Education version wall building robot

Abstract

The invention relates to the field of education science and technology, in particular to an education version wall building robot. The robot is applied to constructional engineering to replace'complicated, dangerous, dirty and heavy 'manual operation, and is the general trend of industrial development. Universities, colleges and vocational schools take the importance of cultivating various professionals required by intelligent construction and intelligent buildings. The educational edition wall building robot is composed of a central control system, a robot body, a brick supply system, a grouting system and a building system. The intelligent building wall building robot is an important education teaching device for a school to cultivate intelligent building research and development engineers, electromechanical automation engineers, intelligent building construction managers, intelligent building construction technical engineers, intelligent building wall building robot technicians, intelligent building market sales personnel and the like.

Description

Technical Field

[0001] The present invention relates to the field of educational science and technology, and in particular to an educational version of a wall-building robot. Background Art

[0002] Using robots in construction projects to replace "complex, dangerous, dirty and heavy" manual operations is a major trend in scientific and technological development.

[0003] Colleges, universities, and vocational schools have opened smart construction majors to cultivate the professional talents needed for smart construction and smart buildings.

[0004] It is necessary to invent an educational version of a wall-building robot for use in school education and teaching. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an educational version of a wall-building robot for colleges and universities and various vocational and technical schools.

[0006] In order to solve the above problems, the technical solution of the present invention is: the educational version of the wall-building robot is composed of a central control system, a robot body, a brick supply system, a grouting system and a construction system.

[0007] Central control system: The central control system includes the electrical system and the control system, and is composed of a power distribution cabinet, a central control cabinet, a PLC and an HMI operating panel. The central control system instructs the six-axis robot to start and stop through the robot's own control system, and monitors the operation of the six-axis robot online. The central control system receives information from other systems of the bricklaying robot online, instructs it to start and stop, and monitors its operating status online. The power supply of the bricklaying robot comes from the power distribution cabinet. The electrical control and protection enter the central control system PLC. The operating area is designed outside the safety door, and the HMI operating panel is installed on the operating table in the operating area.

[0008] Robot body: The robot body includes the robot system, walking system, masonry system, air source system and electrical control system; the robot system includes a six-axis robot, a six-axis robot control cabinet, a robot base and a teach pendant; the walking system includes a frame, a motor, a gear rack, a guide rail and a slider; the masonry system includes a mechanical claw and a cylinder; the air source system includes an air compressor, an air tank, an air pipe and a compressed air sensor; the electrical control of the robot system is executed by the control system of the six-axis robot, and is monitored by the central control system; the six-axis robot is installed on the guide rail and moves on the guide rail; the program writing and control of the six-axis robot are executed through the teach pendant.

[0009] Brick supply system: The brick supply system includes a brick supply platform, a walking system and a wall brick limiting device; the walking system is a movable and detachable brick supply platform, and the wall bricks are placed on the limiting device of the brick supply platform; the brick supply platform is connected to the base of the six-axis robot and moves simultaneously and in the same direction as the six-axis robot; the wall bricks are designed according to the masonry process and placed on the brick supply platform for grabbing by the mechanical claw.

[0010] Grouting system: The grouting system includes a grouting platform, a walking system, a mortar mixing system, a grouting system and a monitoring system; the walking system is a movable and detachable grouting platform, and the equipment of the grouting system is installed on the grouting platform; the grouting platform is connected to the base of the six-axis robot and moves simultaneously and in the same direction as the six-axis robot; the mortar mixing system includes a mortar tank and a mixer; the grouting system includes a slurry supply isolation valve, a mortar pump, a mortar pipe, a mortar electric regulating valve, a grouting nozzle electric valve and a grouting nozzle; the grouting pipe is installed on the six axes of the six-axis robot, and its two ends are connected to the mortar pump and the grouting nozzle, and the grouting nozzle electric valve and the grouting nozzle are installed on the mechanical claw; the grouting monitoring system includes a mortar tank level sensor, a mortar flow sensor and a mortar pressure sensor, which are installed on the grouting pipe; the equipment of the grouting system is controlled by the central control system, the signals are interoperable, and it is monitored online by the central control system; the online information of mortar flow and pressure enters the central control system.

[0011] Building system: The building system includes structural columns, wall bricks, gutters, protective fences, safety doors and safety door sensors; the safety door sensors send the opening and closing information of the safety doors to the central control system.

[0012] Furthermore, the communication method between the central control system and each subsystem is implemented by wired connection; the central control system instructs each subsystem to start and stop, and is responsible for monitoring the operating status of each subsystem.

[0013] The central control system is responsible for the overall control of the six-axis robot's operation and is responsible for the selection of operation modes and masonry schemes; the six-axis robot's built-in control system controls the motion path planning and execution of the robot body, and the six-axis robot's built-in control system is responsible for the operation control of the mechanical claw; the six-axis robot's built-in control system is responsible for the start and stop of the ground rail motor; the six-axis robot's teaching pendant includes manual control and automatic operation modes.

[0014] The central control system adjusts the mortar delivery flow through the electric regulating valve based on the data sent back by the flow sensor and pressure sensor.

[0015] The operator can use the emergency stop button to stop the bricklaying robot; the emergency stop buttons include the teach pendant emergency stop button, the six-axis robot control cabinet emergency stop button, the central control cabinet emergency stop button and the HMI operation panel emergency stop button.

[0016] Furthermore, the control and protection of the educational version of the bricklaying robot (hereinafter referred to as the "robot") shall comply with the following principles:

[0017] 1. If an abnormal state occurs in the electrical protection, electrical control, electrical equipment or electric valve actuator, the central control system will issue an alarm and / or instruct the masonry robot to stop running.

[0018] 2. If a device failure occurs in the compressed air sensor, mortar tank level sensor, mortar flow sensor, mortar pressure sensor or safety door sensor, the central control system will issue an alarm and / or instruct the masonry robot to stop running.

[0019] 3. The six-axis robot control system finds that its equipment or equipment status is abnormal and sends a fault signal to the central control system; the central control system issues an alarm and / or instructs the bricklaying robot to stop running.

[0020] 4. When the compressed air sensor finds that the compressed air pressure is lower than the design value, the central control system issues an alarm and / or instructs the masonry robot to stop running.

[0021] 5. The mortar tank liquid level sensor finds that the mortar reserves in the mortar tank are lower than the design value, and the central control system issues an alarm and / or instructs the masonry robot to stop running.

[0022] 6. The mortar flow sensor finds that the mortar flow exceeds the design value. After the mortar electric regulating valve adjusts it within the design time, it still exceeds or is lower than the design flow. The central control system issues an alarm and / or instructs the masonry robot to stop running.

[0023] 7. The mortar pressure sensor finds that the mortar pressure exceeds or is lower than the design value. After the mortar electric regulating valve adjusts the pressure within the design time, it still exceeds or is lower than the design pressure. The central control system issues an alarm and / or instructs the masonry robot to stop running;

[0024] 8. During operation, if the safety door sensor detects that the safety door is in an abnormal position, the central control system will issue an alarm and / or instruct the masonry robot to stop operating.

[0025] Furthermore, the educational version of the wall-building robot is designed with 4 states:

[0026] 1. Shutdown state: The shutdown state means that the entire system is stopped and the system is not powered;

[0027] 2. Standby state: The standby state means that the whole system has been powered on and the preparation work is completed; there are no personnel, other equipment or other materials in the operation area, each subsystem has working conditions, and the masonry robot is in standby state;

[0028] 3. Automatic state: In the automatic state, each subsystem is in operation; except for the operator who is in a safe position in the operation area, there are no personnel, equipment or materials in the operation area; the operator uses the HMI operation panel to instruct the masonry robot to start or stop the automatic state;

[0029] 4. Manual state: In the manual state, the entire system is powered on; the operator manually starts and stops the mixing motor, mortar pump, mortar electric regulating valve, grouting nozzle electric valve, air compressor and six-axis robot on the HMI operation panel, and the operator sets the relevant operating parameters on the HMI operation panel.

[0030] Furthermore, the operator places the wall bricks on the brick supply platform according to the designed position and direction; confirms that the status of each device is normal, there is no alarm or abnormality, and confirms that there are no personnel, other equipment or other materials in the operation area of ​​the wall-building robot; the operator selects the operation content and the corresponding masonry plan on the HMI operation panel, selects the automatic operation mode and presses the start button, and each system starts to run automatically;

[0031] The control system of the six-axis robot controls the operation of the robotic arm. The mechanical claw grabs one or more wall bricks from the brick supply platform at one time and lays them at the designed wall position. When one layer of the wall is built, the grouting nozzle pours mortar on the surface of the wall bricks twice. After the grouting is completed, the mechanical claw repeats the building process to build the next layer of the wall. When the previous layer of the wall is built, the grouting nozzle pours mortar on the surface of the wall bricks. The building process and grouting process are repeated to complete the entire wall building and grouting. The six-axis robot stops running, the HMI operation panel prompts that the work has been completed, and the central control system instructs each system to return to standby mode.

[0032] During the masonry operation and grouting of the wall-building robot, the central control system monitors the status of each system and equipment online, and monitors the masonry and grouting operation process online; if an abnormal situation is found, the central control system will issue an alarm and / or instruct the wall-building robot to stop running according to the design requirements, and the operator will take safety measures as required by the operation manual, and then handle the fault. After the fault is handled, the operator will restore the automatic operation of the wall-building robot on the HMI operation panel; if the emergency stop button is used to stop the wall-building robot, the operator will take safety measures as required by the operation manual, and then handle the fault. After the fault is handled, the operator will restore the automatic operation of the wall-building robot on the HMI operation panel.

[0033] Furthermore, the educational version of the bricklaying robot can also be used for project demonstrations of smart buildings and intelligent construction; as well as the research and development of construction robots in scientific research institutions (such as BIM scene construction and BIM system debugging).

[0034] In summary, the present invention has the following beneficial effects:

[0035] 1. Technical evaluation of the present invention

[0036] 1. The technical solution of the present invention is reliable and feasible.

[0037] 2. Economic Evaluation of the Invention

[0038] 1. The equipment cost of the present invention is low and can be easily accepted by schools.

[0039] III. Environmental Assessment of the Invention

[0040] 1. The present invention has no environmental hazards.

[0041] 2. Choose tap water instead of mortar and discharge it uniformly through the drainage trough, so that the teaching site is pollution-free, clean and tidy.

[0042] IV. Social Benefit Assessment of the Invention

[0043] 1. By adopting the present invention, the school can cultivate professional talents such as intelligent construction R&D engineers, electromechanical automation engineers, intelligent construction construction management personnel, intelligent construction construction technical engineers, intelligent construction masonry robot technicians, and intelligent construction marketing personnel.

[0044] 2. By adopting the present invention, trainees can understand the main knowledge of building structure and wall structure, understand traditional technology, traditional construction process and traditional wall materials, understand traditional construction machinery and equipment, understand the history and development of construction robots, understand intelligent construction and the composition of various systems of smart construction sites, master the technical characteristics and basic processes of wall-building robots, master the systems and components of wall-building robots, master how to use cutting-edge software technology to design wall-building robots, master the hardware and software configuration of automated control, PLC programming, master the electrical drawing recognition of wall-building robots, master how to operate wall-building robots, master how to maintain and service wall-building robots, master how to deal with unexpected situations that occur during the operation of wall-building robots, and other knowledge. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0046] Figure 1 It is a schematic diagram of the structural arrangement of an educational version of a wall-building robot applied for in the present invention. DETAILED DESCRIPTION

[0047] Example 1

[0048] Based on the technical features and processes, Example 1 of the present invention is implemented in the following manner:

[0049] S1: The operator enters the wall-building robot's operating area and checks the status of each system and device, as well as the number of wall bricks and mortar reserves one by one;

[0050] S2: The operator leaves the working area and closes the safety door;

[0051] S3: The operator turns on the power switch in the power distribution cabinet, the masonry robot receives power, and the central control system starts self-test;

[0052] S4: The operator enters the operation area, selects the manual mode on the HMI operation panel, and checks the status of each system and equipment, as well as the number of wall bricks and mortar reserves one by one;

[0053] S5: The operator confirms that there are no personnel, other equipment or other materials in the operation area;

[0054] S6: The operator selects the standby state on the HMI operation panel;

[0055] S7: The operator selects the work content on the HMI operation panel;

[0056] S8: The operator finally confirms the status of each system and each device;

[0057] S9: The operator selects the automatic state on the HMI operation panel, and the 6-axis robot starts and begins automatic operation;

[0058] S10: The mechanical claw grabs the wall from the brick supply platform according to the design and lays it at the designed position of the wall to complete the wall construction of this layer;

[0059] S11: After one layer of wall is built, the grouting nozzle pours mortar on the surface of the wall bricks twice in one go;

[0060] S12: After the grouting is completed, the mechanical claw grabs the wall from the brick supply platform and turns to build the next layer of the wall;

[0061] S13: After the upper layer of the wall is built, the grouting nozzle pours mortar on the surface of the wall bricks;

[0062] S14: Repeat the masonry process and grouting process to complete the masonry and grouting of the entire wall;

[0063] S15: The six-axis robot and other systems and equipment stop running, and the HMI operation panel prompts that the work has been completed;

[0064] S16: The central control system instructs each system to resume the standby state.

[0065] The above describes the basic principles and main features of the present invention. The description in the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed for protection.

Claims

1. An educational wall-building robot, characterized in that: Including central control system, robot body, brick supply system, grouting system and construction system; The central control system includes an electrical system and a control system, and is composed of a power distribution cabinet, a central control cabinet, a PLC, and an HMI operation panel. The central control system uses the control system of the six-axis robot to instruct the six-axis robot to start and stop, and monitors the operation of the six-axis robot online. The central control system receives information from other systems of the wall-building robot online, instructs it to start and stop, and monitors its operating status online. The power supply of the wall-building robot comes from the power distribution cabinet. The electrical control and protection enter the central control system PLC. The operation area is designed outside the safety door, and the HMI operation panel is installed on the operating table in the operation area. The robot body includes the robot system, walking system, masonry system, air source system and electrical control system; the robot system includes a six-axis robot, a six-axis robot control cabinet, a robot base and a teach pendant; the walking system includes a frame, a motor, a gear rack, a guide rail and a slider; the masonry system includes a mechanical claw and a cylinder; the air source system includes an air compressor, an air tank, an air pipe and a compressed air sensor; the electrical control of the robot system is performed by the control system of the six-axis robot itself, and is monitored by the central control system; the six-axis robot is installed on the guide rail and moves on the guide rail; the programming and control of the six-axis robot are performed through the teach pendant; The brick supply system includes a brick supply platform, a walking system and a wall brick limiting device; the walking system is a movable and detachable brick supply platform, and the wall bricks are placed on the limiting device of the brick supply platform; the brick supply platform is connected to the base of the six-axis robot and moves simultaneously and in the same direction as the six-axis robot; the wall bricks are designed according to the masonry process and placed on the brick supply platform for the robot claw to grab; The grouting system includes a grouting platform, a walking system, a mortar mixing system, a grouting system and a monitoring system; the walking system is a movable and detachable grouting platform, and the equipment of the grouting system is installed on the grouting platform; the grouting platform is connected to the base of the six-axis robot and moves simultaneously and in the same direction as the six-axis robot; the mortar mixing system includes a mortar tank and a mixer; the grouting system includes a slurry supply isolation valve, a mortar pump, a mortar pipe, a mortar electric regulating valve, a grouting nozzle electric valve and a grouting nozzle; the grouting pipe is installed on the six axes of the six-axis robot, and its two ends are connected to the mortar pump and the grouting nozzle, and the grouting nozzle electric valve and the grouting nozzle are installed on the mechanical claw; the grouting monitoring system includes a mortar tank level sensor, a mortar flow sensor and a mortar pressure sensor, which are installed on the grouting pipe; the equipment of the grouting system is controlled by the central control system, the signals are interoperable, and it is monitored online by the central control system; the online information of the mortar flow and pressure enters the central control system; The building system includes structural columns, wall bricks, gutters, protective fences, safety doors and safety door sensors; the safety door sensors send the opening and closing information of the safety doors to the central control system.

2. The educational wall-building robot according to claim 1, characterized in that: The communication method between the central control system and each subsystem is wired connection; the central control system instructs each subsystem to start and stop, and is responsible for monitoring the operating status of each subsystem; The central control system is responsible for the overall control of the six-axis robot's operation, and is responsible for the selection of the operation mode and masonry scheme; the six-axis robot's built-in control system controls the robot's motion path planning and execution, and the six-axis robot's built-in control system is responsible for the operation control of the mechanical claw; the six-axis robot's built-in control system is responsible for the start and stop of the ground rail motor; the six-axis robot's teaching pendant includes manual control and automatic operation modes; The central control system adjusts the mortar delivery flow rate through the electric regulating valve according to the data sent back by the flow sensor and pressure sensor; The operator can use the emergency stop button to stop the bricklaying robot; the emergency stop buttons include the teach pendant emergency stop button, the six-axis robot control cabinet emergency stop button, the central control cabinet emergency stop button and the HMI operation panel emergency stop button.

3. An educational wall-building robot as claimed in claim 1 or 2, characterized in that: If electrical protection, electrical control, electrical equipment or electric valve actuators are in abnormal state, the central control system will issue an alarm and / or instruct the masonry robot to stop running; If a device failure occurs in the compressed air sensor, mortar tank level sensor, mortar flow sensor, mortar pressure sensor or safety door sensor, the central control system will issue an alarm and / or instruct the masonry robot to stop running; The six-axis robot control system finds that its equipment or equipment status is abnormal, and sends a fault signal to the central control system; the central control system issues an alarm and / or instructs the wall-building robot to stop running; When the compressed air sensor finds that the compressed air pressure is lower than the design value, the central control system issues an alarm and / or instructs the masonry robot to stop running; When the mortar tank liquid level sensor finds that the mortar reserve in the mortar tank is lower than the design value, the central control system issues an alarm and / or instructs the masonry robot to stop running; The mortar flow sensor finds that the mortar flow exceeds the design value, and after the mortar electric regulating valve adjusts it within the design time, it still exceeds or falls below the design flow. The central control system issues an alarm and / or instructs the masonry robot to stop running; The mortar pressure sensor finds that the mortar pressure exceeds or is lower than the design value. After the mortar electric regulating valve adjusts the pressure within the design time, it still exceeds or is lower than the design pressure. The central control system issues an alarm and / or instructs the masonry robot to stop running. During operation, if the safety door sensor detects that the safety door is in an abnormal position, the central control system will issue an alarm and / or instruct the masonry robot to stop running.

4. An educational wall-building robot as claimed in claim 1, 2 or 3, characterized in that: The present invention is designed with 4 states: The shutdown state means that the entire system is stopped and the system is not powered; The standby state means that the whole system has been powered on and the preparation work is completed; there are no personnel, other equipment or other materials in the operation area, each subsystem is ready for working, and the masonry robot is in standby state; The automatic state means that all subsystems are in operation; except for the operator who is in a safe position in the operation area, there are no personnel, equipment or materials in the operation area; the operator uses the HMI operation panel to instruct the masonry robot to start or stop the automatic state; The manual state means that the entire system has been powered on; the operator manually starts and stops the mixing motor, mortar pump, mortar electric regulating valve, grouting nozzle electric valve, air compressor and six-axis robot on the HMI operation panel, and the operator sets the relevant operating parameters on the HMI operation panel.

5. An educational wall-building robot as claimed in claim 1, 2, 3 or 4, characterized in that: The operator places the wall bricks on the brick supply platform according to the designed position and direction; confirms that the status of each device is normal, there is no alarm or abnormality, and confirms that there are no personnel, other equipment or other materials in the operation area of ​​the wall-building robot; the operator selects the operation content and the corresponding masonry plan on the HMI operation panel, selects the automatic operation mode and presses the start button, and each system starts to run automatically; The control system of the six-axis robot controls the operation of the robotic arm. The mechanical claw grabs one or more wall bricks from the brick supply platform at one time and lays them at the designed wall position. When one layer of the wall is built, the grouting nozzle pours mortar on the surface of the wall bricks twice. After the grouting is completed, the mechanical claw repeats the building process to build the next layer of the wall. When the previous layer of the wall is built, the grouting nozzle pours mortar on the surface of the wall bricks. The building process and grouting process are repeated to complete the entire wall building and grouting. The six-axis robot stops running, the HMI operation panel prompts that the work has been completed, and the central control system instructs each system to return to standby mode.

6. An educational wall-building robot as claimed in claim 1, 2, 3, 4 or 5, characterized in that: During the masonry operation and grouting of the wall-building robot, the central control system monitors the status of each system and equipment online, and monitors the masonry and grouting operation process online; if an abnormal situation is found, the central control system will issue an alarm and / or instruct the wall-building robot to stop running according to the design requirements, and the operator will take safety measures as required by the operation manual, and then handle the fault. After the fault is handled, the operator will restore the automatic operation of the wall-building robot on the HMI operation panel; if the emergency stop button is used to stop the wall-building robot, the operator will take safety measures as required by the operation manual, and then handle the fault. After the fault is handled, the operator will restore the automatic operation of the wall-building robot on the HMI operation panel.

7. An educational wall-building robot as claimed in claim 1 or 2 or 3 or 4 or 5 or 6, characterized in that: The system process is as follows: S1: The operator enters the wall-building robot's operating area and checks the status of each system and device, as well as the number of wall bricks and mortar reserves one by one; S2: The operator leaves the working area and closes the safety door; S3: The operator turns on the power switch in the power distribution cabinet, the masonry robot receives power, and the central control system starts self-test; S4: The operator enters the operation area, selects the manual mode on the HMI operation panel, and checks the status of each system and equipment, as well as the number of wall bricks and mortar reserves one by one; S5: The operator confirms that there are no personnel, other equipment or other materials in the operation area; S6: The operator selects the standby state on the HMI operation panel; S7: The operator selects the work content on the HMI operation panel; S8: The operator finally confirms the status of each system and each device; S9: The operator selects the automatic state on the HMI operation panel, and the 6-axis robot starts and begins automatic operation; S10: The mechanical claw grabs the wall from the brick supply platform according to the design and lays it at the designed position of the wall to complete the wall construction of this layer; S11: After one layer of wall is built, the grouting nozzle pours mortar on the surface of the wall bricks twice in one go; S12: After the grouting is completed, the mechanical claw grabs the wall from the brick supply platform and turns to build the next layer of the wall; S13: After the upper layer of the wall is built, the grouting nozzle pours mortar on the surface of the wall bricks; S14: Repeat the masonry process and grouting process to complete the masonry and grouting of the entire wall; S15: The six-axis robot and other systems and equipment stop running, and the HMI operation panel prompts that the work has been completed; S16: The central control system instructs each system to resume the standby state.

8. An educational wall-building robot as claimed in claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterized in that: The present invention can be used for the project display of smart buildings and intelligent construction; it can be used for the research and development of building robots in scientific research institutions, the construction of BIM scenes and the debugging of BIM systems.

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