Fabricated construction industry construction robot

Abstract

The invention provides a fabricated building industry construction robot, and relates to the technical field of fabricated building auxiliary equipment, the fabricated building industry construction robot comprises a laying track and a moving vehicle, the moving vehicle moves on the laying track, a positioning plate is mounted above the moving vehicle, and a connecting plate is mounted on the positioning plate through a first electric push rod; a datum plate is installed on the connecting plate through a multi-direction adjusting assembly, a chassis is installed on the moving trolley through a horizontal adjusting assembly, a fixing plate is installed on the chassis through a vertical adjusting assembly, two sets of symmetrically-arranged limiting plates are installed on the fixing plate, guide grooves are formed in the limiting plates, and a laser range finder is installed on the side, close to the datum plate, of the fixing plate. A plurality of groups of laser range finders are arranged, and the plurality of groups of laser range finders are distributed in a matrix; by means of the rotatable angle of the fixing plate and real-time monitoring of the laser range finder, precise positioning of the prefabricated wall can be achieved, manual intervention is reduced, and meanwhile the installation precision and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of prefabricated building auxiliary equipment, and in particular to a prefabricated construction robot. Background Art

[0002] Prefabricated buildings are based on the prefabrication of components in factories and on-site assembly installation. They are characterized by standardized design, factory production, assembly construction, integrated decoration and information management. They integrate various business areas such as R&D design, production and manufacturing, and on-site assembly. They are a new type of sustainable construction production method that achieves energy conservation, environmental protection, and maximizes the value of the entire life cycle of building products. In prefabricated buildings, the biggest feature is that all actions that originally required on-site bricklaying or on-site concrete grouting of walls are moved to the factory for prefabrication production, and then the construction site is divided into areas according to the type of project, model, installation sequence, etc. The prefabricated components are transported to the designated area of ​​the construction site as required. When hoisting prefabricated walls, the outer wall is hoisted first and then the inner wall, and then the adjacent walls are connected.

[0003] During the hoisting of prefabricated components, due to the heavy weight of the prefabricated wall, the inertia of the wall is large during the hoisting process, and the position is offset when falling, which is difficult to control. At the same time, during the hoisting process, horizontal rotation may occur, and it is impossible to accurately align with the installed prefabricated wall. Therefore, multiple staff members are required to cooperate and communicate with the master operating the hoisting equipment. The whole process requires a high degree of cooperation and fast communication efficiency, but the abilities of different staff members are different, and cooperation also takes time to run in, etc., which affects the overall efficiency and accuracy, resulting in low accuracy when installing prefabricated walls. Therefore, the present invention proposes an assembled construction robot to solve the problems existing in the prior art. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to propose an assembled construction robot, which has the advantages of machine guidance, high precision, easy use, and can solve the problems existing in the prior art.

[0005] To achieve the object of the present invention, the present invention is realized through the following technical solutions: An assembly construction industry construction robot includes a laid track and a moving vehicle. The moving vehicle moves on the laid track. A positioning plate is installed above the moving vehicle, and a connecting plate is installed on the positioning plate through a first electric push rod. A reference plate is installed on the connecting plate through a multi-directional adjustment component. A chassis is installed on the moving vehicle through a horizontal adjustment component. A fixing plate is installed on the chassis through a vertical adjustment component. Two groups of symmetrically arranged limiting plates are installed on the fixing plate, and a guiding groove is provided on the limiting plate. A laser rangefinder is installed on one side of the fixing plate close to the reference plate. There are several groups of laser rangefinders, and several groups of laser rangefinders are distributed in a matrix.

[0006] Further improvement lies in: There are two groups of symmetrically arranged limiting grooves on the laid track. A track is installed in the limiting grooves. There is a groove on the laid track. Both sides below the moving vehicle are connected to the track through track wheels. A driving machine is installed below the moving vehicle, and a driving wheel is installed at the output end of the driving machine.

[0007] Further improvement lies in: The horizontal adjustment component includes a hollow base. A main shaft is installed inside the hollow base through a bearing, and the main shaft is connected to the moving vehicle through a bearing. The upper end of the main shaft is fixedly connected to the chassis. A first motor is installed inside the hollow base, and the first motor is connected to the main shaft through a gear.

[0008] Further improvement lies in: An annular sliding rail is installed above the hollow base, and the chassis is connected to the annular sliding rail through a slider.

[0009] Further improvement lies in: The vertical adjustment component includes a fixing frame. A lead screw is installed inside the fixing frame through a bearing, and the lead screw is connected to the chassis through a bearing. The lead screw is driven by a second motor, and the lead screw is connected to the fixing plate through a connecting block.

[0010] Further improvement lies in: The multi-directional adjustment component includes a first mounting plate. A second mounting plate is installed on the first mounting plate through a second electric push rod. The second mounting plate is connected to the reference plate through a third electric push rod. There are several groups of the first electric push rod, the second electric push rod and the third electric push rod.

[0011] Further improvement lies in: A housing is installed on the moving vehicle. A PLC controller is installed on the housing, and a battery pack is installed inside the housing.

[0012] Further improvement lies in: The positioning plate is convex-shaped, and there is an opening on the positioning plate. Slots are provided on both sides of the positioning plate. The cross-section of the connecting plate is inverted U-shaped, and a part of the connecting plate is located in the slots.

[0013] The beneficial effects of the present invention are as follows: By contacting the reference plate provided in the present invention with the prefabricated wall that has been installed, a reference object for the robot is established. Then, with the cooperation of the fixing plate, the limiting plate, and the laser rangefinder that can adjust the horizontal angle, horizontal adjustment is carried out, thereby driving the position adjustment of the hoisted prefabricated wall and aligning it with the prefabricated wall that has been installed. Thus, during the whole process, the intervention of the staff is reduced, and the problem of uncontrollable position during the hoisting process of the prefabricated wall can be effectively solved, thereby improving the installation accuracy and efficiency. Description of the Drawings

[0014] Figure 1 It is a top view structural schematic diagram of the present invention.

[0015] Figure 2 It is a front view structural schematic diagram of the present invention.

[0016] Figure 3 It is a front view schematic diagram after the installation of the reference plate of the present invention.

[0017] Figure 4 It is a side view schematic diagram after the installation of the reference plate of the present invention.

[0018] Figure 5 It is a top view schematic diagram of the laid track of the present invention.

[0019] Figure 6 It is a schematic diagram during the working process of the present invention.

[0020] Wherein: 1, laid track; 2, moving vehicle; 3, positioning plate; 4, first electric push rod; 5, connecting plate; 6, reference plate; 7, chassis; 9, fixing plate; 10, limiting plate; 11, guiding groove; 12, laser rangefinder; 13, limiting groove; 14, track; 15, groove; 16, rail wheel; 17, driving machine; 18, hollow base; 19, main shaft; 20, first motor; 21, annular slide rail; 22, fixing frame; 23, lead screw; 24, driven by the second motor; 25, first mounting plate; 26, second electric push rod; 27, second mounting plate; 28, third electric push rod; 29, outer housing; 30, PLC controller; 31, battery pack; 32, opening; 33, slot; 34, positioning interface; 35, positioning socket; 36, plug board; 37, connecting block; 38, guiding wheel. Detailed Embodiment

[0021] In order to deepen the understanding of the present invention, the following will further elaborate on the present invention in combination with embodiments. These embodiments are only used to explain the present invention and do not constitute a limitation to the protection scope of the present invention.

[0022] In the following embodiments, a PLC controller is involved. Also known as a programmable logic controller (PLC), it is a digital computing operation electronic system designed specifically for use in industrial environments. It uses a programmable memory to store instructions for performing operations such as logical operations, sequential control, timing, counting, and arithmetic operations within it.

[0023] The prefabricated building construction robot is an intelligent device designed specifically for modern prefabricated building construction, aiming to improve construction efficiency, reduce labor costs, enhance construction quality, and ensure construction safety. In the present invention, it mainly involves the positioning function during the component installation process. When prefabricated components (prefabricated walls) are installed, multiple groups are usually installed to form a complete wall. Therefore, the parallel state between prefabricated components is very necessary. However, during the hoisting process of prefabricated walls, rotation in the horizontal direction may occur, and it is impossible to accurately align with the already installed wall. Therefore, after the prefabricated wall is placed, secondary adjustment by workers is still required, which affects construction efficiency.

[0024] Therefore, according to Figures 1-6 As shown, this embodiment proposes a prefabricated building construction robot, including a laid track 1 and a mobile vehicle 2. The laid track 1 provides the basis for the stable operation of the mobile vehicle 2. Correspondingly, several groups of laid tracks 1 are laid. At one end of the laid track 1, there are a positioning interface 34 and a positioning socket 35, and at the other end of the laid track 1, there are an insertion plate 36 and a connection block 37. When two groups of laid tracks 1 are connected, the insertion plate 36 is directly inserted into the positioning socket 35. At this time, the connection block 37 just enters the positioning interface 34, and then it is fixed with bolts. Thus, a whole is formed among multiple laid tracks 1, facilitating the movement of the mobile vehicle 2.

[0025] The mobile vehicle 2 moves on the laid track 1. There are two groups of symmetrically arranged limit grooves 13 on the laid track 1. A track 14 is installed in the limit grooves 13. There is a groove 15 on the laid track 1. Both sides below the mobile vehicle 2 are connected to the track 14 through track wheels 16. The track (14) provides precise sliding guidance, reducing the deviation caused by vibration or error during the operation of the mobile vehicle 2. A driving machine 17 is installed below the mobile vehicle 2. The driving machine 17 provides power for the entire mobile vehicle 2, and a driving wheel is installed at the output end of the driving machine 17. The forward and backward movement of the mobile vehicle is realized through the rotation of the driving wheel. In this embodiment, the driving machine 17 is a servo motor. Thus, the mobile vehicle 2 can be moved to a predetermined position under the operation of workers. When in use, the laid track 1 is aligned with the control line for installing prefabricated wall panels.

[0026] A positioning plate 3 is installed above the mobile vehicle 2, and a connecting plate 5 is installed on the positioning plate 3 through a first electric push rod 4. The positioning plate 3 is convex-shaped, and an opening 32 is provided on the positioning plate 3. Slots 33 are provided on both sides of the positioning plate 3. The cross-section of the connecting plate 5 is inverted U-shaped, and a part of the connecting plate 5 is located in the slots 33. In this embodiment, two groups of first electric push rods 4 are symmetrically installed and located in the opening 32. The movement of its output end in the vertical direction can push the connecting plate 5 to move up and down, so as to meet the positioning and installation requirements of precast wall panels with different heights. Correspondingly, through the provided slots 33, the connecting plate 5 can be limited, ensuring the stability of the connecting plate 5 when moving up and down.

[0027] A reference plate 6 is installed on the connecting plate 5 through a multi-directional adjustment component. The multi-directional adjustment component includes a first mounting plate 25. A second mounting plate 27 is installed on the first mounting plate 25 through a second electric push rod 26. The second electric push rod 26 is responsible for moving back and forth. The second mounting plate 27 is connected to the reference plate 6 through a third electric push rod 28. The third electric push rod 28 is responsible for moving left and right. Therefore, the second electric push rod 26 and the third electric push rod 28 are vertically arranged. Correspondingly, several groups of first electric push rods 4, second electric push rods 26 and third electric push rods 28 are provided. In this embodiment, two groups are provided respectively. During operation, the precast wall panel is usually rectangular, so it has an end. Then, through the multi-directional adjustment component, the reference plate 6 can be brought into contact with the already installed precast wall panel. Thus, when the inner side of the reference plate 6 contacts the surface of the already installed precast wall panel, a reference coordinate of this robot is determined.

[0028] A chassis 7 is installed on the mobile vehicle 2 through a horizontal adjustment component. The horizontal adjustment component includes a hollow base 18. An annular slide rail 21 is installed above the hollow base 18. The chassis 7 is connected to the annular slide rail 21 through a slider. The inner side of the hollow base 18 is installed with a main shaft 19 through a bearing, and the main shaft 19 is connected to the mobile vehicle 2 through a bearing. The upper end of the main shaft 19 is fixed to the chassis 7. A first motor 20 is installed inside the hollow base 18. The first motor 20 is connected to the main shaft 19 through a gear. In this embodiment, the first motor 20 is a reduction motor, and a driving gear is installed at its output end, while a driven gear is installed on the outer side of the main shaft 19. Correspondingly, the driving gear and the driven gear adopt the method of a small gear driving a large gear, which can refine the output movement and achieve higher adjustment accuracy, thus meeting the high-precision requirements for horizontal adjustment of precast components.

[0029] A fixed plate 9 is installed on the chassis 7 through a vertical adjustment component. The vertical adjustment component includes a fixed frame 22. Inside the fixed frame 22, a lead screw 23 is installed through a bearing, and the lead screw 23 is connected to the chassis 7 through a bearing. The lead screw 23 is driven by a second motor 24, and the lead screw 23 is connected to the fixed plate 9 through a connecting block. The connecting block is connected to the lead screw 23 through a lead screw nut sleeve. Correspondingly, two sets of symmetrically arranged slide bars are installed inside the fixed frame 22. The lower ends of the slide bars are connected to the chassis 7, and at the same time, the slide bars pass through the connecting block. Thus, under the cooperation of the second motor 24 and the lead screw 23, the fixed plate 9 can be driven to move up and down through the connecting block. Further, in this embodiment, the type of the lead screw 23 is a ball screw. This construction robot plays a guiding role during the falling process of the precast wall panel. Therefore, the weight of the precast wall panel is still borne by the external hoisting equipment. Thus, the lead screw 23 controls the up and down movement of the fixed plate 9, and its weight is within the bearing range of the lead screw 23 and the second motor 24.

[0030] Two sets of symmetrically arranged limit plates 10 are installed on the fixed plate 9, and guide grooves 11 are provided on the limit plates 10. The upper and lower ends of the guide grooves 11 are uniformly communicated with the outside. For the precast wall panel, two sets of guide wheels 38 are installed on its surface. The guide wheels 38 are vertically arranged with respect to the precast wall panel and are horizontally arranged. Thus, the shape of the guide groove 11 is adapted to the guide wheels 38. When the two sets of guide wheels 38 respectively enter the guide grooves 11 at the corresponding positions, a connection is established between the construction robot and the precast wall panel. Thus, during the adjustment process, by rotating the chassis 7, the precast wall panel can be driven to perform an angular adjustment in the horizontal direction to match the precast wall panel (precast component) that has been installed. After matching, the hoisted precast wall panel can be directly lowered. Then, the fixed plate 9 is raised so that the limit plates 10 are located above the guide wheels 38, and then the reference plate 6 is restored to its original position. At this time, the mobile vehicle 2 can move to perform the next operation.

[0031] A laser rangefinder 12 is installed on one side of the fixed plate 9 close to the reference plate 6. There are several groups of laser rangefinders 12, and several groups of laser rangefinders 12 are arranged in a matrix. In this embodiment, the laser rangefinders 12 are arranged in a 3x3 matrix. The matrix arrangement ensures that the measurement points cover most of the area of the fixed plate, so as to comprehensively detect the distance distribution state between the fixed plate and the reference plate. When the fixed plate 9 and the reference plate 6 are not parallel, the readings of each laser rangefinder 12 are different. For example, the readings of the left laser rangefinders are smaller, while the readings of the right side are larger, indicating that the left side of the fixed plate is close to the reference plate and the right side deviates, and adjustment is needed. Therefore, through these difference data, the inclination situation between the fixed plate and the reference plate can be accurately judged. Thus, by rotating the fixed plate 9, the two plates can be made parallel, and the precast wall panel in the hoisting state can be adjusted during the rotation process.

[0032] A housing 29 is installed on the mobile vehicle 2. A PLC controller 30 is installed on the housing 29. And a battery pack 31 is installed inside the housing 29. The battery pack 31 is the power source of this robot and has the function of storing electricity. When the construction site has a power supply function, the battery pack 31 is connected to an external power supply device through an electric wire. When there is no power supply function, it uses the stored power for power supply. The PLC controller 30 supports programming by staff. Through programming, the PLC controller 30 can execute its instructions and make self-adjustments according to the measurement data of the laser rangefinder 12. Correspondingly, it is the total control terminal of this construction robot and can control the working states of all electronic components in the construction robot. And the PLC controller 30 is built-in with a wireless connection chip for convenient remote control. Then, through remote control, the rotation angle of the fixing plate 9 can be adjusted so that the fixing plate 9 is in a parallel state with the reference plate.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the framework and scope of application of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An assembled construction robot, comprising a track laying device (1) and a moving vehicle (2), characterized in that: The mobile vehicle (2) moves on the laying track (1); a positioning plate (3) is installed above the mobile vehicle (2); a connecting plate (5) is installed on the positioning plate (3) via a first electric push rod (4); a reference plate (6) is installed on the connecting plate (5) via a multi-directional adjustment assembly; a chassis (7) is installed on the mobile vehicle (2) via a horizontal adjustment assembly; a fixing plate (9) is installed on the chassis (7) via a vertical adjustment assembly; two groups of symmetrically arranged limiting plates (10) are installed on the fixing plate (9); and a guide groove (11) is provided on the limiting plate (10); a laser rangefinder (12) is installed on one side of the fixing plate (9) close to the reference plate (6); a plurality of groups of the laser rangefinders (12) are provided, and the plurality of groups of laser rangefinders (12) are distributed in a matrix.

2. The assembled construction robot according to claim 1, characterized in that: The laying track (1) is provided with two groups of symmetrically arranged limit grooves (13), and tracks (14) are installed in the limit grooves (13). The laying track (1) is provided with a groove (15). Both sides below the moving vehicle (2) are connected to the track (14) through rail wheels (16). A driving machine (17) is installed below the moving vehicle (2), and a driving wheel is installed at the output end of the driving machine (17).

3. The assembled construction robot according to claim 1, characterized in that: The horizontal adjustment assembly comprises a hollow base (18), a main shaft (19) is installed on the inner side of the hollow base (18) via a bearing, and the main shaft (19) is connected to the moving vehicle (2) via the bearing, the upper end of the main shaft (19) is fixedly connected to the chassis (7), and a first motor (20) is installed on the inner side of the hollow base (18), and the first motor (20) is connected to the main shaft (19) via a gear.

4. The assembled construction robot according to claim 3, characterized in that: An annular slide rail (21) is installed above the hollow base (18), and the annular slide rail (21) is connected to the chassis (7) via a sliding block.

5. The assembled construction robot according to claim 1, characterized in that: The vertical adjustment assembly comprises a fixing frame (22), a screw rod (23) is installed on the inner side of the fixing frame (22) via a bearing, and the screw rod (23) is connected to the chassis (7) via the bearing, the screw rod (23) is driven by a second motor (24), and the screw rod (23) is connected to the fixing plate (9) via a connecting block.

6. The assembled construction robot according to claim 1, characterized in that: The multi-directional adjustment assembly comprises a first mounting plate (25), a second mounting plate (27) being mounted on the first mounting plate (25) via a second electric push rod (26), the second mounting plate (27) being connected to a reference plate (6) via a third electric push rod (28), and the first electric push rod (4), the second electric push rod (26) and the third electric push rod (28) are each provided with a plurality of groups.

7. The assembled construction robot according to claim 1, characterized in that: An outer shell (29) is installed on the mobile vehicle (2), a PLC controller (30) is installed on the outer shell (29), and a battery pack (31) is installed inside the outer shell (29).

8. The assembled construction robot according to claim 1, characterized in that: The positioning plate (3) is arranged in a convex shape, and an opening (32) is provided on the positioning plate (3). Slots (33) are provided on both sides of the positioning plate (3). The interface of the connecting plate (5) is in an inverted convex shape, and part of the connecting plate (5) is located in the slot (33).

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