanism 120, and a charging mechanism 130. The support 110 comprises a first frame structure 111 and a second frame structure 112. The first frame structure 111 has a plurality of vertically spaced first receiving locations 1110, each of which is provided with a placement rack 1111 shaped to match the construction execution mechanism 220. The second frame structure 112 supports the first frame structure 111 and is placed on an external support surface. The bottom wall of the second frame structure 112 is provided with support legs 1121 that abut against the external support surface. The second frame structure 112 comprises a frame body 1122 and a plurality of vertically spaced support plates 1123 connected to the frame body 1122. The second receiving locations 1120 are formed on the lower support plate 1123. The replacement mechanism 120 comprises a replacement robot arm 121, a plurality of transport rollers 123, and an electrical control box 122. The execution end of the replacement robot arm 121 is provided with a mating structure 1211 that mates with the material bin mechanism 230. The matching structure 1211 includes an electromagnetic device that can be attracted to the material box mechanism 230, and the electric control box 122 can control the replacement robot arm 121 and the motor that drives the multiple transport rollers 123 to move.

[0074] like Figure 6-Figure 13As shown, the construction robot 200 includes a walking mechanism 210, a construction mechanical arm 240, a material box mechanism 230, a construction execution mechanism 220, a quick assembly and disassembly mechanism 250, and a lifting mechanism 260. The lifting mechanism 260 is provided on the walking mechanism 210 and is used to drive the construction mechanical arm 240 to move up and down. The construction execution mechanism 220 includes a construction structure 221 and a first quick-release plate 222 connected to the construction structure 221. The first quick-release plate 222 is provided with a clamping portion 2221 and a plurality of first positioning portions 2222 arranged around the clamping portion 2221. The first positioning portion 2222 is a positioning column. There are two types of construction structures 221, one is a brick moving clamp (as shown in the figure) and the other is a slurry coating tool (as shown in the figure). The quick-release mechanism 250 includes a replacement driver 251, a clamping claw mounted on the end of the construction robot arm 240, and a second quick-release plate 252. The second quick-release plate 252 is provided with a second positioning portion 2521, which is a positioning hole. A feed pipe 2522 is provided on the second quick-release plate 252. One end of the feed pipe 2522 is connected to the material box mechanism 230, and the other end is connected to the feed pipe 223 on the first quick-release plate 222. The travel mechanism 210 includes a frame 211, wheels 212, a travel drive motor 213, a power supply module 215, a camera module 214, a charging interface 217, a radar 216, and a controller 218. The frame 211 is provided with a fixing portion for fixing the material box mechanism 230. The fixing portion includes a fixing frame 2111 and a magnetic attraction structure 2112 provided on the fixing frame 2111. The wheels 212 are mounted on the frame 211. The travel drive motor 213 is mounted on the frame 211 and is used to drive the wheels 212 to rotate. The camera module 214 is provided on the frame 211. The power supply module 215 is provided on the frame 211 and is used to power the camera module 214 and the travel drive motor 213. The charging interface 217, radar 216, and controller 218 are all provided on the frame 211. The controller 218 is electrically connected to the travel drive motor 213, the power supply module 215, the camera module 214, the charging structure, and the radar 216. The material box mechanism 230 includes a material box body 231 and a feed pump 232. The lower portion of the material box body 231 is inserted into the fixed frame 2111 and engages with the magnetic attraction structure 2112. The material box body 231 is equipped with a feeding port 2311, an operation panel 2312, and a magnet structure 2313. The feed pump 232 is installed on the material box body 231 and is used to output the raw materials in the material box body 231 to the construction execution mechanism 220.

[0075] The construction process of the multifunctional building construction system of this embodiment is as follows:

[0076] At the start of the operation, the construction robot 200 moves to the position corresponding to the first receiving position 1110 on the bracket 110, selects a construction actuator 220, and moves the construction robot arm 240 to mate the second quick-release plate 252 with the first quick-release plate 222 (with the positioning post inserted into the positioning hole). The jaws then clamp the clamping portion 2221 on the construction actuator 220. The replacement mechanism 120 transports the fully loaded material box mechanism 230 to the walking mechanism 210.

[0077] After completing the preliminary work, the controller 218 will automatically calculate the work point, so that the walking mechanism 210 moves to the work point according to the preset route (during the movement, the radar 216 is responsible for positioning and navigation, and the shooting device is responsible for auxiliary navigation and obstacle avoidance). When the lifting mechanism 260 lifts the construction robot arm 240 to the appropriate position, the construction execution mechanism 220 performs the operation (during the operation, the feed pump 232 can output the raw materials in the material box body 231 to the construction execution mechanism 220, and the raw materials reach the work surface through the construction structure 221). After the operation at the current point is completed, the walking mechanism 210 moves along the designated route to the next work point until the entire space operation is completed.

[0078] After the first process in the entire space is completed, the construction robot 200 moves to the position corresponding to the first accommodation position 1110 on the bracket 110 (the feed pump 232 is turned off at this time), and the construction mechanical arm 240 drives the construction execution mechanism 220 to move it to the placement rack 1111. The clamp releases the clamping part 2221, and the construction machine arm moves toward a position away from the placement rack 1111, so that the construction mechanical arm 240 is separated from the construction execution mechanism 220. A construction execution mechanism 220 is selected, and the construction mechanical arm 240 moves so that the second quick-release disc 252 docks with the first quick-release disc 222 (the positioning column is inserted into the positioning hole), and the clamp clamps the clamping part 2221 on the construction execution mechanism 220. At this time, if the material box mechanism 230 needs to be replaced, the replacement structure is used to place the old material box mechanism 230 on the second accommodation position 1120, and then a new material box mechanism 230 is transported to the walking mechanism 210.

[0079] After completing the construction execution mechanism 220, repeat the previous process to complete multiple process operations.

[0080] In particular, when the power of the charging module is too low, the construction robot 200 can return to the robot center 100 and use the charging interface 217 to insert the charging module for charging.

[0081] Throughout this specification, references to "some embodiments," "other embodiments," and the like indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0082] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scopes. The contents of this specification should not be understood as limiting the present invention.

Claims

1. A multifunctional building construction system, characterized in that: include: A robot center (100), the robot center (100) comprising a support (110) and a replacement mechanism (120); A construction robot (200) includes a walking mechanism (210), a construction mechanical arm (240), a construction execution mechanism (220), a material box mechanism (230), and a quick assembly and disassembly mechanism (250). The construction mechanical arm (240) is mounted on the walking mechanism (210), the construction execution mechanism (220) is detachably connected to the construction mechanical arm (240), the material box mechanism (230) is arranged on the walking mechanism (210), the material box mechanism (230) is used to provide raw materials to the construction execution mechanism (220), and the quick assembly and disassembly mechanism (250) is mounted on the construction mechanical arm (240); wherein: The support (110) is used to temporarily store the construction execution mechanism (220) and the material box mechanism (230); The quick assembly and disassembly mechanism (250) is used to install the construction execution mechanism (220) temporarily stored on the bracket (110) onto the construction mechanical arm (240) or to disassemble the construction execution mechanism (220) on the construction mechanical arm (240) onto the bracket (110); The replacement mechanism (120) is used to install the material box mechanism (230) temporarily stored on the bracket (110) onto the traveling mechanism (210) or to remove the material box mechanism (230) on the traveling mechanism (210) to the bracket (110); The robot center (100) further includes a charging mechanism (130), the walking mechanism (210) is provided with a charging connector that cooperates with the charging mechanism (130), and the charging mechanism (130) is used to charge the construction robot (200); The construction execution mechanism (220) includes a construction structure (221) and a first quick-release plate (222) connected to the construction structure (221); The quick assembly and disassembly mechanism (250) comprises a replacement drive member (251) and a second quick-release disc (252). The replacement drive member (251) is mounted on the end of the construction mechanical arm (240). When the second quick-release disc (252) is docked with the first quick-release disc (222), the replacement drive member (251) can clamp or release the first quick-release disc (222). The second quick-release plate (252) is further provided with a material delivery pipe (2522), one end of which is connected to the material box mechanism (230), and the other end of which is connected to the material feed pipe (223) on the first quick-release plate (222); The first quick-release plate (222) is provided with a clamping portion (2221) and a plurality of first positioning portions (2222) arranged around the clamping portion (2221); The replacement drive member (251) comprises a clamping claw capable of clamping or releasing the clamping portion (2221); the second quick-release plate (252) is further provided with a second positioning portion (2521) cooperating with the first positioning portion (2222).

2. The multifunctional building construction system according to claim 1, characterized in that: The support (110) comprises: a first frame structure (111), wherein the first frame structure (111) is provided with a plurality of first accommodation positions (1110) spaced apart in a vertical direction, wherein the first accommodation positions (1110) are used to accommodate the construction execution mechanism (220); A second frame structure (112), the second frame structure (112) is used to support the first frame structure (111) and is placed on an external support surface, and a second accommodating position (1120) is provided on the second frame structure (112), and the second accommodating position (1120) is used to accommodate the material box mechanism (230).

3. The multifunctional building construction system according to claim 2, characterized in that: The second frame structure (112) includes a frame body (1122) and a plurality of support plates (1123) connected to the frame body (1122) and arranged at intervals in the vertical direction. The second accommodating position (1120) is formed on the support plate (1123). The replacement mechanism (120) is arranged on the support plate (1123) in parallel with the second accommodating position (1120) and / or above the second accommodating position (1120).

4. The multifunctional building construction system according to claim 1, characterized in that: The replacement mechanism (120) includes a replacement mechanical arm (121), and an execution end of the replacement mechanical arm (121) is provided with a matching structure (1211) that matches the material box mechanism (230); The matching structure (1211) includes an electromagnetic device capable of engaging with the material box mechanism (230); or: The mating structure (1211) includes a clamping mechanism capable of clamping the magazine mechanism (230).

5. The multifunctional building construction system according to claim 1, characterized in that: The walking mechanism (210) comprises: A vehicle frame (211), wherein the vehicle frame (211) is provided with a fixing portion for fixing the material box mechanism (230); A wheel (212), the wheel (212) being mounted on the frame (211); A travel drive motor (213), the travel drive motor (213) being mounted on the vehicle frame (211) and used for driving the wheels (212) to rotate; a shooting module (214), the shooting module (214) being arranged on the vehicle frame (211); A power supply module (215) is provided on the vehicle frame (211) and is used to supply power to the shooting module (214) and the travel drive motor (213).

6. The multifunctional building construction system according to claim 1, characterized in that: The material box mechanism (230) includes: A material box body (231), wherein the material box body (231) is provided with a material feeding port (2311); A material delivery pump (232), the material delivery pump (232) is arranged on the material box body (231), and the material delivery pump (232) is used to deliver the raw materials in the material box body (231) to the construction execution mechanism (220).

7. The multifunctional building construction system according to claim 1, characterized in that: The construction robot (200) further comprises a lifting mechanism (260), wherein the lifting mechanism (260) is provided on the walking mechanism (210) and is used to drive the construction mechanical arm (240) to move up and down.

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