Intelligent building robot and construction method

Abstract

The invention relates to the technical field of intelligent construction, and particularly discloses an intelligent construction robot and a construction method, which are used for building construction. Comprising a lifting system arranged on the outer side of a building, a truss system installed on the lifting system and located above the building, a mechanical arm construction assembly which is in sliding fit with the truss system and slides in the X-axis direction and the Y-axis direction, a jacking assembly used for supporting a formwork during floor slab construction, and a jacking assembly which is connected with the lifting system, the truss system and the mechanical arm construction assembly. And the control system is connected with the jacking assembly. According to the intelligent building construction system and the construction method thereof, intelligent building construction can be effectively achieved, compared with the prior art, the intelligent degree is high, the labor use cost is greatly reduced, the construction efficiency is improved, and standardized production of building construction is achieved through improvement of the intelligent degree.

Description

Technical Field

[0001] The present invention relates to the field of intelligent construction technology, and more particularly, to an intelligent construction robot and a construction method. Background Art

[0002] Building industrialization and intelligent construction are the paths to high-quality development of the construction industry to solve the labor shortage problem caused by an aging population; the rapid advancement and in-depth development of intelligent construction is the industry trend, and construction robots are the key way to realize intelligent construction. There are many types of construction robots on the market.

[0003] From a technical perspective, existing construction robots have many problems, such as the inability to recognize paths, poor adaptability, lack of standardization, low intelligence, and poor reliability; a large amount of manpower is still required to carry out operations during the construction process.

[0004] In response to the problems existing in existing construction robots, how to achieve a form of construction with low labor costs and high degree of intelligence is a difficult problem that technicians in this field have been thinking about. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an intelligent construction robot and a construction method, which can effectively realize the intelligent construction of buildings. Compared with the existing technology, the robot has a high degree of intelligence, greatly reduces the cost of labor, improves the construction efficiency, and realizes the standardized production of building construction through the improvement of the degree of intelligence.

[0006] The solution adopted by the present invention to solve the technical problem is:

[0007] An intelligent construction robot is used for building construction; it includes a lifting system arranged on the outside of the building, a truss system installed on the lifting system and located above the building, a mechanical arm construction assembly that slides with the truss system and slides in the X-axis and Y-axis directions, a jacking assembly used for supporting formwork during floor construction, and a control system connected to the lifting system, truss system, mechanical arm construction assembly, and jacking assembly.

[0008] In some possible implementations,

[0009] The robotic arm construction assembly includes multiple groups of robotic arms that slide with the truss system and slide along the X-axis and Y-axis directions, measuring equipment, welding equipment, concrete pouring equipment, lifting equipment and steel bar binding equipment that are respectively connected to the robotic arms, and multiple groups of vertical component formwork support systems that are respectively connected with the truss system and used for vertical component formwork support.

[0010] In some possible implementations,

[0011] The vertical member formwork support system includes an outer formwork installed at the bottom of the truss system and located between the outside of the building and the lifting system, and multiple groups of inner formwork components slidably engaged with the truss system; a lateral prop is provided on the lifting system and connected to the outside of the outer formwork for controlling the movement of the outer formwork in the X-axis direction.

[0012] In some possible implementation manners,

[0013] The inner formwork component includes a telescopic suspension rod slidably hinged at one end to the truss system, and a clamping component installed at the end of the telescopic suspension rod away from the truss system for clamping the formwork.

[0014] In some possible implementation manners,

[0015] The truss system includes a truss platform installed on the lifting system, and a slide rail component installed at the bottom of the truss platform and slidably engaged with the robotic arm construction component and the vertical member formwork support system respectively; the slide rail component is provided with mutually connected sliding grooves in both the X-axis and Y-axis directions.

[0016] In some possible implementation manners,

[0017] The height of the outer formwork in the Y-axis direction is H, the height of the vertical member in the Y-axis direction is h, and the thickness of the floor slab is a, where H > h + a.

[0018] A construction method of an intelligent construction robot based on the above-mentioned one specifically includes the following steps:

[0019] Step S1: After the foundation construction of the building is completed, install the lifting system, truss system, and formwork of the vertical member.

[0020] Step S2: Conduct construction layout.

[0021] Step S3: Construct the vertical member system and remove the formwork of the vertical member.

[0022] Step S4: Lift and install the jacking component, install the floor slab component, and pour the floor slab concrete; complete the construction of one floor.

[0023] Step S5: After the jacking system controls the truss system to rise to the working surface of the next floor, repeat Step S2 - Step S4 to complete the construction of the entire building.

[0024] In some possible implementation manners,

[0025] Step S3 includes the following steps:

[0026] Step S31: The robotic arm equipped with a hoisting device hoists the steel bar grid of the vertical member.

[0027] Step S32: The robotic arm equipped with welding equipment and steel bar binding equipment moves to weld and bind the steel bar grid respectively.

[0028] Step S33: After the construction of the steel bar grids and embedded parts of all vertical components on this floor is completed, formwork construction of the vertical components is carried out to enclose the corresponding steel bar grids.

[0029] Step S34: Concrete pouring of the vertical components is carried out to complete the construction of the vertical components.

[0030] Step S35: The telescopic rod controls the clamping member to move away from the corresponding vertical component to remove the inner formwork, and controls the outer formwork to move towards the side close to the lifting system along the X-axis direction to remove the outer formwork; the formwork of the vertical component is removed.

[0031] In some possible implementation manners,

[0032] The specific meaning of step S33 is:

[0033] Control all inner formwork components to move along the X-axis and Y-axis directions on the truss system to enclose the corresponding steel bar grids.

[0034] The transverse top support controls the outer formwork slidingly matched with the truss system to move away from the side close to the lifting system; the support of the formwork of all vertical components is completed.

[0035] In some possible implementation manners,

[0036] Step S4 specifically includes the following steps:

[0037] Step S41: Control the lifting system to rise along the Y-axis direction and rise to the construction operation surface of the next floor. At the same time, the jacking component is transported into the multiple spatial areas divided by all vertical components.

[0038] Step S42: The hoisting equipment installs the formwork-free precast slab in the floor slab component on the vertical component, and the jacking component supports the formwork-free precast slab.

[0039] Step S43: Install the precast steel bar truss on the formwork-free precast slab through the hoisting equipment, and connect and fix it through the welding equipment and steel bar binding equipment.

[0040] Step S44: Control the transverse top support to drive the outer formwork to move towards the side close to the precast steel bar truss to realize formwork closing for the floor slab.

[0041] Step S45: Concrete pouring of the floor slab is carried out to complete the construction of one floor.

[0042] Compared with the prior art, the beneficial effects of the present invention:

[0043] The present invention effectively realizes intelligent building construction through the coordination of the mechanical arm construction assembly, the lifting system, and the truss system, greatly reducing the use of manual labor and making the construction more standardized;

[0044] Compared with the existing technology of using full-height frame to support floor formwork, the present invention saves a lot of time for erecting and dismantling formwork, greatly shortens the construction period, and has high construction efficiency;

[0045] The entire construction process of the present invention has a very high level of automation, intelligence and informationization. The entire construction process is directed by the combination of computer software and hardware systems. The construction process is realized through intelligent control to achieve centralized processing and loss construction. The equipment has a leading level of intelligence.

[0046] The present invention uses machines to replace manual labor to complete a large number of construction work tasks, reducing the number of workers and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the present invention;

[0048] Figure 2 This is a schematic diagram of the steel mesh frame after installation using the present invention;

[0049] Figure 3 This is a schematic diagram of the steel grid after being enclosed by the present invention;

[0050] Figure 4 This is a schematic diagram of the steel grid after being enclosed by the present invention;

[0051] Figure 5 This is a schematic diagram of floor construction using the present invention;

[0052] Among them: 1. Lifting system; 2. Truss system; 3. Robotic arm construction assembly; 31. Telescopic boom; 32. Clamping assembly; 4. Steel mesh; 5. Outer formwork; 6. Horizontal support; 7. Prefabricated panel without formwork removal; 8. Prefabricated steel truss; 9. Jacking assembly. DETAILED DESCRIPTION

[0053] In the present invention, unless otherwise clearly specified and defined, terms such as "installation", "connection", "linkage", "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. The "first", "second" and similar terms mentioned in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, terms such as "a" or "one" do not indicate a quantity limit, but indicate that there is at least one. In the implementation of this application, "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In the description of the embodiments of this application, unless otherwise stated, the meaning of "a plurality" refers to two or more. For example, a plurality of positioning posts means two or more positioning posts. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] The present invention will be described in detail below.

[0055] Embodiment 1:

[0056] As Figures 1-5 shown:

[0057] An intelligent construction robot for building construction; including a lifting system 1 arranged on the outside of the building, a truss system 2 installed on the lifting system 1 and located above the building, a robotic arm construction component 3 that slides in cooperation with the truss system 2 and slides in the X-axis and Y-axis directions, a jacking component 9 for template support during floor construction; and a control system connected to the lifting system 1, the truss system 2, the robotic arm construction component 3, and the jacking component 9;

[0058] The robotic arm construction component 3 is mainly used to realize on-site construction measurement and setting out, steel bar welding and binding fixation, concrete pouring, vertical member formwork, and hoisting and transfer of equipment;

[0059] Before construction using the present invention, the steel bars in the vertical members will be made into a steel bar grid 4 in the prefabrication factory according to the design requirements, and the steel bars in the floor slabs will be made into prefabricated steel trusses 8 in the prefabrication yard according to the design requirements; only hoisting and fixation are required at the construction site;

[0060] When the present invention is in use, in the first step, the lifting system 1 is installed, and the lifting system 1 is arranged on the outside of the building as the lifting control system of the truss system 2 to control the lifting of the truss system 2, so that the robotic arm construction component 3 can be lifted, and at the same time, the jacking component 9 can be installed in the corresponding floor;

[0061] In the second step, the control system controls the robotic arm construction component 3 to perform construction layout;

[0062] The third step is to carry out the steel grid 4 of the vertical components;

[0063] In the fourth step, the control system controls the robotic arm construction assembly 3 to close the steel grid 4, pour concrete for the vertical components, and remove the formwork;

[0064] The fifth step is the construction of the floor assembly. In this embodiment, the floor assembly includes a prefabricated plate 7 that is directly installed on the top of the vertical member. After it is installed in place, it can be effectively supported by the jacking assembly 9.

[0065] Step 6: Install and fix the prefabricated steel bar truss 8 on the prefabricated plate 7 without formwork removal;

[0066] The seventh step is to close the floor slab formwork and pour the floor slab concrete to complete the construction of the floor;

[0067] Repeat steps 2 to 7 to complete the construction of the building;

[0068] When the present invention is used for standard floor construction, the internal formwork of the vertical member can be installed when the truss system 2 is installed. The formwork of the vertical member is installed upside down at the bottom of the truss system 2; and the internal formwork can be slidably matched with the truss system 2 along the X-axis and the Y-axis. The purpose of the sliding cooperation between the robot arm construction assembly 3 and the truss system 2 in this application is to reduce the interference of a certain process with other construction processes when a certain process is not being carried out.

[0069] When constructing on non-standard floors, the vertical formwork can be replaced as required;

[0070] Furthermore, the lifting system 1 in the present invention can be any one of the lattice column system and climbing frame system in the prior art; its internal structure will not be described in detail here;

[0071] In some possible implementations, in order to effectively facilitate construction measurement, steel bar welding and tying, hoisting of related components, and support of vertical component formwork through the robotic arm assembly;

[0072] The robotic arm construction assembly 3 includes a plurality of robotic arms that are respectively slidably matched with the truss system 2 and slide along the X-axis and Y-axis directions, measuring equipment, welding equipment, concrete pouring equipment, hoisting equipment and steel bar tying equipment connected to the robotic arms, and a plurality of vertical component formwork support systems that are respectively connected to the truss system 2 and used for supporting the vertical component formwork;

[0073] The robotic arm can slide along the X-axis and Y-axis on the truss system 2 and can rotate 360 degrees, thereby driving the equipment connected to it to rotate, greatly improving the construction progress;

[0074] In some possible implementations, in order to effectively support the vertical component formwork;

[0075] The vertical component formwork support system includes an outer formwork 5 installed at the bottom of the truss system 2 and located between the outside of the building and the lifting system 1, and multiple sets of inner formwork components that slide with the truss system 2; a transverse support 6 is provided on the lifting system 1, which is connected to the outside of the outer formwork 5 and is used to control the movement of the outer formwork 5 along the X-axis direction;

[0076] Vertical components include exterior walls, frame columns, interior walls, etc.; exterior walls require the use of outer formwork 5 in conjunction with the inner formwork assembly for formwork support, while interior walls are all supported by the inner formwork assembly.

[0077] One end of the outer formwork 5 is slidably mounted on the truss system 2 and is located between the building and the lifting system 1. It cooperates with the inner formwork assembly to support the exterior wall formwork by sliding along the X-axis. The transverse support 6 is mounted on the lifting system 1 and controls the movement of the outer formwork 5 along the X-axis to support and remove the exterior wall formwork.

[0078] The transverse support 6 includes a linear drive device with an output shaft arranged along the X-axis direction, and a top cylinder connected to the linear drive device; both are prior art and their internal structures will not be described in detail here;

[0079] In some possible implementations,

[0080] The inner mold assembly includes a telescopic boom 21 with one end slidingly hinged to the truss system 2, and a clamping assembly 32 installed at the end of the telescopic boom 21 away from the truss system 2 and used to clamp the template;

[0081] The telescopic boom 21 is slidably hinged to the bottom of the truss system 2, so that the telescopic boom 21 can slide and adjust the angle formed by its axial direction and the X-axis direction, so that it can act as a support rod to effectively support the formwork clamped by the clamping assembly 32, avoiding the expansion and explosion of the formwork during the concrete pouring process;

[0082] In some possible implementations,

[0083] The truss system 2 includes a truss platform installed on the lifting system 1, and a slide rail assembly installed at the bottom of the truss platform and slidingly cooperating with the robotic arm construction assembly 3 and the vertical component formwork support system respectively; the slide rail assembly is provided with interconnected slide grooves along the X-axis and Y-axis directions.

[0084] The sliding rail assembly is provided with sliding grooves in the X-axis direction and the Y-axis direction. One end of the robotic arm and the telescopic boom 21 is slidably installed in the sliding grooves to achieve sliding cooperation with the truss system 2.

[0085] In some possible implementation manners, in order to enable formwork support for the outer wall or the frame column with an outer side surface and the outer side surface of the floor slab, and to avoid phenomena such as leakage of mortar, bulging of formwork, and bursting of formwork during concrete pouring;

[0086] The height of the outer formwork 5 in the Y-axis direction is H, the height of the vertical member in the Y-axis direction is h, and the thickness of the floor slab is a, where H > h + a;

[0087] With this setting, during the construction of the floor slab, the outer formwork 5 of the floor slab can be closed by the outer formwork 5 and cooperate with the non-removable precast slab 7 to form a laterally closed concrete pouring cavity, thereby realizing the pouring of the floor slab concrete;

[0088] When using the present invention for building construction, the formwork does not need to be transferred after being removed, nor does it need to be hoisted again during the construction of each floor; all formworks will always remain connected to the truss system 2; as the truss system 2 rises, the formwork support is simple and reliable;

[0089] The present invention will greatly reduce the use of manual labor, effectively realize intelligent construction, improve the construction accuracy and efficiency; and reduce the construction cost.

[0090] A construction method based on the above-mentioned intelligent construction robot specifically includes the following steps:

[0091] Step S1: After the foundation construction of the building is completed, install the lifting system 1, the truss system 2, and the formwork of the vertical member;

[0092] For the design of the truss system 2, mainly according to the architectural and structural forms of the design drawings and combining with the actual site conditions, use the BIM model for three-dimensional simulation to design the layout position of the steel truss platform; the layout design is carried out according to principles such as functionality, economy, applicability, and safety. After the truss system 2 is arranged, use finite element software to perform stability calculation and analysis;

[0093] When the lifting system 1 uses lattice columns, arrange to use standard sections as much as possible to reduce the use of non-standard sections; after the layout design of the steel truss platform is completed, carry out expert demonstration according to the specification requirements and then carry out installation and application;

[0094] Step S2: The control system controls the measuring equipment to carry out construction setting out;

[0095] Step S3: Construct the vertical member system and remove the formwork of the vertical member;

[0096] The step S3 comprises the following steps:

[0097] Step S31: The control system controls the mechanical arm equipped with the lifting equipment to lift the steel mesh frame 4 of the vertical component;

[0098] Step S32: The control system controls the movement of the mechanical arm equipped with the welding equipment and the steel bar binding equipment to weld and bind the steel bar grid 4 respectively;

[0099] Step S33: After the construction of the steel grid 4 and embedded parts of all vertical components of the floor is completed, the control system controls the outer mold 5 and the inner mold assembly to perform template construction of the vertical components to close the corresponding steel grid 4;

[0100] Specifically, after the steel mesh frame 4 of the vertical component is hoisted, it is imported into the BIM model for positioning analysis according to the actual installation position of the steel mesh frame 4. If it does not meet the requirements, the position is adjusted. After the position meets the requirements, the template construction of the vertical component is carried out;

[0101] The step S33 specifically refers to:

[0102] The control system controls all inner mold components to move along the X-axis and Y-axis on the truss system 2 to close the corresponding steel mesh 4;

[0103] The control system controls the horizontal top support 6 to control the outer mold 5 that slides with the truss system 2 to move away from the lifting system 1 to complete the support of all vertical templates;

[0104] Step S34: pouring concrete for the vertical components to complete the construction of the vertical components;

[0105] Step S35: The control system controls the telescopic rod to control the clamping member to move away from the corresponding vertical member to remove the inner formwork, and controls the outer formwork 5 to move along the X-axis direction toward the side close to the lifting system 1 to remove the outer formwork; the vertical member formwork is removed;

[0106] Step S4: hoisting the jacking assembly 9, installing the floor slab assembly, and pouring the floor slab concrete; completing the construction of one floor;

[0107] The step S4 specifically includes the following steps:

[0108] Step S41: The control system controls the lifting system 1 to rise along the Y-axis direction and rise to the construction work surface of the next floor. At the same time, the jacking assembly 9 is transported to the multiple space areas divided by all vertical components;

[0109] Each lifting assembly 9 can move horizontally within the space under the control of the control system, and can be telescopic to support the prefabricated panel 7 without formwork removal;

[0110] Step S42: The hoisting equipment installs the formwork-free prefabricated panels 7 in the floor slab assembly on the vertical members, and supports the formwork-free prefabricated panels 7 through the jacking assembly 9;

[0111] Step S43: Installing the prefabricated steel bar truss 8 on the prefabricated plate 7 without formwork removal by means of a hoisting device, and connecting and fixing it by means of welding equipment and steel bar tying equipment;

[0112] Step S44: Controlling the transverse support 6 to move the outer mold 5 toward the side close to the prefabricated steel truss 8 to close the mold of the floor slab;

[0113] Step S45: pouring floor slab concrete to complete the construction of one floor;

[0114] Step S5: After the jacking system controls the truss system 2 to rise to the working surface of the next floor, steps S2 to S4 are repeated to complete the construction of the entire building.

[0115] Specifically, the mold-free prefabricated panel 7 can be a thermal insulation and sound insulation mold-free prefabricated panel 7.

[0116] The present invention is not limited to the aforementioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. An intelligent construction robot for building construction; characterized in that, It includes a lifting system installed on the outside of the building, a truss system installed on the lifting system and located above the building, a robotic arm construction assembly that slides with the truss system and slides in the X-axis and Y-axis directions, a jacking assembly used for formwork support during floor construction, and a control system connected to the lifting system, truss system, robotic arm construction assembly, and jacking assembly.

2. The intelligent construction robot according to claim 1, wherein, The robotic arm construction assembly includes multiple groups of robotic arms that slide with the truss system and slide along the X-axis and Y-axis directions, measuring equipment, welding equipment, concrete pouring equipment, lifting equipment and steel bar binding equipment that are respectively connected to the robotic arms, and multiple groups of vertical component formwork support systems that are respectively connected with the truss system and used for vertical component formwork support.

3. The intelligent construction robot according to claim 2, wherein, The vertical component formwork support system includes an outer mold installed at the bottom of the truss system and located between the outside of the building and the lifting system, and multiple groups of inner mold components that slide with the truss system; a horizontal top support is provided on the lifting system, which is connected to the outside of the outer mold and is used to control the movement of the outer mold along the X-axis direction.

4. The intelligent construction robot according to claim 3, wherein, The inner mold assembly includes a telescopic boom with one end slidingly hinged to the truss system, and a clamping assembly installed at one end of the telescopic boom away from the truss system and used for clamping the template.

5. An intelligent construction robot according to claim 2, characterized in that, The truss system includes a truss platform installed on the lifting system, and a slide rail assembly installed at the bottom of the truss platform and slidingly cooperating with the robotic arm construction assembly and the vertical component formwork support system respectively; the slide rail assembly is provided with mutually connected slide grooves along the X-axis and Y-axis directions.

6. An intelligent construction robot according to claim 3, wherein, The height of the outer mold along the Y-axis direction is H, the height of the vertical component along the Y-axis direction is h, the thickness of the floor slab is a, and H>h+a.

7. A construction method of the intelligent construction robot according to any one of claims 1-6, characterized in that, The specific steps include: Step S1: After the foundation construction of the building is completed, the formwork of the lifting system, truss system, and vertical components is installed; Step S2: construction layout; Step S3: construction of the vertical component system and removal of the formwork of the vertical components; Step S4: hoisting the jacking components, installing the floor slab components, and pouring the floor slab concrete; completing the construction of one floor; Step S5: After the jacking system controls the truss system to rise to the working surface of the next floor, steps S2 to S4 are repeated to complete the construction of the entire building.

8. The construction method of an intelligent construction robot according to claim 7, characterized in that The step S3 comprises the following steps: Step S31: A mechanical arm equipped with a lifting device lifts the steel mesh frame of the vertical component; Step S32: The mechanical arm equipped with the welding equipment and the steel bar binding equipment moves to weld and bind the steel bar grid respectively; Step S33: After the construction of the steel grids and embedded parts of all vertical components of the floor is completed, the template construction of the vertical components is carried out to close the corresponding steel grids; Step S34: pouring concrete for the vertical components to complete the construction of the vertical components; Step S35: The telescopic rod controls the clamping member to move away from the corresponding vertical member to remove the inner template, and controls the outer template to move along the X-axis direction toward the side close to the lifting system to remove the outer template; the vertical member template removal is completed.

9. The construction method of an intelligent construction robot according to claim 8, characterized in that, The step S33 specifically refers to: Control all inner mold components to move along the X-axis and Y-axis on the truss system to close the corresponding steel grid; The lateral top support controls the movement of the outer side of the truss system away from the lifting system in the lateral direction; the support of all vertical formworks is completed.

10. The construction method of an intelligent construction robot according to claim 9, characterized in that, The specific steps of step S4 are as follows: Step S41: Control the lifting system to rise along the Y-axis direction and rise to the construction operation surface of the next floor. At the same time, the jacking assembly is transported into multiple spatial areas divided by all vertical components; Step S42: The hoisting equipment installs the precast slab without form removal in the floor slab assembly on the vertical component, and the jacking assembly supports the precast slab without form removal; Step S43: Install the precast steel bar truss on the precast slab without form removal through the hoisting equipment, and connect and fix it through the welding equipment and the steel bar binding equipment; Step S44: Control the lateral top support to drive the outer side to move closer to the side of the precast steel bar truss to realize the form closing of the floor slab; Step S45: Pour the floor slab concrete to complete the construction of one floor.

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