Clothing robot based on smart construction

Abstract

This invention relates to the field of building fabric technology, and discloses a fabric-laying robot based on intelligent construction. The robot includes a fabric-laying frame, a delivery pipe, a support arm, horizontal movable joints, and a fabric hose. The end of the support arm is movably connected to a retractable dual-axis motion platform via a vertical movable joint and a connecting frame. The end of the fabric hose moves horizontally through the retractable dual-axis motion platform, which consists of a storage module and a motion module. A rope-type structure is used to construct the X-Y horizontal motion platform, solving the problem of excessive space occupation when not in use. Furthermore, when the X-axis extended movable joint drives the support arm of the motion platform to rotate, the X-axis length is increased; conversely, when the Y-axis extended movable joint drives the support arm of the motion platform to move, the Y-axis length is increased. The X-axis connects the robot to the two Y-axis locations. This dynamic configuration allows for adjustment of the rectangular coverage area according to actual needs.

Description

Technical Field

[0001] This invention relates to the field of building fabric technology, specifically a fabric robot based on intelligent construction. Background Technology

[0002] The concrete placing boom is typically mounted on the top platform of a building construction machine. To effectively utilize the space, its base is fixed to the platform at a single point. Multi-arm, multi-joint mechanism enables multi-point movement of the placing tube. However, the space above the building construction machine is often rectangular, with most of the placing area being rectangular. Therefore, to achieve covering of the rectangular area, multiple moving parts need to work together. The minimum number of moving parts required is two, and the motion control must be non-linear to achieve bidirectional horizontal translation.

[0003] While setting up an XY motion platform enables linear control of the hose's movement trajectory, using a single-point support on the top surface can lead to instability due to the influence of the lever arm length. Using two or four supports, on the other hand, results in occupied space at the top, hindering effective application. Summary of the Invention

[0004] The purpose of this invention is to provide a fabric-laying robot based on intelligent construction to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A fabric-laying robot based on intelligent construction includes a fabric-laying frame, a conveying pipe, a support arm, a horizontal movable joint, and a fabric hose. The end of the support arm is movably connected to a retractable dual-axis motion platform via a vertical movable joint and a connecting frame. The end of the fabric hose moves horizontally through the retractable dual-axis motion platform, which consists of a storage module and a motion module.

[0007] The storage module includes two X-axis extended movable joints symmetrically arranged on both sides of the connecting frame. Each X-axis extended movable joint is rotatably connected to two motion platform support arms via a Y-axis extended movable joint. A Y-axis motion guide assembly is provided between the ends of the two motion platform support arms located on the same X-axis extended movable joint. The Y-axis motion guide assembly includes a Y-axis release control unit provided at the end of the motion platform support arm and a Y-axis motion carrier rope wound between the two Y-axis release control units.

[0008] The motion module includes an X-axis connected motion robot, and the X-axis connected motion robot is arranged between two adjacent Y-axis motion carrier ropes. The X-axis connected motion robot includes a housing, an X-axis traction unit, a Y-axis displacement control unit, and a hose fixing unit. The hose fixing unit is located inside the housing and is used to fix the vertical movable joint. The X-axis traction unit is wound around both sides of the housing through the X-axis displacement control unit. The end of the X-axis traction unit slides relative to the Y-axis motion carrier rope through the Y-axis displacement control unit.

[0009] As a further embodiment of the present invention: an inlet flow monitoring unit is provided at the conveying pipe, and an outlet flow monitoring unit is provided at the open end of the fabric hose. The detection data of the inlet flow monitoring unit and the outlet flow monitoring unit are calculated by an external computer, and the hose winding and releasing unit is controlled by the controller to wind and release the fabric hose.

[0010] As a further aspect of the present invention: the thickness of the connecting frame is greater than the diameter of the fabric hose, and the thickness of the connecting frame is not less than the width of the compartment.

[0011] As a further aspect of the present invention: the driver in the Y-axis release control unit that controls the winding of the Y-axis motion carrier rope is a brake motor.

[0012] As a further embodiment of the present invention: the Y-axis motion carrier rope is a toothed belt or a steel cable.

[0013] As a further embodiment of the present invention: the connecting frame has a space for accommodating the fabric hose, the hose winding and releasing unit is installed in the space, both ends of the fabric hose are provided with a margin, and the margin of the fabric hose is wound inside the hose winding and releasing unit.

[0014] As a further aspect of the present invention: the fabric frame has a vertical lifting structure.

[0015] As a further aspect of the present invention, a method for using a cloth-laying robot based on intelligent construction is provided:

[0016] A: The X-axis extended movable joint can drive the Y-axis extended movable joint to rotate, which in turn drives the motion platform support arm to rotate. When the X-axis extended movable joint drives the motion platform support arm to rotate, the two X-axis displacement control units simultaneously drive the X-axis traction unit to release or retract, thereby adjusting the X-axis length. When the Y-axis extended movable joint drives the motion platform support arm, the Y-axis motion guide component retracts the Y-axis motion carrier rope through the Y-axis release control unit located at the end of the motion platform support arm. During control, the rotation angle is controlled by the Y-axis extended movable joint, and simultaneously the Y-axis release control unit releases the Y-axis motion carrier rope. After the Y-axis extended movable joint angle is controlled and locked, the Y-axis release control unit locks the Y-axis motion carrier rope. At this point, the X-axis connected motion robot is positioned between the two Y-axis. This dynamic configuration allows adjustment of the rectangular coverage area according to actual needs, ensuring the XY plane aligns with the fabric plane. When the Y-axis displacement control unit is locked, the X-axis displacement control unit performs single-sided retraction and release to drive the chamber to translate along the X-axis. At this point, the hose fixing unit drives the fabric hose to move, allowing the end of the fabric hose to translate horizontally. Furthermore, the motion control is linear; simply controlling the X-axis and Y-axis displacement control units in both directions achieves rectangular movement of the fabric hose, making it more convenient for automation control applications.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] While retaining the original support arm and horizontal movable joints, a connecting frame drives the retractable dual-axis motion platform to unfold parallel to the horizontal plane. A rope-type structure is used to construct the XY horizontal motion platform, solving the problem of excessive space occupation when not in use and avoiding the issue of instability caused by excessive mass at the end of the lever arm due to increased leverage. Furthermore, when the X-axis extended movable joint rotates the support lever arm of the motion platform, it increases the X-axis length; conversely, when the Y-axis extended movable joint moves the support lever arm, it increases the Y-axis length. At this point, the X-axis-connected motion robot is positioned between the two Y-axis. This dynamic configuration allows for adjustment of the rectangular coverage area according to actual needs, ensuring the XY plane aligns with the fabric plane. Moreover, the rectangular movement of the fabric hose can be achieved simply by controlling the forward and reverse rotation and the number of rotations of the X-axis and Y-axis displacement control units. The increase or decrease in the number of rotations corresponds to the displacement, making the control more linear and facilitating its application in automation control. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional schematic diagram of a fabric-making robot based on intelligent construction.

[0021] Figure 2 This is a front view schematic diagram of a cloth-making robot based on intelligent construction;

[0022] Figure 3 A schematic diagram of the XY motion platform of a cloth-making robot based on intelligent construction;

[0023] Figure 4 This is an enlarged schematic diagram of the vertical moving joint in a fabric-making robot based on intelligent construction.

[0024] Figure 5 This is a schematic diagram of the composition of a warehouse in a fabric-laying robot based on intelligent construction.

[0025] In the diagram: 1. Fabric feeding frame; 11. Conveying pipe; 12. Support arm; 13. Horizontal movable joint; 14. Vertical movable joint; 141. Connecting frame; 15. Fabric hose; 2. X-axis extension movable joint; 3. Y-axis extension movable joint; 4. Motion platform support arm; 5. Y-axis motion guide assembly; 51. Y-axis release control unit; 52. Y-axis motion carrier rope; 6. X-axis connection to the motion robot; 61. Chamber; 62. X-axis traction unit; 63. Y-axis displacement control unit; 64. X-axis displacement control unit; 65. Hose fixing unit; 7. Inlet flow monitoring unit; 8. Outlet flow monitoring unit; 9. Hose winding and release unit. Detailed Implementation

[0026] Please see Figures 1-5 :

[0027] Example 1

[0028] In this embodiment, the device includes a fabric feeding frame 1, a conveying pipe 11, a support arm 12, a horizontal movable joint 13, and a fabric feeding hose 15. The end of the support arm 12 is movably connected to a retractable dual-axis motion platform via a vertical movable joint 14 and a connecting frame 141. The end of the fabric feeding hose 15 moves horizontally via the retractable dual-axis motion platform, which consists of a storage module and a motion module.

[0029] In this embodiment, the fabric frame 1 retains the original support arm 12 and horizontal movable joint 13, and adds a vertical movable joint 14 and a connecting frame 141. The vertical movable joint 14 drives the connecting frame 141 to rotate through the drive motor. The connecting frame 141 drives the retractable dual-axis motion platform to unfold in a form parallel to the horizontal plane, thereby providing the necessary angle for the subsequent horizontal rectangular motion of the hose.

[0030] In this embodiment, the storage module includes two X-axis extension movable joints 2 symmetrically arranged on both sides of the connecting frame 141. Each X-axis extension movable joint 2 is rotatably connected to two motion platform support arms 4 via Y-axis extension movable joints 3. A Y-axis motion guide assembly 5 is provided between the ends of the two motion platform support arms 4 located on the same X-axis extension movable joint 2. The Y-axis motion guide assembly 5 includes a Y-axis release control unit 51 provided at the end of the motion platform support arm 4 and a Y-axis motion carrier rope 52 wound between the two Y-axis release control units 51.

[0031] In this embodiment, to minimize space occupation when not in use and to avoid excessive mass at the end due to increased single-point lever arm, which could lead to instability, a retractable platform is adopted. Since the movement is primarily for moving the end of the fabric hose 15, it does not need to bear excessive weight. A retractable rope platform is used to meet this requirement.

[0032] In this embodiment, the X-axis extended movable joint 2 first drives the Y-axis extended movable joint 3 to rotate. The Y-axis extended movable joint 3 then drives the motion platform support arm 4 to rotate. When the X-axis extended movable joint 2 drives the motion platform support arm 4 to rotate, the X-axis length is increased. Conversely, when the Y-axis extended movable joint 3 drives the motion platform support arm 4 to move, the Y-axis length is increased. At this time, the X-axis-connected motion robot 6 is located between the two Y-axis. This dynamic configuration allows for adjustment of the rectangular coverage area according to actual needs, ensuring that the XY plane is aligned and fitted with the fabric plane.

[0033] In this embodiment, a Y-axis motion track is formed between the two motion platform support arms 4 via a Y-axis motion guide assembly 5. The Y-axis motion guide assembly 5 then winds up the Y-axis motion carrier rope 52 via a Y-axis release control unit 51 located at the end of the motion platform support arm 4. During control, the rotation angle is controlled by the Y-axis extension movable joint 3, while the Y-axis release control unit 51 simultaneously releases the Y-axis motion carrier rope 52. After the angle of the Y-axis extension movable joint 3 is controlled and locked, the Y-axis release control unit 51 locks the Y-axis motion carrier rope 52, thereby adjusting the Y-axis length.

[0034] In this embodiment, the motion module includes an X-axis connected motion robot 6. An X-axis connected motion robot 6 is arranged between two adjacent Y-axis motion carrier ropes 52. The X-axis connected motion robot 6 includes a housing 61, an X-axis traction unit 62, a Y-axis displacement control unit 63, an X-axis displacement control unit 64, and a hose fixing unit 65. The hose fixing unit 65 is located inside the housing 61 and is used to fix the vertical movable joint 14. X-axis traction units 62 are wound up on both sides of the housing 61 through the X-axis displacement control unit 64. The ends of the X-axis traction units 62 slide relative to the Y-axis motion carrier ropes 52 through the Y-axis displacement control unit 63.

[0035] In this embodiment, the X-axis connected motion robot 6 is located between two Y-axis motion carrier ropes 52. The Y-axis displacement control unit 63 includes a cylindrical housing fitted inside the Y-axis motion carrier ropes 52, and the Y-axis displacement control unit 63 has a drive wheel. The drive wheel can be a rubber wheel with increased friction, which works with a clamping mechanism to connect with the Y-axis motion carrier ropes 52. Alternatively, a drive gear can be used to connect with the Y-axis motion carrier ropes 52 in a meshing manner. However, the X-axis needs to achieve dynamic release, so two X-axis displacement control units 64 are provided inside the housing 61. The two X-axis displacement control units 64 are symmetrically arranged inside the housing 61 and are used to wind up the X-axis traction unit 62. The end of the X-axis traction unit 62 is fixed to the Y-axis displacement control unit 63. During release, the two X-axis displacement control units 64 synchronously drive the X-axis traction unit 62 to release or wind up, thereby adjusting the length of the X-axis. The Y-axis displacement control unit 63 rotates in conjunction with the Y-axis motion carrier rope 52, causing the X-axis to move linearly based on the Y-axis. When the Y-axis displacement control unit 63 is locked, the X-axis displacement control unit 64 drives the chamber 61 to translate along the X-axis by winding up one side and releasing the other side. At this time, the hose fixing unit 65 drives the fabric hose 15 to move, allowing the end of the fabric hose 15 to translate horizontally. Furthermore, the motion control is linear; only forward and reverse control of the X-axis displacement control unit 64 and the Y-axis displacement control unit 63 is needed to achieve the rectangular movement of the fabric hose 15, making it more convenient for automation control applications.

[0036] In this embodiment, an inlet flow monitoring unit 7 is provided at the delivery pipe 11, and an outlet flow monitoring unit 8 is provided at the open end of the fabric hose 15. The detection data of the inlet flow monitoring unit 7 and the outlet flow monitoring unit 8 are calculated by an external computer, and the hose winding and releasing unit 9 is controlled by the controller to wind and release the fabric hose 15.

[0037] In this embodiment, since the fabric hose 15 between the X-axis connected motion robot 6 and the vertical movable joint 14 has a margin when the X-axis connected motion robot 6 moves on the XY platform, it is prone to bending. Therefore, the inlet flow monitoring unit 7 and the outlet flow monitoring unit 8 are used to monitor the flow rate in the pipe. When the flow rate at the outlet flow monitoring unit 8 is lower than the flow rate at the inlet flow monitoring unit 7, the fabric hose 15 is wound up and released by the hose winding and release unit 9, which stretches the bent fabric hose 15 and reduces the bending point and bending degree.

[0038] In this embodiment, the thickness of the connecting frame 141 is greater than the diameter of the fabric hose 15, and the thickness of the connecting frame 141 is not less than the width of the compartment 61.

[0039] In this embodiment, during winding, when the X-axis extension joint 2 drives the Y-axis extension joint 3 to move to the connecting frame 141 to its limit position, it will contact the connecting frame 141. At this time, the thickness of the connecting frame 141 is greater than the diameter of the fabric hose 15, and the thickness of the connecting frame 141 is not less than the width of the housing 61. The housing 61 can then be housed between adjacent motion platform support arms 4 to avoid structural interference.

[0040] In this embodiment, the driver for controlling the winding of the Y-axis motion carrier rope 52 within the Y-axis release control unit 51 is a brake motor. Since the Y-axis is a fixed structure, the advantage of a brake motor is that after the Y-axis release is complete, the brake structure locks the Y-axis motion carrier rope 52, thus enabling its application in subsequent motion support.

[0041] In this embodiment, the Y-axis motion carrier rope 52 is a toothed belt or a steel cable. The toothed belt has a special structure, using a cylindrical carrier with several annular teeth evenly spaced on it. Its main purpose is to ensure that the Y-axis displacement control unit 63 rotates relative to the Y-axis motion carrier rope 52 when the X-axis opens. Therefore, the annular teeth can always maintain engagement with the drive gear of the Y-axis displacement control unit 63. When the Y-axis motion carrier rope 52 is a steel cable, the drive wheel of the Y-axis displacement control unit 63, in conjunction with a clamping device, clamps the Y-axis motion carrier rope 52, achieving self-propelled movement through friction.

[0042] In this embodiment, the connecting frame 141 has a space for storing the fabric hose 15. The hose winding and releasing unit 9 is installed in this space. Both ends of the fabric hose 15 are provided with a margin, and the margin of the fabric hose 15 is wound inside the hose winding and releasing unit 9.

[0043] In this embodiment, since the fabric hose 15 will naturally move upward and generate a margin when stretched along the X-axis, it is sufficient to set a margin in the upper part of the connecting frame 141. Since the fabric hose 15 is wound up at the hose winding and releasing unit 9, when the hose winding and releasing unit 9 rotates, it will cause one end to be wound up and the other end to be released. The fabric hose 15 below the vertical movable joint 14 moves in various ways. The upper part of the fabric hose 15 can be set in the inner groove of the support arm 12, which can be used in conjunction with the one-way storage mechanism to prevent the bent fabric hose 15 from bending excessively.

[0044] In this embodiment, the fabric frame 1 has a vertical lifting structure. The lifting structure is existing technology, but when this method is applied, it is difficult to build the platform when encountering vertical obstacles. However, by setting up the vertical lifting structure, the platform can be built vertically over the obstacles.

[0045] The above description is merely 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 fabric-laying robot based on intelligent construction, comprising a fabric-laying frame (1), a conveying pipe (11), a support arm (12), a horizontal movable joint (13), and a fabric hose (15), characterized in that: The end of the support arm (12) located at the end is movably connected to a retractable dual-axis motion platform via a vertical movable joint (14) and a connecting frame (141). The end of the fabric hose (15) moves horizontally through the retractable dual-axis motion platform. The retractable dual-axis motion platform consists of a storage module and a motion module. The storage module includes two X-axis extension movable joints (2) symmetrically arranged on both sides of the connecting frame (141). Each X-axis extension movable joint (2) is rotatably connected to two motion platform support arms (4) via Y-axis extension movable joints (3). A Y-axis motion guide assembly (5) is provided between the ends of the two motion platform support arms (4) located on the same X-axis extension movable joint (2). The Y-axis motion guide assembly (5) includes a Y-axis release control unit (51) provided at the end of the motion platform support arm (4) and a Y-axis motion carrier rope (52) wound between the two Y-axis release control units (51). The motion module includes an X-axis connected motion robot (6), and the X-axis connected motion robot (6) is arranged between two adjacent Y-axis motion carrier ropes (52). The X-axis connected motion robot (6) includes a housing (61), an X-axis traction unit (62), a Y-axis displacement control unit (63), an X-axis displacement control unit (64), and a hose fixing unit (65). The hose fixing unit (65) is arranged inside the housing (61) and is used to fix the vertical movable joint (14). The X-axis traction unit (62) is wound around both sides of the housing (61) through the X-axis displacement control unit (64). The end of the X-axis traction unit (62) slides relative to the Y-axis motion carrier rope (52) through the Y-axis displacement control unit (63).

2. The cloth-laying robot based on intelligent construction according to claim 1, characterized in that: An inlet flow monitoring unit (7) is provided at the delivery pipe (11), and an outlet flow monitoring unit (8) is provided at the open end of the fabric hose (15). The detection data of the inlet flow monitoring unit (7) and the outlet flow monitoring unit (8) are calculated by an external computer, and the hose winding and releasing unit (9) is controlled by the controller to wind and release the fabric hose (15).

3. The cloth-laying robot based on intelligent construction according to claim 1, characterized in that: The thickness of the connecting frame (141) is greater than the diameter of the fabric hose (15), and the thickness of the connecting frame (141) is not less than the width of the compartment (61).

4. The cloth-laying robot based on intelligent construction according to claim 1, characterized in that: The driver in the Y-axis release control unit (51) that controls the winding of the Y-axis motion carrier rope (52) is a brake motor.

5. A fabric-laying robot based on intelligent construction according to claim 1, characterized in that: The Y-axis motion carrier rope (52) is a toothed belt or a steel cable.

6. A fabric-laying robot based on intelligent construction according to claim 2, characterized in that: The connecting frame (141) has a space for storing the fabric hose (15), and the hose winding and releasing unit (9) is installed in this space. Both ends of the fabric hose (15) are provided with a margin, and the margin of the fabric hose (15) is wound inside the hose winding and releasing unit (9).

7. A fabric-laying robot based on intelligent construction according to claim 1, characterized in that: The fabric frame (1) has a vertical lifting structure.

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