Full-automatic intelligent robot for splicing prefabricated ALC wall plates and construction method

Abstract

The full-automatic intelligent robot comprises a telescopic hydraulic fixing device, a pressure grouting, net hanging and plastering and pressing integrated device, a multi-axis rotating mechanical arm, a central data analyzing and processing device, a storage battery power pack, a mortar storage device and a movable bearing device which are sequentially assembled from left to right and from top to bottom. The central data analyzing and processing device, the storage battery power pack and the mortar storage device are all mounted on the load-bearing movable device; the pressure grouting, net hanging and plastering integrated device is installed on the multi-shaft rotating mechanical arm, and one end of the multi-shaft rotating mechanical arm and one end of the telescopic hydraulic fixing device are connected to the bearing movable device in a supporting mode. The robot achieves intelligent construction of ALC wallboard abutted seams through cooperation of the telescopic hydraulic fixing device, the pressure grouting, net hanging and plastering and pressing integrated device, the multi-axis rotating mechanical arm, the central data analyzing and processing device, the storage battery power pack, the mortar storage device and the bearing movable device.

Description

Technical Field

[0001] The present invention relates to the technical field of building wall panel assembly, and particularly to a fully automatic intelligent robot for assembling joints of prefabricated ALC wall panels and a construction method thereof. Background Art

[0002] With the development of global high technology, the popularization and application of artificial intelligence, and the urgent need for new production tools of new quality productivity, under the guidance of the national macroeconomic policy, fully automatic intelligent robots have been developed and applied at a high speed. International major conferences have repeatedly emphasized that the ecological environment on which human beings depend for survival urgently needs to be improved. However, industries such as construction, chemical engineering, and manufacturing are the main sources of environmental pollution. Therefore, the research and development of fully automatic intelligent robots and the update of process equipment have become important measures to protect the ecological environment. At the same time, it illustrates the necessity and urgency of the popularization and application of prefabricated buildings in the construction field. The labor force in the construction field is becoming increasingly scarce, and the construction technical levels of construction workers are uneven. At present, the application effects of existing robot inventions cannot solve the problem of assembling joints of prefabricated ALC wall panels in prefabricated buildings. The above problems indicate that we urgently need to research and develop a fully automatic intelligent robot for assembling joints of prefabricated ALC wall panels and promote its application in the construction field.

[0003] At present, various auxiliary construction equipment - plastering robots have been popularized and applied in the market, and there are the following restrictions:

[0004] 1. The level of automation and intelligence is insufficient, the operation is difficult, the construction quality is not stable enough, the dependence on people is relatively high, and the promotion and application cost is high;

[0005] 2. The application degree in parts such as detailed components and narrow spaces is not high;

[0006] 3. The construction cost is increased, and the economic benefit is not high;

[0007] 4. The enthusiasm of front-line operators for using is not high, and the user experience is very poor, so it cannot be promoted and applied. Summary of the Invention

[0008] The purpose of the present invention is to provide a fully automatic intelligent robot for assembling joints of prefabricated ALC wall panels and a construction method thereof, so as to solve the problems raised in the above background art.

[0009] To achieve the above purpose, the present invention provides the following technical solutions:

[0010] An assembled ALC wall panel joint full-automatic intelligent robot, comprising a telescopic hydraulic fixing device, a pressure grouting, mesh hanging and plastering integrated device, a multi-axis rotating robotic arm, a central data analysis and processing device, a battery power group, a mortar storage device and a load-bearing movable device, which are assembled in sequence from left to right and from top to bottom. The central data analysis and processing device, the battery power group and the mortar storage device are all installed on the load-bearing movable device; the pressure grouting, mesh hanging and plastering integrated device is installed on the multi-axis rotating robotic arm, and one end of the multi-axis rotating robotic arm and the telescopic hydraulic fixing device are supported and connected to the load-bearing movable device; the robot cooperates with the telescopic hydraulic fixing device, the pressure grouting, mesh hanging and plastering integrated device, the multi-axis rotating robotic arm, the central data analysis and processing device, the battery power group, the mortar storage device and the load-bearing movable device to construct the ALC wall panel joint.

[0011] Further, the telescopic hydraulic fixing device consists of a top fixing device, a telescopic thin hydraulic rod, a telescopic medium hydraulic rod, a telescopic thick hydraulic rod, a telescopic signal receiver, a telescopic signal transmission line, a telescopic signal transmitter and a bottom fixing device. The top fixing device is connected to the telescopic thin hydraulic rod, the telescopic thin hydraulic rod is connected to the telescopic medium hydraulic rod, the telescopic medium hydraulic rod is connected to the telescopic thick hydraulic rod. The telescopic signal receiver is installed at the lower part of the telescopic thick hydraulic rod, and the telescopic signal receiver is connected to the telescopic signal transmission line. The telescopic signal transmitter and the telescopic signal receiver are jointly connected to the telescopic thick hydraulic rod, and the telescopic thick hydraulic rod is connected to the bottom fixing device.

[0012] Further, the pressure grouting, mesh hanging and plastering integrated device consists of a mesh hanging fixer, a pressure grouting head, an image scanning detector at the joint, a plastering and mesh laying device, and a signal transmitter. The mesh hanging fixer is connected to the pressure grouting head, the pressure grouting head is connected to the signal transmitter, and the image scanning detector at the joint is connected to the plastering and mesh laying device.

[0013] Further, the multi-axis rotating robotic arm is provided with a conveying pipeline fixing device, an intelligent regulating valve, a mortar conveying pipe and a 360° steering device. The conveying pipeline fixing device connects the mortar conveying pipe to the multi-axis rotating robotic arm body, the intelligent regulating valve is connected to the mortar conveying pipe, and the 360° steering device is arranged at the rotating end of the multi-axis rotating robotic arm.

[0014] Further, an operation end data transmission line is connected to the central data analysis and processing device.

[0015] Further, corresponding power lines are provided inside the battery power group.

[0016] Further, the mortar storage device includes a mortar power conveying device, and the mortar power conveying device is used for conveying the gelling material stored in the mortar storage device.

[0017] Furthermore, the load-bearing movable device is composed of a robot base and universal wheels. The universal wheels are installed at the bottom of the robot base, and the mortar storage device is welded to the robot base.

[0018] The present invention provides another technical solution: a construction method for a fully automatic intelligent robot for assembling ALC wall panel joints, comprising the following steps:

[0019] S1: Program the robot through the central data analysis and processing device and equip it with a corresponding mobile APP;

[0020] S2: After the robot enters the functional room, use the image scanning detector at the joint to identify the ALC wall panel joint, and then send path instructions to the robot through the central data analysis and processing device;

[0021] S3: The operator controls the robot as a whole through the APP on the terminal device. After the robot automatically travels to the working position at the ALC strip joint, the central data analysis and processing device intelligently controls the telescopic hydraulic fixing device to automatically lift and fix the robot;

[0022] S4: Manually inject mortar into the mortar storage device to complete the preparation work;

[0023] S5: During the construction of the ALC wall panel joint by the robot, the central data analysis and processing device intelligently controls the intelligent regulating valve and the plastering and net laying device to adjust the mortar flow rate, flow velocity, plastering and net laying speed and forming quality;

[0024] S6: After completing the construction operation of one ALC wall panel joint, automatically move to the next ALC wall panel joint for construction, and repeat the operation in this way.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] 1. The fully automatic intelligent robot and construction method for assembling ALC wall panel joints of the present invention are mainly applicable to the treatment of detailed or local quality defects such as the construction of ALC wall panel joints in prefabricated buildings, reducing human operation deviations, reducing labor costs, effectively improving construction speed and construction safety, and thus achieving cost reduction and efficiency increase.

[0027] 2. The fully automatic intelligent robot and construction method for the assembled ALC wall panel joints of the present invention use intelligent image scanning technology and big data processing technology to collect information on data such as the depth and width of the joints, and the width and depth of the plastering range on both sides of the joints; calculate the amount of mortar and the pressure (injection) speed through the central data processing and analysis device; transmit the data to the intelligent regulating valve and the multi-axis robotic arm through the data transceiver and transmission line; control and adjust the mortar pressure (injection) amount through the intelligent regulating valve; and further control the moving speed of the pressure (injection) grouting, hanging net, and plastering integrated device through the multi-axis robotic arm.

[0028] 3. The fully automatic intelligent robot and construction method for the assembled ALC wall panel joints of the present invention use intelligent image scanning technology and big data analysis and processing technology, effectively improving the working accuracy and construction quality of the intelligent joint robot. Description of the Drawings

[0029] Figure 1 It is a three-dimensional structure schematic diagram of the intelligent robot of the present invention;

[0030] Figure 2 It is a front view of the intelligent robot of the present invention;

[0031] Figure 3 It is a top view of the intelligent robot of the present invention;

[0032] Figure 4 It is a structural diagram of the telescopic hydraulic fixing device of the present invention;

[0033] Figure 5 It is a plan view of the net hanging fixer of the present invention;

[0034] Figure 6 It is a schematic diagram of the construction process of the intelligent robot of the present invention.

[0035] In the figure: 100, telescopic hydraulic fixing device; 101, top fixing device; 102, retractable thin hydraulic rod; 103, retractable medium hydraulic rod; 104, retractable thick hydraulic rod; 105, telescopic signal receiver; 106, telescopic signal transmission line; 107, telescopic signal transmitter; 108, bottom fixing device; 200, pressure grouting, hanging net, and plastering integrated device; 201, net hanging fixer; 202, pressure grouting head; 203, image scanning detector at the joint; 204, plastering and net laying device; 205, signal transmitter; 300, multi-axis rotating robotic arm; 301, conveying pipeline fixing device; 302, intelligent regulating valve; 303, mortar conveying pipe; 304, 360° steering device; 400, central data analysis and processing device; 401, operation end data transmission line; 500, battery power group; 502, power line; 600, mortar storage device; 601, mortar power transmission device; 700, load-bearing movable device; 701, robot base; 702, universal wheel. Detailed implementation manners

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] Please refer to Figures 1-5 , an automatic intelligent robot for assembling and splicing ALC wall panels is provided in the embodiments of the present invention, which includes a telescopic hydraulic fixing device 100, a grouting, hanging net and troweling integrated device 200, a multi-axis rotating robotic arm 300, a central data analysis and processing device 400, a battery power group 500, a mortar storage device 600 and a load-bearing movable device 700 assembled in sequence from left to right and from top to bottom. The central data analysis and processing device 400, the battery power group 500 and the mortar storage device 600 are all installed on the load-bearing movable device 700; the grouting, hanging net and troweling integrated device 200 is installed on the multi-axis rotating robotic arm 300, and one end of the multi-axis rotating robotic arm 300 and the telescopic hydraulic fixing device 100 is supported and connected to the load-bearing movable device 700; the robot performs construction on the ALC wall panel joints through the coordinated cooperation of the telescopic hydraulic fixing device 100, the grouting, hanging net and troweling integrated device 200, the multi-axis rotating robotic arm 300, the central data analysis and processing device 400, the battery power group 500, the mortar storage device 600 and the load-bearing movable device 700. The specific construction structure is as follows:

[0038] As Figure 4 shown, the present invention adopts a single telescopic hydraulic fixing device 100, which effectively reduces the limitation of the robot's moving space and improves the stability of the operation process. The telescopic hydraulic fixing device 100 is composed of a top fixing device 101, a telescopic thin hydraulic rod 102, a telescopic medium hydraulic rod 103, a telescopic thick hydraulic rod 104, a telescopic signal receiver 105, a telescopic signal transmission line 106, a telescopic signal transmitter 107 and a bottom fixing device 108. Among them, the top fixing device 101, the telescopic thin hydraulic rod 102, the telescopic medium hydraulic rod 103, the telescopic thick hydraulic rod 104 and the bottom fixing device 108 are connected in sequence from top to bottom, and the connection parts are sealed by sealing rings. The telescopic signal receiver 105 and the telescopic signal transmitter 107 are an integrated device, connected to the telescopic signal transmission line 106, and installed at the lower part of the telescopic thick hydraulic rod 104. The central data analysis and processing device 400 controls the telescopic height and internal force of the intelligent control telescopic hydraulic fixing device 100 according to requirements such as the net height of the floor, the maximum kinetic energy generated during the operation of the robot and the engineering quality (surface flatness); to ensure the overall stability of the robot.

[0039] The grouting, mesh hanging, and troweling integrated device 200 in this embodiment is composed of a mesh hanging fixator 201, a grouting head 202, an image scanner for joints 203, a troweling and mesh laying device 204, and a signal transmitter 205. The mesh hanging fixator 201 is fixed on the robot arm, near the troweling and mesh laying device 204, to complete the secondary troweling while hanging the mesh. The grouting head 202 is located at the geometric center of the troweling and mesh laying device 204 and is a telescopic device. The image scanner for joints 203, the signal transmitter 205, and the front section of the grouting head 202 are flush with the end of the troweling and mesh laying device 204 and are all installed at the front section of the robot arm. It is necessary to scan and image the joints through the image scanner for joints 203, transmit the data to the central data analysis and processing device 400 through the signal transmitter 205 for data analysis to calculate the amount of mortar for each part, and then accurately and quantitatively inject the mortar into the joints through the grouting head 202. Use the trowel plate of the troweling and mesh laying device 204 to perform the initial troweling and leveling, then automatically press the fiberglass mesh through the mesh hanging fixator 201, and finally complete the leveling work at the joints through the troweling and mesh laying device 204.

[0040] The multi-axis rotating robotic arm 300 in this embodiment is provided with a conveying pipeline fixing device 301, an intelligent regulating valve 302, a mortar conveying pipe 303, and a 360° steering device 304. The multi-axis rotating robotic arm 300 uses a 360° rotating device, which can increase the working range of the robot and improve work efficiency. The 360° steering device 304 fixes the intelligent regulating valve 302, the power line 502, the operation end data transmission line 401, and the mortar conveying pipe 303 in the multi-axis rotating robotic arm 300 through the conveying pipeline fixing device 301, and connects multiple sections of robotic arms into a whole through the 360° steering device 304, enabling the multi-axis rotating robotic arm 300 to move intelligently in all directions.

[0041] The central data analysis and processing device 400 in this embodiment is connected to an operation end data transmission line 401. Through the operation end data transmission line 401, the telescopic hydraulic fixing device 100, the grouting, mesh hanging, and troweling integrated device 200, the multi-axis rotating robotic arm 300, the mortar storage device 600, and the load-bearing movable device 700 are connected to the central data analysis and processing device 400. The central data analysis and processing device 400 mainly analyzes and processes the data transmitted back by the receiver, and then transmits the analysis and processing results to the receivers at each part through the operation end data transmission line 401 to brake and control the actions of the robot such as moving, fixing, and operating.

[0042] In the above embodiments, a corresponding power line 502 is provided inside the battery power pack 500. The battery power pack 500 is connected to the telescopic hydraulic fixing device 100, the mesh hanging and troweling integrated device 200, the multi-axis rotating robotic arm 300, the central data analysis and processing device 400, the mortar storage device 600, and the load-bearing movable device 700 through the power line 502 to provide a power source for the robot.

[0043] In the above embodiments, the mortar storage device 600 includes a mortar power conveying device 601. The mortar power conveying device 601 is used to convey the cementitious material stored in the mortar storage device 600. Specifically, the mortar power conveying device 601 is connected to the grouting head 202 through a mortar conveying pipe 303 to provide a material source for the robot. At the same time, after each shift of operation, the mortar power conveying device 601, the mortar conveying pipe 303, and the grouting head 202 are automatically cleaned by the above-mentioned equipment.

[0044] The load-bearing movable device 700 in this embodiment is composed of a robot base 701 and universal wheels 702. The universal wheels 702 adopt 100-mm universal wheels - W092 (2 on each side, left and right), which can turn around in place and can adapt to a smaller activity space. The universal wheels 702 are installed at the bottom of the robot base 701, and the mortar storage device 600 is welded to the robot base 701 to provide the robot with base support and automatic moving ability.

[0045] As Figure 6 shown, in order to further better explain and illustrate the embodiments of the present invention, a construction method for an assembled ALC wallboard joint full-automatic intelligent robot is also provided. The robot can be programmed to make it intelligent. The specific steps are as follows:

[0046] S1: Program the robot through the central data analysis and processing device 400 and equip it with a corresponding mobile APP.

[0047] S2: After the robot enters the functional room, use the seam image scanning detector 203 to identify the ALC wallboard joint, and then send a path command to the robot through the central data analysis and processing device 400.

[0048] S3: The operator controls the robot as a whole through the APP on the terminal device (mobile phone or tablet computer). After the robot automatically travels to the operation position at the ALC strip joint, the central data analysis and processing device 400 intelligently controls the telescopic hydraulic fixing device 100 to automatically lift and fix the robot.

[0049] S4: Manually inject mortar into the mortar storage device 600 to complete the preparation work.

[0050] S5: During the construction process of ALC wall panel joints, the robot intelligently controls the intelligent regulating valve 302 and the troweling and mesh laying device 204 through the central data analysis and processing device 400 to adjust the mortar flow rate, flow velocity, troweling and mesh laying speed, and forming quality.

[0051] S6: After completing one ALC wall panel joint construction operation, automatically move to the next ALC wall panel joint for construction, and repeat the operation in this way.

[0052] In the above method, the robot can be equipped with an emergency stop button device on the robot itself and the terminal APP according to requirements, so that when the robot is operating abnormally, the operator can press the emergency stop button or cut off the power supply to stop the robot operation.

[0053] As described above, only the preferred specific implementation manners of the present invention are provided, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A fully automatic intelligent robot for jointing assembled ALC wall panels, characterized in that: The invention comprises a telescopic hydraulic fixing device (100), a pressure grouting, mesh hanging and smearing integrated device (200), a multi-axis rotating mechanical arm (300), a central data analysis and processing device (400), a battery power group (500), a mortar storage device (600) and a load-bearing movable device (700) which are assembled in sequence from left to right and from top to bottom. The central data analysis and processing device (400), the battery power group (500) and the mortar storage device (600) are all installed on the load-bearing movable device (700); the pressure grouting, mesh hanging and smearing integrated device (200) is assembled in sequence from left to right and from top to bottom. 00) is installed on a multi-axis rotating mechanical arm (300), and one end of the multi-axis rotating mechanical arm (300) and the telescopic hydraulic fixing device (100) are supported and connected to the load-bearing movable device (700); the robot constructs the ALC wall panel joints through the coordinated cooperation of the telescopic hydraulic fixing device (100), the pressure grouting, mesh hanging and pressing integrated device (200), the multi-axis rotating mechanical arm (300), the central data analysis and processing device (400), the battery power group (500), the mortar storage device (600) and the load-bearing movable device (700).

2. The fully automatic intelligent robot for jointing assembled ALC wall panels as claimed in claim 1, characterized in that: The telescopic hydraulic fixing device (100) is composed of a top fixing device (101), a telescopic thin hydraulic rod (102), a telescopic middle hydraulic rod (103), a telescopic thick hydraulic rod (104), a telescopic signal receiver (105), a telescopic signal transmission line (106), a telescopic signal transmitter (107) and a bottom fixing device (108). The top fixing device (101) is connected to the telescopic thin hydraulic rod (102), and the telescopic thin hydraulic rod (102) is connected to the telescopic middle hydraulic rod. (103), the telescopic middle hydraulic rod (103) is connected to the telescopic thick hydraulic rod (104), the telescopic signal receiver (105) is installed at the lower part of the telescopic thick hydraulic rod (104), the telescopic signal receiver (105) is connected to the telescopic signal transmission line (106), the telescopic signal transmitter (107) and the telescopic signal receiver (105) are connected to the telescopic thick hydraulic rod (104), and the telescopic thick hydraulic rod (104) is connected to the bottom fixing device (108).

3. The fully automatic intelligent robot for jointing assembled ALC wall panels as claimed in claim 1, characterized in that: The grouting mesh-hanging and mesh-smearing integrated device (200) comprises a mesh-hanging fixture (201), a grouting head (202), an image scanning detector at a joint (203), a mesh-smearing and mesh-laying device (204), and a signal transmitter (205); the mesh-hanging fixture (201) is connected to the grouting head (202), the grouting head (202) is connected to the signal transmitter (205), and the image scanning detector at a joint (203) is connected to the mesh-smearing and mesh-laying device (204).

4. The fully automatic intelligent robot for jointing assembled ALC wall panels as claimed in claim 1, characterized in that: The multi-axis rotating mechanical arm (300) is provided with a conveying pipeline fixing device (301), an intelligent regulating valve (302), a mortar conveying pipe (303) and a 360° steering device (304); the conveying pipeline fixing device (301) connects the mortar conveying pipe (303) with the multi-axis rotating mechanical arm (300) body, the intelligent regulating valve (302) is connected with the mortar conveying pipe (303), and the 360° steering device (304) is arranged at the rotating end of the multi-axis rotating mechanical arm (300).

5. The fully automatic intelligent robot for jointing assembled ALC wall panels as claimed in claim 1, characterized in that: The central data analysis and processing device (400) is connected to an operation end data transmission line (401).

6. The fully automatic intelligent robot for jointing assembled ALC wall panels as claimed in claim 1, characterized in that: The battery power pack (500) is internally provided with a corresponding power circuit (502).

7. The fully automatic intelligent robot for jointing assembled ALC wall panels as claimed in claim 1, characterized in that: The mortar storage device (600) comprises a mortar power conveying device (601), and the mortar power conveying device (601) is used to convey the cementitious material stored in the mortar storage device (600).

8. The fully automatic intelligent robot for jointing assembled ALC wall panels as claimed in claim 1, characterized in that: The load-bearing movable device (700) is composed of a robot base (701) and universal wheels (702), wherein the universal wheels (702) are installed at the bottom of the robot base (701), and the mortar storage device (600) is welded to the robot base (701).

9. A construction method of the fully automatic intelligent robot for jointing of assembled ALC wall panels as claimed in claim 1, characterized in that: The following steps are involved: S1: Programming the robot through the central data analysis and processing device (400) and equipping it with a corresponding mobile terminal APP; S2: After the robot enters the functional room, it uses the image scanning detector (203) at the joint to identify the joints of the ALC wall panels, and then issues path instructions to the robot through the central data analysis and processing device (400); S3: The operator controls the robot as a whole through the APP on the terminal device. After the robot automatically drives to the operation position of the ALC strip joint, the central data analysis and processing device (400) intelligently controls the telescopic hydraulic fixing device (100) to automatically lift and fix the robot; S4: manually injecting mortar into the mortar storage device (600) to complete the preparation work; S5: During the ALC wall panel joint construction process, the robot intelligently controls the intelligent regulating valve (302) and the spreading and pressing device (204) through the central data analysis and processing device (400) to adjust the mortar flow rate, flow rate, spreading and pressing speed, and molding quality; S6: After completing the construction of one ALC wall panel joint, the next ALC wall panel joint is automatically moved to be constructed, and the operation can be repeated.

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