A robot for automatically erecting a fastener-type steel pipe scaffold

Abstract

The application relates to the technical field of building engineering, and particularly discloses a robot for automatically erecting a fastener type steel pipe scaffold, which comprises a base, a stand column arranged above the base, a movable column hingedly arranged at the top of the stand column, a connecting column hingedly arranged at the top of the movable column, a hydraulic push rod hingedly arranged on one side of the connecting column, a connecting rod hingedly arranged at the output shaft end of the hydraulic push rod, the top of the connecting rod being hingedly arranged with the bottom surface of the connecting column, a placing box rotatably arranged at the top of the connecting column, horizontal plates fixedly arranged on the upper and lower sides of the placing box, a movable rod slidingly arranged on the horizontal plates, a clamping plate fixedly arranged at one end of the movable rod, and the clamping plates being arranged in an arc shape and oppositely arranged. The robot can conveniently convey the steel pipes and the steel pipe fasteners and automatically insert the connecting rods between the vertical steel pipes, effectively improves the erection speed of the scaffold, saves time and effort, and is high in safety.

Description

Technical Field

[0001] This invention belongs to the field of construction engineering technology, and in particular relates to a robot for automatically erecting coupler-type steel pipe scaffolding. Background Technology

[0002] Coupler-type steel pipe scaffolding refers to scaffolding and support frames constructed for building construction and bearing loads, consisting of couplers and steel pipes, collectively known as scaffolding. Couplers are fastening connectors that use bolts for fastening.

[0003] Currently, the installation and dismantling of scaffolding on construction sites are all done manually. Manual installation and dismantling of scaffolding at heights is dangerous and inefficient. Therefore, it is necessary to research and improve the installation and dismantling of scaffolding.

[0004] The existing patent (publication number: CN115697641A) describes a scaffolding installation and dismantling robot, which proposes a brand-new concept for scaffolding installation and dismantling robots. This seven-axis robot can move freely on the scaffolding and is remotely controlled and fully automatically synchronized and intelligently operated. It is safer and more efficient than the existing manual high-altitude scaffolding installation and dismantling.

[0005] To address the aforementioned issues, existing patents have provided solutions. However, in actual use, the method of gripping the steel pipe by opening and closing the gripping ring results in only one force point on the side of the steel pipe. The stability of the gripping ring when it is held on the steel pipe is poor, which can easily cause the entire device to slip off the scaffold. This leads to poor stability when gripping and transporting the steel pipe, posing a safety hazard. Improvements are needed through comparison.

[0006] To address this, a robot for automatically erecting coupler-type steel pipe scaffolding is proposed. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a robot for automatically erecting coupler-type steel pipe scaffolding, which can transport steel pipes and steel pipe couplers, effectively improve the scaffolding erection speed, save time and labor, and ensure high safety.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a robot for automatically erecting coupler-type steel pipe scaffolding, comprising a base, a column above the base, a movable column hinged to the top of the column, a connecting column hinged to the top of the movable column, a hydraulic push rod hinged to one side of the connecting column, a connecting rod hinged to the end of the output shaft of the hydraulic push rod, the top of the connecting rod hinged to the bottom surface of the connecting column, a placement box rotatably mounted on the top of the connecting column, horizontal plates fixedly mounted on the upper and lower sides of the placement box, a movable rod slidably mounted on the horizontal plates, a clamping plate fixedly mounted at one end of the movable rod, the clamping plates being arc-shaped and arranged opposite each other, a driving component for driving the relative movement of the clamping plates being provided on the outer wall of the placement box and the horizontal plates, a flipping component being provided at the end of the connecting column, baffles slidably mounted on the left and right sides of the placement box, a connecting component being provided on the side of the placement box, and a rotating component being provided on the base.

[0009] Preferably, the driving component includes a cylinder fixedly mounted on the outer wall of the placement box, a symmetrically mounted driving rod fixedly mounted on the cylinder output shaft, and a hinge rod disposed between the driving rod and the movable rod. The driving rod is slidably mounted on the horizontal plate, and the two ends of the hinge rod are respectively hinged to the driving rod and the movable rod.

[0010] Preferably, the flipping component includes a flipping motor fixedly installed in the end of the connecting column, a first gear and a second gear rotatably installed in the end of the connecting column, the end of the output shaft of the flipping motor being fixedly connected to the center point of the first gear, the first gear and the second gear being meshed and connected for transmission, and the center point of the second gear being fixedly connected to the end of the rotating shaft of the placement box.

[0011] Preferably, the connector includes an L-shaped rod fixedly installed on both sides of the upper drive rod, a sleeve plate rotatably installed at the bottom of the L-shaped rod, a torsion spring fixedly installed in the sleeve plate, a connecting strip fixedly installed on the side of the sleeve plate near the baffle, an insert block fixedly installed at the end of the connecting strip, and an insertion port opened on the outer wall of the baffle. The top end of the torsion spring is fixedly installed to the bottom end of the L-shaped rod.

[0012] Preferably, the bottom dimension of the L-shaped rod is adapted to the inner diameter of the sleeve plate, and the dimension of the insert block is adapted to the insertion port dimension.

[0013] Preferably, the rotating component includes a rotating motor fixedly mounted on the base, a first transmission wheel fixedly mounted on the end of the output shaft of the rotating motor, a second transmission wheel rotatably mounted above the base, and a transmission belt sleeved on the first and second transmission wheels. The first and second transmission wheels are meshed and connected to the transmission belt, and the top of the second transmission wheel at the bottom of the column is fixedly connected.

[0014] Preferably, a protective box is fixedly installed on the base, and the first transmission wheel and the second transmission wheel are rotatably mounted on the protective box.

[0015] Preferably, the base is equipped with a controller, which is electrically connected to the hydraulic push rod, the cylinder, the tilting motor and the rotating motor respectively.

[0016] In summary, compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. In this invention, by setting up a placement box, a horizontal plate, a movable rod, a clamping plate, a cylinder, a drive rod, and a hinge rod to work together, the steel pipe can be clamped and fixed. During clamping, the side wall of the steel pipe has two corresponding force points, which improves the stability of clamping the steel pipe and thus improves safety.

[0018] 2. In this invention, the placement box can store steel pipe fasteners, and the baffle, L-shaped rod, sleeve plate, torsion spring, connecting rod, plug and the cooperation between the plug can be set up. The baffle and the drive rod can be connected to facilitate the opening and closing of the placement box. The box is opened when the fastener is needed and closed when it is not needed, which further improves convenience and safety.

[0019] 3. In this invention, by setting up a base, uprights, movable columns, connecting columns, hydraulic push rods, connecting rods, flipping parts, and rotating parts to work together, steel pipes can be transported horizontally or vertically, and vertical steel pipes can be automatically inserted and connected, effectively improving the scaffolding erection speed. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 This is a structural diagram of the placement box, clamping plate, and driving component of the present invention;

[0022] Figure 3 This is a side sectional view of the connecting column of the present invention;

[0023] Figure 4 This is a structural diagram of the connector of the present invention;

[0024] Figure 5 This is a structural diagram showing the connection between the sleeve plate and the bottom end of the L-shaped rod of the present invention;

[0025] Figure 6 This is a structural diagram of the rotating component of the present invention.

[0026] Legend:

[0027] 1. Base; 2. Column; 3. Movable column; 4. Connecting column; 5. Hydraulic push rod; 6. Connecting rod; 7. Placement box; 8. Horizontal plate; 9. Movable rod; 10. Clamping plate; 11. Driving component; 111. Cylinder; 112. Driving rod; 113. Hinge rod; 12. Tilting component; 121. Tilting motor; 122. Gear 1; 123. Gear 2; 13. Baffle; 14. Connecting component; 141. L-shaped rod; 142. Sleeve plate; 143. Torsion spring; 144. Connecting strip; 145. Insert block; 146. Insert; 15. Rotating component; 151. Rotating motor; 152. Transmission wheel 1; 153. Transmission wheel 2; 154. Transmission belt; 16. Protective box. Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figure 1-6 This invention provides a technical solution: a robot for automatically erecting coupler-type steel pipe scaffolding, comprising a base 1, a column 2 disposed above the base 1, a movable column 3 hinged to the top of the column 2, a connecting column 4 hinged to the top of the movable column 3, a hydraulic push rod 5 hinged to one side of the connecting column 4, a connecting rod 6 hinged to the end of the output shaft of the hydraulic push rod 5, the top of the connecting rod 6 hinged to the bottom surface of the connecting column 4, and a placement box 7 rotatably disposed at the top of the connecting column 4. A horizontal plate 8 is fixedly installed on the upper and lower sides. A movable rod 9 is slidably arranged on the horizontal plate 8. A clamping plate 10 is fixedly installed at one end of the movable rod 9. The clamping plate 10 is arc-shaped and arranged opposite to each other. A driving component 11 for driving the clamping plate 10 to move relative to each other is provided on the outer wall of the placement box 7 and the horizontal plate 8. A flipping component 12 is provided at the end of the connecting column 4. Baffles 13 are slidably arranged on the left and right sides of the placement box 7. A connecting component 14 is provided on the side of the placement box 7. A rotating component 15 is provided on the base 1.

[0030] In use, the entire device and the steel pipe to be installed are moved to the elevator at the construction site. The elevator is started, driving the robot and steel pipe to rise and move to the designated position. The operator places the steel pipe between the two clamping plates 10 and activates the drive component 11 on the outer wall of the placement box 7. The drive component 11 drives the movable rod 9 to slide on the horizontal plate 8, causing the movable rod 9 to move closer together. The moving rod 9 moving closer together causes the clamping plates 10 to move closer together, clamping and fixing the steel pipe on both sides. After the steel pipe is fixed, the hydraulic push rod 5 on the column 2 and the rotating component 15 on the base 1 are activated to work together. The output shaft of the hydraulic push rod 5 moves through the connecting rod 6, connecting column 4, movable column 3, and column 2, driving the fixed steel pipe to move. The rotating component 15 causes the steel pipe to deflect. When the steel pipe is moved to the designated position, it stops moving. The driving component 11 drives the clamping plates 10 to move away from each other and loosen the steel pipe. Then the operator can pull out the steel pipe for erection. The flipping component 12 at the end of the connecting column 4 is activated. The flipping component 12 drives the clamping plate 10 to flip, which can transport the steel pipe horizontally or vertically. When transporting vertically, the vertical steel pipes can be directly connected. The placement box 7 can store and set the steel pipe fasteners. The connecting component 14 can connect the baffle 13 and the driving rod 112, which facilitates the opening and closing of the placement box 7. The box is opened when the fasteners are needed and closed when they are not needed. This invention facilitates the transportation of steel pipes and steel pipe fasteners and can automatically insert and connect vertical steel pipes, effectively improving the erection speed of scaffolding, saving time and effort, and ensuring high safety.

[0031] The driving component 11 includes a cylinder 111 fixedly installed on the outer wall of the placement box 7, a driving rod 112 fixedly installed on the output shaft of the cylinder 111 and symmetrically mounted thereon, and a hinge rod 113 disposed between the driving rod 112 and the movable rod 9. The driving rod 112 is slidably disposed on the horizontal plate 8, and the two ends of the hinge rod 113 are respectively hinged to the driving rod 112 and the movable rod 9.

[0032] The cylinder 111 on the outer wall of the placement box 7 is activated. The output shaft of the cylinder 111 moves, which drives the drive rod 112 to move horizontally on the horizontal plate 8. The horizontal movement of the drive rod 112 pushes or pulls the movable rod 9 to move vertically up and down on the horizontal plate 8 through the hinge rod 113, which can drive the clamping plate 10.

[0033] The flipping component 12 includes a flipping motor 121 fixedly installed in the end of the connecting column 4, a first gear 122 and a second gear 123 rotatably installed in the end of the connecting column 4. The output shaft end of the flipping motor 121 is fixedly connected to the center point of the first gear 122. The first gear 122 and the second gear 123 are meshed and connected for transmission. The center point of the second gear 123 is fixedly connected to the rotating shaft end of the placement box 7.

[0034] Start the flipping motor 121 inside the connecting column 4. The output shaft of the flipping motor 121 rotates, which drives the gear 122 to rotate. The rotation of the gear 122 drives the meshing gear 123 to rotate. The rotation of the gear 123 drives the clamping plate 10 to flip, which facilitates the horizontal or vertical transport of the steel pipe.

[0035] The connector 14 includes an L-shaped rod 141 fixedly installed on both sides of the upper drive rod 112, a sleeve plate 142 rotatably installed at the bottom end of the L-shaped rod 141, a torsion spring 143 fixedly installed inside the sleeve plate 142, a connecting strip 144 fixedly installed on the side of the sleeve plate 142 near the baffle 13, an insert block 145 fixedly installed at the end of the connecting strip 144, and an insertion port 146 opened on the outer wall of the baffle 13. The top end of the torsion spring 143 is fixedly installed to the bottom end of the L-shaped rod 141.

[0036] When the clamping plates 10 are in a vertical position, the starting cylinder 111 drives the drive rod 112 to move away from the placement box 7. The drive rod 112 moves and pulls the baffle 13 horizontally through the L-shaped rod 141 and the connecting strip 144. The horizontal movement of the baffle 13 opens the placement box 7 to store the fasteners. After storage, the drive rod 112 is reset to close the baffle 13, which can transport the fasteners. When it is not necessary to transport the fasteners, the connecting strip 144 is pushed outward. The connecting strip 144 compresses the torsion spring 143 in the sleeve plate 142 and deflects it, so that the end plate disengages from the insertion port 146 on the side of the cover plate, so that the cover plate does not move when the drive rod 112 moves.

[0037] The bottom dimension of the L-shaped rod 141 is adapted to the inner diameter of the sleeve plate 142, and the dimension of the insert block 145 is adapted to the dimension of the socket 146;

[0038] The matching of the bottom dimension of the L-shaped rod 141 with the inner diameter of the sleeve plate 142 can improve the stability of the sleeve plate 142 when the bottom of the L-shaped rod 141 deflects. The matching of the size of the insert block 145 with the size of the socket 146 can improve the stability of the insert block 145 when it is connected to the baffle 13.

[0039] The rotating component 15 includes a rotating motor 151 fixedly mounted on the base 1, a transmission wheel 152 fixedly mounted on the output shaft end of the rotating motor 151, a transmission wheel 153 rotatably mounted above the base 1, and a transmission belt 154 sleeved on the transmission wheel 152 and the transmission wheel 153. The transmission wheel 152 and the transmission wheel 153 are meshed and connected to the transmission belt 154. The top of the transmission wheel 153 at the bottom end of the column 2 is fixedly connected.

[0040] The rotating motor 151 on the start base 1 rotates, and the output shaft of the rotating motor 151 rotates, which drives the first transmission wheel 152 to rotate. The rotation of the first transmission wheel 152 drives the second transmission wheel 153 to rotate through the transmission belt 154. The rotation of the second transmission wheel drives the column 2 to rotate, which can adjust the conveying position of the steel pipe.

[0041] A protective box 16 is fixedly installed on the base 1, and the first transmission wheel 152 and the second transmission wheel 153 are rotatably mounted on the protective box 16.

[0042] The protective box 16 can protect the various components on the base 1, thereby improving the stability of the device during operation. The rotational mounting of the first transmission wheel 152 and the second transmission wheel 153 on the protective box 16 can improve the stability of the first transmission wheel 152 and the second transmission wheel 153 during rotation, thereby improving the stability of the device during rotation.

[0043] A controller is provided on the base 1, which is electrically connected to the hydraulic push rod 5, the cylinder 111, the tilting motor 121 and the rotating motor 151 respectively; the controller enables automatic control of each component of the device.

[0044] Working principle:

[0045] In use, the entire device and the steel pipe to be installed are moved to the elevator at the construction site. The elevator is started, which lifts the robot and the steel pipe to the designated position. The operator places the steel pipe between the two clamping plates 10 and activates the drive component 11 on the outer wall of the placement box 7. The drive component 11 drives the movable rod 9 to slide on the horizontal plate 8, causing the movable rods 9 to move closer together. The moving rods 9 moving closer together drive the clamping plates 10 to move closer together, clamping and fixing the steel pipe on both sides. After the steel pipe is fixed, the hydraulic push rod 5 on the column 2 and the rotating component 15 on the base 1 are activated to work together. The output shaft of the hydraulic push rod 5 moves through the working relationship between the connecting rod 6, the connecting column 4, the movable column 3, and the column 2, driving the fixed... The steel pipe is moved after being positioned. The rotating part 15 drives the steel pipe to deflect its position. When the steel pipe is moved to the designated position, the movement stops. The driving part 11 drives the clamping plates 10 to move away from each other and loosen the steel pipe. Then the operator can pull out the steel pipe for erection. The flipping part 12 at the end of the connecting column 4 is activated. The flipping part 12 drives the clamping plate 10 to flip, which can transport the steel pipe horizontally or vertically. When transporting vertically, the vertical steel pipes can be directly connected. The placement box 7 can store and set the steel pipe fasteners. The connecting part 14 can connect the baffle 13 and the driving rod 112, which facilitates the automatic opening and closing of the placement box 7. The box is opened when the fasteners are needed and closed when they are not needed.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for automatically erecting a steel tubular scaffolding of the coupler type, comprising a base (1), characterized in that, The base (1) is provided with a stand (2) above, the top of the stand (2) is hingedly installed with a movable column (3), the top of the movable column (3) is hingedly installed with a connecting column (4), one side of the connecting column (4) is hingedly installed with a hydraulic push rod (5), the output shaft end of the hydraulic push rod (5) is hingedly installed with a connecting rod (6), the top of the connecting rod (6) is hingedly installed with the bottom surface of the connecting column (4), the top of the connecting column (4) is rotatably provided with a placing box (7), the upper and lower sides of the placing box (7) are fixedly installed with a horizontal plate (8), the horizontal plate (8) is slidably provided with a movable rod (9), one end of the movable rod (9) is fixedly installed with a clamping plate (10), the clamping plate (10) is arranged in an arc shape and oppositely arranged, the outer wall of the placing box (7) and the horizontal plate (8) are provided with a driving piece (11) for driving the relative movement of the clamping plate (10), the end of the connecting column (4) is provided with a turnover piece (12), the left and right sides of the placing box (7) are slidably provided with a baffle (13), the side of the placing box (7) is provided with a connecting piece (14), and the base (1) is provided with a rotating piece (15). The driving piece (11) comprises a cylinder (111) fixedly installed on the outer wall of the placing box (7), driving rods (112) fixedly installed on the output shaft of the cylinder (111) and symmetrically arranged, and a hinged rod (113) arranged between the driving rods (112) and the movable rod (9), the driving rods (112) are slidably arranged on the horizontal plate (8), and the two ends of the hinged rod (113) are hingedly connected with the driving rods (112) and the movable rod (9) respectively. The connecting piece (14) comprises L-shaped rods (141) fixedly installed on both sides of the upper driving rod (112), a sleeve plate (142) rotatably arranged at the bottom end of the L-shaped rod (141), a torsion spring (143) fixedly installed in the sleeve plate (142), a connecting strip (144) fixedly installed on one side of the sleeve plate (142) close to the baffle (13), an insertion block (145) fixedly installed at the end of the connecting strip (144), and an insertion opening (146) formed in the outer wall of the baffle (13), and the top end of the torsion spring (143) is fixedly installed with the bottom end of the L-shaped rod (141).

2. The robot for automatically erecting a steel pipe scaffolding of the fastener type according to claim 1, wherein The turnover piece (12) comprises a turnover motor (121) fixedly installed in the end of the connecting column (4), a gear one (122) rotatably arranged in the end of the connecting column (4), and a gear two (123), the output shaft end of the turnover motor (121) is fixedly connected with the center point of the gear one (122), the gear one (122) is in meshing transmission connection with the gear two (123), and the center point of the gear two (123) is fixedly connected with the rotating shaft end of the placing box (7).

3. The robotic system for automatically erecting a steel pipe scaffolding according to claim 1, wherein, The size of the bottom end of the L-shaped rod (141) is matched with the inner diameter size of the sleeve plate (142), and the size of the insertion block (145) is matched with the size of the insertion opening (146).

4. The robotic system for automatically erecting a steel pipe scaffolding according to claim 1, wherein, The rotating member (15) comprises a rotating motor (151) fixedly installed on the base (1), a transmission wheel one (152) fixedly installed on the output shaft end of the rotating motor (151), a transmission wheel two (153) rotatably arranged above the base (1), and a transmission belt (154) sleeved on the transmission wheel one (152) and the transmission wheel two (153), the transmission wheel one (152) and the transmission wheel two (153) are in meshing transmission connection with the transmission belt (154), and the bottom end of the stand (2) is fixedly connected with the top of the transmission wheel two (153).

5. The robot for automatically erecting a steel pipe scaffolding of the fastener type according to claim 4, wherein The base (1) is fixedly installed with the protection box (16), and the transmission wheel one (152) and the transmission wheel two (153) are rotatably arranged on the protection box (16).

6. The robotic system of claim 1, wherein, The base (1) is provided with a controller, and the controller is electrically connected with the hydraulic push rod (5), the air cylinder (111), the turnover motor (121) and the rotating motor (151) respectively.

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