Fabricated building construction robot

Abstract

The invention discloses a fabricated building construction robot, and relates to the technical field of fabricated building construction. The device comprises a to-be-mounted prefabricated part, a movable carrier and a mounting guide mechanism; a lifter is fixed on the movable carrier, and a supporting table is fixed at the top of the lifter; a mounting guide mechanism is fixed on the supporting table; a balancing weight is fixed on the movable carrier; the mounting guide mechanism comprises a base, a guide vertical column, a calibration assembly and a lifting assembly; a lifting assembly is fixedly installed on the base, a guide vertical column is fixedly installed on the lifting assembly, and a calibration assembly is fixed to the bottom face of the base. A screw rod is mounted in the reserved mounting hole in a threaded manner; a guide ring is fixed at the outer end part of the screw rod; and the interior of the guide ring is matched with the guide vertical column. Through the effect of the installation guide mechanism, the guide vertical column is sleeved with the guide ring, so that the movable carrier can adjust the position of the suspended prefabricated part, and the advantages of improving the precision of hoisting and installation positions and the convenience of installation are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of assembled building construction, and in particular relates to an assembled building construction robot. Background Art

[0002] Traditional construction generally involves manually setting up formwork, tying steel bars into steel cages and steel mesh panels, placing them into mold cavities, tying or welding adjacent steel cages and steel mesh panels, and finally pouring concrete. In this process, a large number of construction steps need to be completed one by one on site, resulting in high labor intensity, poor on-site construction environment, and low construction efficiency.

[0003] Prefabricated buildings refer to buildings that transfer a large amount of on-site work in traditional construction methods to factories, where building components and accessories such as floor slabs, wall panels, stairs, balconies, etc. are processed and manufactured in factories, transported to construction sites, and assembled and installed on site through reliable connection methods. Among them, when prefabricated buildings are constructed on site, prefabricated house components can be directly and quickly installed, thereby achieving the efficiency of building construction, saving on-site construction personnel, and transferring some construction personnel to the factory environment, which relatively improves the working environment and reduces the labor intensity of personnel.

[0004] However, when prefabricated buildings are constructed on site, since the dimensions of prefabricated components such as floor slabs, wall panels, and stairs have already been completed, they are transported to the site for installation, which places high demands on the installation accuracy. Currently, when prefabricated buildings are installed, most of them are accurately hoisted to the installation position with the help of large cranes and workers' auxiliary positioning. Workers have limited strength and methods to adjust the position, which makes it difficult to adjust the position. There are also problems such as poor hoisting position accuracy and high construction difficulty.

[0005] In view of the above-mentioned problems of high difficulty and poor precision in hoisting and installation position adjustment, the present invention designs an assembled construction robot. Summary of the invention

[0006] The object of the present invention is to provide an assembled construction robot, which, by installing a guide mechanism and inserting the guide vertical column into a guide ring, allows a mobile carrier to adjust the position of the suspended prefabricated components, thereby achieving the advantages of improving the accuracy of the lifting and installation position and the convenience of installation; and solves the above-mentioned problems of high difficulty in position adjustment and poor accuracy.

[0007] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0008] The present invention is an assembled construction robot, comprising a prefabricated component to be installed, a mobile carrier and an installation guide mechanism, wherein a reserved installation hole is provided on the prefabricated component, a lifter is fixedly installed on the mobile carrier, and a support platform is fixedly installed on the top of the lifter; a fixed installation is performed between the top surface of the support platform and the bottom surface of the installation guide mechanism; a counterweight is fixed on the mobile carrier; the installation guide mechanism comprises a base, a guide vertical column, a calibration component and a lifting component; a lifting component is fixedly installed on the base, a guide vertical column is fixedly installed on the lifting component, and a calibration component is fixedly installed on the bottom surface of the base near the front side; the reserved installation A screw rod is threadedly installed on the inner wall of the hole, and a guide ring is fixed on the outer end of the screw rod; the inside of the guide ring cooperates with the peripheral side surface of the guide vertical column; wherein, the screw rod and the guide ring are used to provide a fulcrum for adjusting the spatial position of the prefabricated component. When the prefabricated component is hoisted to a position near the upper part of the installation position, a large crane and a mobile carrier can be operated to make the guide vertical column enter the guide ring, so that the mobile carrier can rely on the action of the guide vertical column and the guide ring to adjust the position of the suspended prefabricated component; the difficulty of adjusting the hoisting and installation position is greatly reduced, and the function of improving the accuracy of the hoisting and installation position and the convenience of installation is achieved.

[0009] As a preferred technical solution of the present invention, a rotating table is installed between the top of the lifting assembly and the bottom of the guide vertical column; the bottom of the guide vertical column is located at a non-center of the rotating table; the lifting assembly controls the height lifting and lowering of the guide vertical column. The purpose of the guide vertical column being located at a non-center of the rotating table is that when the rotating table rotates, the guide vertical column will not just circle in place, but will have a position change, so that if the top of the guide vertical column is located near the bottom of the guide ring, the corresponding position adjustment can also be performed by rotating the rotating table; however, this position adjustment has limitations and is only suitable for relatively limited position adjustments.

[0010] As a preferred technical solution of the present invention, a traction assembly is also fixedly installed on the base; the traction assembly includes a motor and a steel wire rope, a traction wheel is fixedly installed on the output shaft of the motor, a steel wire rope is wound around the traction wheel, a through hole is opened at the top of the guide vertical column, the steel wire rope passes through the through hole to the top of the guide vertical column, a ring is fixed at the end of the steel wire rope, and the inner wall of the ring cooperates with the side surface of the screw; when the construction location is in a windy area, the traction assembly can effectively alleviate the impact of wind on the hoisting construction to a certain extent, and also improve the safety and efficiency of hoisting and installation.

[0011] As a preferred technical solution of the present invention, a clearance groove is provided on the top of the guide vertical column, and a collar is provided in the clearance groove; the collar can be built into the clearance groove.

[0012] As a preferred technical solution of the present invention, the guide vertical column includes a guide top column, a guide bottom column and a guide cone; the top and bottom of the guide cone are respectively provided with a guide top column and a guide bottom column; the guide top column is relatively thin, which is convenient for the guide top column to be inserted into the ring; the ratio of the outer diameter of the guide bottom column to the inner diameter of the ring is in the range of 0.6-0.98; when the outer diameter of the guide bottom column is closer to the inner diameter of the ring, it is more conducive to the binding effect of the guide top column on the ring, thereby improving the stability of the prefabricated components in the suspended state and the installation accuracy.

[0013] As a preferred technical solution of the present invention, a plurality of fixed legs are fixedly installed on the bottom surface of the base; the fixed legs provide a stable support effect for the installation guide mechanism; when the lifter lifts the fixed legs to leave the ground, the installation guide mechanism can be easily transferred and moved by the mobile vehicle; when the lifter lowers the fixed legs to contact the ground, the mobile vehicle located under the lifter is in a state of about to leave the ground. At the same time, since the support platform is fixedly installed on the installation guide mechanism, most of the weight of the mobile vehicle and the counterweight block is pressed on the installation guide mechanism, providing a larger counterweight and improving stability for the installation guide mechanism; at this time, the weight of the mobile vehicle relies on the bottom surface connection of the installation guide mechanism, and the pulley at the bottom of the mobile vehicle is not completely off the ground, and the pressure of the pulley on the ground is relatively small.

[0014] As a preferred technical solution of the present invention, the calibration component includes a linear laser, a laser ranging sensor and a level; the linear laser and the laser ranging sensor are both located at the front edge of the base, and the level is fixedly installed on the top surface of the base; the linear laser is oriented vertically downward, and the laser ranging sensor is oriented obliquely downward; the level is used to detect the horizontal degree of the installation guide mechanism, and the linear laser emits a straight-line linear laser, which is irradiated at a position at a specified spacing on one side of the required prefabricated component installation position to ensure the accuracy of the installation position.

[0015] The present invention has the following beneficial effects:

[0016] 1. The present invention installs the guiding mechanism and inserts the guiding vertical column into the guiding ring, so that the mobile carrier can adjust the position of the suspended prefabricated component, thereby achieving the advantages of improving the accuracy of the lifting and installation position and the convenience of installation.

[0017] 2. The present invention uses the traction assembly to effectively alleviate the impact of wind on the hoisting construction to a certain extent when the construction location is in a windy area, enhance the stability of the prefabricated components during the suspension process, and improve the safety and efficiency of hoisting and installation.

[0018] 3. The structural design of the guide vertical column of the present invention facilitates the insertion of the guide top column into the collar; it is also beneficial to the binding effect of the guide top column on the collar, thereby improving the stability of the prefabricated component in the suspended state and the installation accuracy.

[0019] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0021] Figure 1 This is a schematic structural diagram of an assembled construction robot of the present invention in Embodiment 1;

[0022] Figure 2 It is a structural schematic diagram of the mobile carrier and the installation guide mechanism in the first embodiment;

[0023] Figure 3 It is a structural side view of the mobile carrier and the installation guide mechanism in the first embodiment;

[0024] Figure 4 It is a structural schematic diagram of the base, the rotating table and the traction assembly in the first embodiment;

[0025] Figure 5 It is a structural schematic diagram of the mobile carrier in the first embodiment;

[0026] Figure 6 It is a structural schematic diagram of the guide vertical column in the first embodiment;

[0027] Figure 7 It is a structural schematic diagram of an assembled construction robot of the present invention in Embodiment 2;

[0028] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0029] 1-prefabricated component, 2-mobile carrier, 3-installation guide mechanism, 4-counterweight block, 5-rotating table, 6-traction assembly, 101-reserved installation hole, 102-screw, 103-guide ring, 201-lifter, 202-support platform, 301-base, 302-guide vertical column, 303-calibration assembly, 304-lifting assembly, 305-through hole, 306-allowance placement groove, 307-fixed support foot, 601-motor, 602-wire rope, 603-ring, 3021-guide top column, 3022-guide bottom column, 3023-guide cone. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Embodiment 1

[0032] See also Figure 1-6 As shown, the present invention is an assembled construction robot, comprising a prefabricated component 1 to be installed, a mobile carrier 2 and an installation guide mechanism 3, the prefabricated component 1 is provided with two reserved installation holes 101, a lifter 201 is fixedly installed on the mobile carrier 2, and a support platform 202 is fixedly installed on the top of the lifter 201; the support platform 202 is fixedly installed between the top surface of the installation guide mechanism 3 and the bottom surface; a counterweight 4 is fixed on the mobile carrier 2; the installation guide mechanism 3 comprises a base 301, a guide vertical column 302, a calibration component 303 and a lifting component 304; the lifting component 304 is fixedly installed on the base 301, the guide vertical column 302 is fixedly installed on the lifting component 304, and the calibration component 303 is fixedly installed on the bottom surface of the base 301 near the front side; A screw rod 102 is threadedly installed on the inner wall of the reserved installation hole 101, and a guide ring 103 is fixed to the outer end of the screw rod 102; the inside of the guide ring 103 cooperates with the side surface of the guide vertical column 302; wherein, the screw rod 102 and the guide ring 103 are used to provide a fulcrum for adjusting the spatial position of the prefabricated component 1. When the prefabricated component 1 is hoisted to a position near the upper part of the installation position, a large crane and a mobile carrier 2 can be operated to make the guide vertical column 302 insert into the guide ring 103, so that the mobile carrier 2 can rely on the guide vertical column 302 and the guide ring 103 to adjust the position of the suspended prefabricated component 1; the difficulty of adjusting the hoisting and installation position is greatly reduced, and the function of improving the accuracy of the hoisting and installation position and the convenience of installation is achieved.

[0033] Among them Figure 1-2As shown, a rotating table 5 is installed between the top of the lifting component 304 and the bottom of the guide vertical column 302; the bottom of the guide vertical column 302 is located at a non-center of the rotating table 5; the lifting component 304 controls the height lifting and lowering of the guide vertical column 302. The purpose of the guide vertical column 302 being located at a non-center of the rotating table 5 is that when the rotating table 5 rotates, the guide vertical column 302 will not just circle in place, but will have a position change, so that if the top of the guide vertical column 302 is located near the bottom of the guide ring 103, the corresponding position adjustment can also be performed through the rotation of the rotating table 5; however, this position adjustment has limitations and is only suitable for relatively limited position adjustments.

[0034] Among them Figure 3 As shown, the guide vertical column 302 includes a guide top column 3021, a guide bottom column 3022 and a guide cone 3023; the top and bottom of the guide cone 3023 are respectively provided with a guide top column 3021 and a guide bottom column 3022; the guide top column 3021 is relatively thin, which is convenient for the guide top column 3021 to be inserted into the ring 603; the ratio of the outer diameter of the guide bottom column 3022 to the inner diameter of the ring 603 is in the range of 0.6-0.98; when the outer diameter of the guide bottom column 3022 is closer to the inner diameter of the ring 603, it is more conducive to the binding effect of the guide top column 3021 on the ring 603, thereby improving the stability of the prefabricated component 1 in the suspended state and the installation accuracy.

[0035] Among them Figure 4 As shown, the calibration component 303 includes a linear laser, a laser distance sensor and a level; the linear laser and the laser distance sensor are both located at the front edge of the base 301, and the level is fixedly installed on the top surface of the base 301; the linear laser is oriented vertically downward, and the laser distance sensor is oriented obliquely downward; the level is used to detect the horizontal degree of the installation guide mechanism 3, and the linear laser emits a straight-line linear laser, which is irradiated at a position of a specified spacing on one side of the required installation position of the prefabricated component 1 to ensure the accuracy of the installation position; when the bottom of the prefabricated component 1 drops below the laser distance sensor, the horizontal spacing of the prefabricated component 1 can be measured; it has the effect of improving the installation accuracy, thereby greatly avoiding the problem of being unable to install due to the offset of the installation position.

[0036] Embodiment 2

[0037] A more preferred technical solution based on the first embodiment is as shown in Figures 6-7, wherein a traction assembly 6 is also fixedly mounted on the base 301; the traction assembly 6 comprises a motor 601 and a wire rope 602, a traction wheel is fixedly mounted on the output shaft of the motor 601, the wire rope 602 is wound around the traction wheel, a through hole 305 is provided on the top of the guide vertical column 302, the wire rope 602 passes through the through hole 305 to the top of the guide vertical column 302, a collar 603 is fixed on the end of the wire rope 602, and the inner wall of the collar 603 cooperates with the side surface of the screw 102; when the construction location is in a windy area, the traction assembly 6 can effectively alleviate the impact of wind on the hoisting construction to a certain extent, and also improve the safety and efficiency of hoisting and installation.

[0038] Among them Figure 6 As shown, a clearance groove 306 is provided on the top of the guide vertical column 302 , and a collar 603 is fitted in the clearance groove 306 ; the collar 603 can be built into the clearance groove 306 .

[0039] Embodiment 3

[0040] A more preferred technical solution based on the second embodiment is as follows: Figure 2-3 As shown, a plurality of fixed legs 307 are fixedly installed on the bottom surface of the base 301; the fixed legs 307 provide a stable support effect for the installation guide mechanism 3; when the lifter 201 lifts the fixed legs 307 off the ground, the installation guide mechanism 3 can be easily transferred and moved by the mobile vehicle 2; when the lifter 201 lowers the fixed legs 307 to touch the ground, the mobile vehicle 2 located under the lifter 201 is in a state of about to leave the ground. At the same time, since the support platform 202 is fixedly installed on the installation guide mechanism 3, most of the weight of the mobile vehicle 2 and the counterweight block 4 is pressed on the installation guide mechanism 3, providing a larger counterweight and improving stability for the installation guide mechanism 3; at this time, the main part of the weight of the mobile vehicle 2 relies on the bottom surface connection of the installation guide mechanism 3, and the pulley at the bottom of the mobile vehicle 2 is not completely off the ground, and the pressure of its pulley on the ground is relatively small.

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An assembled construction robot, comprising a prefabricated component (1) to be installed, wherein the prefabricated component (1) is provided with a reserved installation hole (101), characterized in that: It comprises a moving carrier (2) and an installation guide mechanism (3); The mobile carrier (2) is fixedly mounted with a lifter (201), and a support platform (202) is fixedly mounted on the top of the lifter (201); the top surface of the support platform (202) is fixedly mounted to the bottom surface of the installation guide mechanism (3); and a counterweight block (4) is fixedly mounted on the mobile carrier (2); The installation guide mechanism (3) comprises a base (301), a guide vertical column (302), a calibration component (303) and a lifting component (304); the lifting component (304) is fixedly mounted on the base (301), the guide vertical column (302) is fixedly mounted on the lifting component (304), and the calibration component (303) is fixedly mounted on the bottom surface of the base (301) close to the front side; A screw rod (102) is threadedly mounted on the inner wall of the reserved mounting hole (101), and a guide ring (103) is fixed to the outer end of the screw rod (102); the interior of the guide ring (103) cooperates with the peripheral side surface of the guide vertical column (302).

2. The assembled construction robot according to claim 1, characterized in that: A rotating platform (5) is installed between the top of the lifting component (304) and the bottom of the guiding vertical column (302); the bottom of the guiding vertical column (302) is located at a non-center position of the rotating platform (5).

3. The assembled construction robot according to claim 1, characterized in that: A traction assembly (6) is also fixedly mounted on the base (301); the traction assembly (6) comprises a motor (601) and a steel wire rope (602); a traction wheel is fixedly mounted on the output shaft of the motor (601); a steel wire rope (602) is wound around the traction wheel; a through hole (305) is formed at the top of the guide vertical column (302); the steel wire rope (602) passes through the through hole (305) to the top of the guide vertical column (302); a collar (603) is fixed at the end of the steel wire rope (602); the inner wall of the collar (603) is matched with the peripheral side surface of the screw rod (102).

4. The assembled construction robot according to claim 3, characterized in that: The top of the guide vertical column (302) is provided with a placement groove (306), and a collar (603) is fitted in the placement groove (306).

5. The assembled construction robot according to claim 1, characterized in that: The guide vertical column (302) comprises a guide top column (3021), a guide bottom column (3022) and a guide frustum (3023); the top and bottom of the guide frustum (3023) are respectively provided with a guide top column (3021) and a guide bottom column (3022).

6. The assembled construction robot according to claim 1, characterized in that: A plurality of fixed legs (307) are fixedly mounted on the bottom surface of the base (301).

7. The assembled construction robot according to claim 1, characterized in that: The calibration component (303) comprises a linear laser, a laser distance measuring sensor and a level; the linear laser and the laser distance measuring sensor are both located at the front edge of the base (301), and the level is fixedly mounted on the top surface of the base (301); the linear laser is oriented vertically downward, and the laser distance measuring sensor is oriented obliquely downward.

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