Combined wheel-foot type robot applied to building construction and construction method of combined wheel-foot type robot

Abstract

The invention relates to the technical field of building engineering, and discloses a combined wheel-foot type robot applied to building construction and a construction method thereof.The combined wheel-foot type robot is characterized in that single machine bodies serve as a foundation, and the multiple single machine bodies are combined and connected to form different action units; the main body of the single machine body is formed by a machine body, third steering engines facing downwards are arranged on the left side and the right side of the single machine body, and output shafts of the third steering engines penetrate through the machine body to be connected with the upper ends of wheel feet located at the bottom of the machine body; the third steering engine is installed in the fuselage and is vertically downward, the rotating plane of an output shaft of the third steering engine is parallel to the upper surface of the fuselage, and the output shaft of the third steering engine penetrates out of the bottom of the fuselage and is connected with a connecting plate at the top end of the wheel foot; combined connectors are arranged in the middles of the front and rear sides of the machine body. According to the combined wheel-foot type robot applied to building construction and the construction method of the combined wheel-foot type robot, dead-corner-free covering type construction operation can be carried out on a site needing to be constructed, the transportation and operation efficiency of construction is effectively improved, and the overhauling efficiency and safety of a high-altitude steel structure are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a combined wheel-legged robot used in construction, and also to a construction method of the combined wheel-legged robot used in construction. Background Art

[0002] Traditional mobile platforms, such as tracked and wheeled platforms, are widely used in construction, but they still have significant limitations in complex and ever-changing construction scenarios. Tracked platforms have low speeds and high track friction, making them difficult to quickly respond to task demands (such as inter-floor transport). Furthermore, their bulky structure and large track system footprint prevent them from accessing narrow spaces (such as gaps between scaffolding). Wheeled platforms, on the other hand, have poor terrain adaptability and cannot traverse steps, steep slopes, or high elevation differences (such as the edge of a foundation pit).

[0003] On construction sites, there are often a lot of building materials that need to be moved. These materials come in various shapes and locations. Using traditional cranes and transport vehicles is inevitably inefficient, time-consuming, and labor-intensive. Manually pushing carts is also labor-intensive. Therefore, a robot is needed that can handle the transportation of scattered materials on construction sites, saving manpower and material resources while also adapting to various types of construction terrain. Its main functions include transportation and construction, covering: heavy material handling, such as transporting heavy objects such as rebar bundles, precast concrete slabs, and steel structures; transporting long materials, such as steel pipes, cable reels, and extra-long components such as glass curtain wall columns; and distributing bulk materials and tools, such as distributing bulk materials such as cement bags, tiles, and paint buckets, or transporting tools such as electric drills and welders. The construction can cover: steel structure welding, such as climbing onto steel beams, trusses or inside steel pipes to perform weld welding or use ultrasonic probes to scan steel structure welds to detect defects such as cracks and pores; construction waste removal, such as collecting broken bricks, wood chips, metal scraps and other garbage and transporting them to centralized processing points; wall cleaning and spraying, which can carry cleaning equipment and spraying equipment to perform construction work on the wall; emergency response in dangerous areas, using its portable and flexible characteristics to replace people entering dangerous areas, such as debris after earthquakes and fires, crossing rubble piles, broken floor slabs and performing three-dimensional scanning to generate site models to facilitate subsequent personnel actions. Summary of the Invention

[0004] Based on the above-mentioned deficiencies in the existing technology, the technical problem to be solved by the present invention is to provide a combined wheel-legged robot for use in construction, which can realize direct connection between the bodies through the first servo, the second servo, and the coupling on the single body, and then be assembled into a double-body ordinary combination, a three-body and four-body closed combination, and a three-body multi-angle combination, so as to meet the movement, transportation, and operation needs of various constructions, greatly save the material transportation cost on the construction site, and improve the maintenance efficiency and safety of high-altitude steel structures.

[0005] Another object of the present invention is to provide a construction method for a combined wheeled-legged robot used in construction, which can be directly applied in existing construction. By splicing single bodies together, a dual-body ordinary combination is formed to automatically receive materials and transport them to various locations on the construction site. A three-body and four-body closed combination can form a large cluster structure similar to a tumbler to transport materials in another dimension. A three-body multi-angle combination can perform synchronous construction on the xyz three axes and perform blind-angle coverage of the locations where construction is required, effectively improving the transportation and operation efficiency of the construction.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures: The combined wheel-legged robot used in construction of the present invention is based on a single body, and a plurality of single bodies are combined and connected to form different action units; the single body is composed of a fuselage as the main body, and a third servo is provided on the left and right sides thereof facing downward, and the output shaft of the third servo passes through the fuselage and is connected to the upper end of the wheel foot located at the bottom of the fuselage; the third servo is installed in the fuselage and faces vertically downward, and the rotation plane of the output shaft of the third servo is parallel to the upper surface of the fuselage, and the output shaft of the third servo passes through the bottom of the fuselage and is connected to the connecting plate at the top of the wheel foot; a combination interface is provided in the middle of the front and rear sides of the fuselage, and the combination interface is a rectangular shaped opening, with a horizontal rotating motor provided inside, wherein the output shaft of the rotating motor in one combination interface extends horizontally from the combination interface and is fixedly connected to the first rotating seat, and the first rotating seat is driven to rotate by controlling the output shaft to rotate, and a first servo is provided at the end of the first rotating seat away from the fuselage; the output shaft of the rotating motor in the other combination interface is fixedly connected to the second rotating seat, and the second rotating seat is driven to rotate by controlling the output shaft to rotate, and a second servo is provided at the end of the second rotating seat away from the fuselage, and the output shaft of the first servo is connected to the output shaft of the second servo of another single body opposite to it through a coupling.

[0007] Preferably, when the transport equipment is installed on the action unit, a second transport spring seat is provided on the fuselage, and the second transport spring seat includes a base, a spring located inside the base, and support plates fixed around the top of the base. In the initial state, the spring extends out of the base and is higher than the support plate; one end of the spring is fixedly connected to the bottom of the base, and the other end is fixedly connected to the bottom of the transport box. When the fuselages of the two single bodies are kept at the same horizontal line, the springs in the second transport spring seats of the two fuselages are pressed into their bases, and the transport box is assisted by the support plate.

[0008] Furthermore, a conveyor drive motor is provided at the bottom front side of the transport box facing the inside of the box, and the output shaft of the conveyor drive motor is connected to the conveyor at the bottom of the box. A conveying partition is provided on the conveyor belt for separating materials. A rectangular opening is also provided on the left side of the transport box, and the outside of the rectangular opening is covered with a unloading baffle. A rotating shaft is provided at the bottom of the unloading baffle, and the rotating shaft is fixedly connected to the output shaft of the unloading rotating motor fixed to the bottom front side of the transport box; when unloading is required, the unloading rotating motor is controlled to drive the rotating shaft to rotate so that the unloading baffle opens outward, and then the conveyor drive motor drives the conveyor belt to rotate. Under the push of the conveying partition, the material is pushed out of the transport box, and the transport box is loaded with the robotic arms on other action units.

[0009] Furthermore, when transporting longer materials, a material transport mechanism is installed on the fuselage, and the material transport mechanism includes a first transport spring seat installed on the fuselage, and the spring in the first transport spring seat extends outward and is connected to a circular material fixing outer sleeve, and the material fixing outer sleeve is evenly spaced in the circumferential direction of the threaded connection with a plurality of inner sleeve adjusting bolts, and the inner sleeve adjusting bolts are screwed into the interior of the material fixing outer sleeve through threads, and the interior of the material fixing outer sleeve is provided with a plurality of material fixing inner sleeves, and each material fixing inner sleeve is fixed to the bottom of an inner sleeve adjusting bolt respectively; when it is necessary to transport a long strip of material, it is inserted into the material fixing inner sleeve, and the tightening of the material fixing inner sleeve is controlled by screwing in the inner sleeve adjusting bolt to lock the material for transportation.

[0010] Preferably, the three single bodies are interconnected to form a closed triangle, and each two adjacent single bodies are called the left single body and the right single body. The first rotating seat of the left single body is controlled to rotate under the drive of the rotating motor, and the second rotating seat of the right single body is controlled to rotate synchronously under the drive of the rotating motor. Finally, the output shafts of each group of the first servo and the second servo are relative, and then they are connected together through a coupling to form a closed triangular wheel-foot robot cluster.

[0011] Accordingly, the present invention also provides a construction method of a combined wheel-legged robot applied to construction, the steps of which are as follows: S1. When using only a single unit as the minimum action unit, disconnect the first and second servos on both sides of the unit from the other units and use its own two wheels to move. At this point, it can carry a small transport mechanism for material transportation, or a small robotic arm and spray gun for small-scale garbage cleaning, wall cleaning, and spraying operations. S2. When two single bodies are used as a common combination as a motion unit, when it moves, crosses, or goes up stairs, the left wheel foot rises, and at the same time, the first rotating seat of the left single body rotates clockwise under the drive of the rotating motor, and the second rotating seat of the right single body rotates clockwise under the drive of the rotating motor, so that the fuselage of the left single body is higher than the right single body, and the transport box on the fuselage is always kept stable with the assistance of the second transport spring seat; suppose that a construction site needs to transport several different types of materials stored in one place to various places on the construction site. At this time, a group of motion units is set at the loading point, and a mechanism for transporting materials including a mechanical arm and a gripper is set on the motion unit, and several groups of motion units are equipped to travel to various places on the construction site; when unloading is required, the unloading rotating motor is controlled to drive the rotating shaft to rotate, thereby causing the unloading baffle to open outward, and then the conveyor belt is driven by the conveyor belt driving motor to rotate, and the materials are pushed out of the transport box under the push of the conveying partition; S3. When a three-body or four-body wheel-foot robot cluster is assembled into a closed combination, the two combined interfaces on each single body cooperate with each other to complete the connection. The two adjacent single bodies are called the left single body and the right single body. The first rotating seat of the left single body is controlled to rotate under the drive of the rotating motor, and the second rotating seat of the right single body is driven by the rotating motor to rotate synchronously. Finally, the output shafts of each group of first servos and second servos are relative, and then they are connected together through a coupling to form a closed triangular or rectangular wheel-foot robot cluster; when assembled into a closed three-body or four-body wheel-foot robot cluster, another dimension of material transportation is carried out, which can be carried out by two groups of robot clusters to jointly clamp and transport a long material. When the robot is walking, the four single bodies form a rectangular wheel, and the left and right groups of robot clusters form two rectangular wheels. The middle transportation The material is their connecting rod. When the robot cluster encounters a steep road surface, no matter which side of the single body contacts the ground, it provides support for the entire cluster. When it is used as a construction situation, it is used to climb steel pipes to detect cracks in steel structure welds and weld. When it is used to climb large steel pipes, it controls the third servo on the fuselage to control the rotation of the wheel feet so that both wheel feet climb the inner wall of the steel pipe. When the eight wheel feet of the cluster composed of four bodies have completed the steering, the cluster can climb stably inside the steel pipe. The fuselage of the four bodies is equipped with a mechanism including a welding robot arm, a welding gun, an ultrasonic flaw detection sensor, a wide-angle camera, a laser scanner, a thermal imager, and a gas sensor to detect cracks, incomplete welding, and slag inclusions on the inner wall of the steel structure, locate and identify defects in welds and structural surfaces, and classify defects through AI algorithms, and then repair and re-inspect them. S4. When a two-body or three-body large-angle rotation combination is used for multi-dimensional construction, each adjacent two single bodies are also referred to as the left single body and the right single body. In addition to controlling the first rotating seat of the left single body to rotate under the drive of the rotating motor and the second rotating seat of the right single body to rotate synchronously under the drive of the rotating motor, the first servo and the second servo are also controlled to rotate according to the situation. Finally, a fuselage facing the x-axis, a fuselage facing the y-axis, and a fuselage facing the z-axis are obtained. Construction equipment including spray guns and painting robotic arms are installed on the fuselages. Here, a group is added on the right side of the cluster. The symmetrical cluster is connected through the horizontal single body at the far right end, and then the single body at the far left end is controlled to rotate back to the same direction as the single body in the middle. At this time, the two groups of clusters are connected into a large U-shaped cluster. The wheel feet of the two horizontal single bodies at the far right end are rotated so that the wheel feet close to the ground are grounded and in the same direction as the wheel feet of the middle single body. At this time, the large cluster of robots forms a stable U-shape, which wanders around the construction site. When construction is needed, the corresponding single body and the mechanism on it are controlled to rotate according to the position of the construction surface, so that the construction equipment is close to the construction surface and then work is carried out.

[0012] Based on the above, the beneficial effects of the combined wheel-legged robot applied to construction and the construction method thereof of the present invention are as follows: 1. The wheeled-legged robot designed in this invention can be assembled arbitrarily to obtain a double-body ordinary combination, a three-body and four-body closed combination, and a three-body multi-angle combination, which can meet various construction movement, transportation, and operation needs.

[0013] 2. When the wheeled-legged robot designed in the present invention adopts a common combination of two bodies, it can be used to distribute materials to various construction sites at fixed points. It only needs to be equipped with one group of robot action units equipped with mechanical arms, and then several groups of robot action units equipped with transport boxes can automatically receive materials and transport them to various parts of the construction site. It can also travel stably on steep roads. When encountering stairs, it cooperates with the rotating motor through the spring seat to make the transport box always remain level, thereby ensuring the stability of material transportation. When several groups of robot action units are indirectly assembled into a large cluster, it has the ability to transport larger materials such as precast concrete slabs, steel structures, glass curtain walls, etc., and the transportation is more stable.

[0014] 3. When the wheel-legged robot designed in the present invention adopts a closed combination of three or four bodies, it can form a large cluster structure similar to a tumbler, and carry out material transportation in another dimension. The small wheel feet are combined into large wheels, and the materials to be transported are connected to the connecting rods of the wheels, making the entire transportation more stable and the quality and safety of the materials guaranteed.

[0015] 4. When the wheeled-legged robot designed in the present invention adopts a closed combination of three or four bodies, it can also be used for steel structure weld crack detection and welding inside large steel pipes. It only needs to rotate each wheel foot to the appropriate direction through the third servo to climb inside the steel pipe. Then, through the welding robot arm, welding gun, ultrasonic flaw detection sensor, wide-angle camera, laser scanner, thermal imager, gas sensor and other mechanisms installed on the body, the cracks, incomplete welding, slag inclusion and other defects on the inner wall of the steel structure are detected, and the welds and structural surface defects (such as pits and oxide layers) are located and identified, and the defects are classified (such as cold welding and pores) through AI algorithms. They are then repaired and re-inspected, effectively avoiding the risks of construction workers working at height.

[0016] 5. When the wheeled-legged robot designed in the present invention adopts a two-body or three-body large-angle rotation combination for multi-dimensional construction, it can perform synchronous construction on the xyz three axes. When the two clusters form a large U-shaped cluster, it can stably travel on various rugged sections of the construction site and perform coverage-type construction operations at locations that require construction without blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0018] Figure 1 This is a schematic structural diagram of a common dual-body assembly of the present invention; Figure 2 This is a schematic diagram of the structure of the four-body closed assembly of the present invention; Figure 3 This is a schematic diagram of the structure of the three-body closed assembly of the present invention; Figure 4 This is a schematic diagram of the structure of the three-body multi-angle synchronous construction of the present invention; Figure 5 This is a schematic diagram of the structure of the four-body closed assembly of the present invention and the rotating wheel feet crawling inside the steel pipe; Figure 6 This is a schematic diagram of the structure of two groups of four machines in the present invention when jointly transporting materials; Figure 7 for Figure 6 A partially enlarged schematic diagram of the structure for locking the material; Figure 8 This is a schematic diagram of the structure of the dual-body conventional combination of the present invention as a moving unit (with transport equipment installed); Figure 9 It is a structural schematic diagram of the second transport spring seat of the present invention.

[0019] in: 1000-Single Unit: 1001-fuselage; 1002-wheel foot; 1003-combination interface; 1004-first rotating seat; 1005-first steering gear; 1006-coupling; 1007-second steering gear; 1008-second rotating seat; 1009-third steering gear; 2001-Large steel pipe; 2002-First transport spring seat; 2003-Material fixing outer sleeve; 2004-Material fixing inner sleeve; 2005-Inner sleeve adjusting bolt; 2006-Transported material; 2101- Second transport spring seat; 2102- Transport box; 2103- Conveyor belt drive motor; 2104- Discharge rotating motor; 2105- Conveyor belt; 2106- Conveyor partition; 2107- Discharge baffle. DETAILED DESCRIPTION

[0020] Next, combine Figures 1 to 9 The invention provides a detailed introduction to a combined wheel-legged robot for use in construction and a construction method thereof.

[0021] like Figure 1-9 As shown, the combined wheel-legged robot used in construction of the present invention is based on a single body 1000. Several single bodies 1000 are combined and connected to form different action units. Different types of action units can meet different transportation and construction needs, and the units can also cooperate with each other.

[0022] The single body 1000 comprises a fuselage 1001 as its main body, with downward-facing third servos 1009 mounted on its left and right sides. The output shaft of each third servo 1009 passes through the fuselage 1001 and connects to the upper end of a castor 1002 located at the bottom of the fuselage 1001. The third servo 1009 is mounted vertically downward within the fuselage 1001, with the rotation plane of its output shaft parallel to the upper surface of the fuselage 1001. The output shaft of the third servo 1009 extends from the bottom of the fuselage 1001 and connects to a connecting plate at the top of the castor 1002. Therefore, when the third servo 1009 is activated, its output shaft rotates, causing the castor 1002 to rotate in a plane parallel to the upper surface of the fuselage 1001.

[0023] A combination interface 1003 is provided in the middle of the front and rear sides of the fuselage 1001. The combination interface 1003 is a rectangular opening with a horizontal rotating motor inside. The output shaft of the rotating motor in one combination interface 1003 extends horizontally from the combination interface 1003 and is fixedly connected to the first rotating seat 1004. The first rotating seat 1004 is driven to rotate by controlling the output shaft. A first servo 1005 is provided at the end of the first rotating seat 1004 away from the fuselage 1001; the output shaft of the rotating motor in the other combination interface 1003 is fixedly connected to the second rotating seat 1008. The second rotating seat 1008 is driven to rotate by controlling the output shaft. A second servo 1007 is provided at the end of the second rotating seat 1008 away from the fuselage 1001. The output shaft of the first servo 1005 is connected to the output shaft of the second servo 1007 of the other single body 1000 opposite to it through a coupling 1006. It should be noted here that the second servo 1007 and the subsequent structure are the structures installed in another combination interface 1003 of the single body 1000. In order to better describe the relative movement between different bodies later, they are divided into the first and second, which refer to the two structures at both ends of a single body. Example

[0024] When only a single unit 1000 is used as the minimum action unit, the first servo 1005 and the second servo 1007 on both sides of the fuselage 1001 of the unit 1000 are disconnected from the other units, and the unit is moved using its own two wheel feet 1002. At this time, it can carry a small transport mechanism for material transportation, or it can carry a small robotic arm and a spray gun for small-scale garbage cleaning, wall cleaning, and spraying operations. Example

[0025] When two units 1000 are conventionally combined as a single unit, the conventional combination here refers to interconnections without significant rotation or special relative positions. Similarly, this embodiment can expand the connected units, such as three, four, or five units, to form a conventional connection for operation. These units are all interconnected without significant rotation or special relative positions, and the transport structures mounted thereon, such as the transport box 2102, can also be expanded or extended accordingly. In this case, the unit on the left is referred to as the left unit, and the unit on the right is referred to as the right unit. The output shaft of the first servo 1005 of the left unit is connected to the output shaft of the second servo 1007 of the right unit via a coupling 1006. When the units are moving, crossing, or ascending stairs, in addition to the mutual linkage of the wheel feet 1002, they can also form obstacles with different heights. The present invention can also make obstacle crossing more stable by cooperating with each other through the structures at the two combined interfaces 1003. Specifically, when the two single bodies move to the left to the upward steps, the wheel foot on the left side rises, and at the same time, the first rotating seat 1004 of the left single body rotates clockwise under the drive of the rotating motor, and the second rotating seat 1008 of the right single body rotates clockwise under the drive of the rotating motor, so that the fuselage 1001 of the left single body is higher than the right single body, and the transport box 2102 on the fuselage 1001 always remains stable with the assistance of the second transport spring seat 2101.

[0026] Depend on Figure 8 As shown, the mobile unit formed by the conventional combination of two single bodies 1000 can be equipped with either transport equipment or construction equipment. When transport equipment is installed, a second transport spring seat 2101 can be provided on the body 1001. This second transport spring seat 2101 comprises a base, a spring located within the base, and support plates secured to the periphery of the base's top. Initially, the spring extends from the base and is higher than the support plates. One end of the spring is fixedly connected to the bottom of the base, while the other end is fixedly connected to the bottom of a transport box 2102. When the bodies 1001 of the two single bodies 1000 are aligned, the springs within the second transport spring seats 2101 of the two bodies 1001 are pressed into their bases, with the support plates providing auxiliary support for the transport box 2102.

[0027] like Figure 9 As shown, the top of the spring is connected to the bottom of the transport box 2102. When the transport box 2102 moves downward under the action of gravity, the spring is pressed down and then lowered to the height of the support plate. Then the bottom of the transport box 2102 contacts the support plate and is then pressurized by the support plate.

[0028] In addition, a conveyor drive motor 2103 facing the box is provided at the bottom of the front side of the transport box 2102, and the output shaft of the conveyor drive motor 2103 is connected to the conveyor 2105 at the bottom of the box. A conveying partition 2106 is provided on the conveyor 2105, which is mainly used to separate materials. A rectangular opening is also provided on the left side of the transport box 2102, and the outside of the rectangular opening is covered with a unloading baffle 2107. The bottom of the unloading baffle 2107 is provided with a rotating shaft, which is fixedly connected to the output shaft of the unloading rotating motor 2104 fixed to the bottom of the front side of the transport box 2102; when unloading is required, the unloading rotating motor 2104 is controlled to drive the rotating shaft to rotate so that the unloading baffle 2107 opens outward, and then the conveyor drive motor 2103 drives the conveyor 2105 to rotate, and the material is pushed out of the transport box 2102 under the push of the conveying partition 2106, and the transport box 2102 can be loaded with materials in cooperation with the robotic arms on other action units.

[0029] Assume that a construction site needs to transport several different types of materials stored in one place to various places on the construction site, such as bulk materials such as cement bags, tiles, paint buckets, and tools such as electric drills and welding machines. At this time, a group of action units can be set up at the loading point. The action unit is equipped with a mechanism for transporting materials such as a robotic arm and a gripper. At the same time, several groups of action units are equipped to travel to various places on the construction site. The length of such action units and the size of the transport boxes on them can be adjusted according to actual conditions. In fact, in addition to several directly connected single bodies 1000, the action units here can also include indirectly connected single bodies, such as two groups of two on the left and right. An action unit formed by an ordinary combination of single bodies 1000 is further spliced together to form a large action unit composed of four single bodies 1000. Its indirect connection is mainly composed of a large transport box directly installed on the four single bodies 1000 through the second transport spring seat 2101. The two single bodies 1000 in the left and right groups are directly connected through the coupling 1006 respectively. This design can form a wheeled robot cluster to transport larger materials such as precast concrete slabs, steel structures, glass curtain walls, etc., and the transportation is more stable. Similarly, the single bodies can be connected in 3*3, 3*2 and other ways. Example

[0030] When a closed wheeled robot cluster is formed by three or four bodies, the mechanisms on the two combination interfaces 1003 on each single body 1000 need to cooperate with each other to complete the connection; Figure 3The specific method of connecting the three single bodies 1000 to form a closed triangle is similar to that in Example 2. Here, the three single bodies 1000 are called the left single body and the right single body. The first rotating seat 1004 of the left single body is controlled to rotate under the drive of the rotating motor, and the second rotating seat 1008 of the right single body is controlled to rotate synchronously under the drive of the rotating motor. Finally, the output shafts of each group of the first servo 1005 and the second servo 1007 are relative, and then they are connected together through the coupling 1006 to form a closed triangular wheel-foot robot cluster. The four bodies are assembled in the same way.

[0031] like Figure 6 As shown, when assembled into a closed three-body or four-body wheeled robot cluster, material transportation in another dimension can be carried out. It is similar to a tumbler, and two groups of robot clusters can jointly grasp and transport an extra-long material. When the robot is walking, the four single bodies seem to form a rectangular wheel. The left and right groups of robot clusters form two rectangular wheels, and the transported material 2006 in the middle is their connecting rod. When the robot cluster encounters a steep road surface, no matter which side of the single body 1000 is in contact with the ground, it can provide support for the entire cluster. The best way is to drive with the single body on the left and lower side in contact with the ground. When crossing forward, it can also be switched to the single body on the left and upper side in contact with the ground, completing the counterclockwise cluster rotation, and then crossing various terrains while ensuring the stability of the internal materials (it should be noted that a three-body combination can also be used here, and the number and size of the single bodies can be adjusted according to actual conditions).

[0032] like Figure 6-7As shown, when the wheeled robot cluster is transporting longer materials, a material transport mechanism can be installed on its fuselage 1001, which includes a first transport spring seat 2002 installed on the fuselage 1001, and the spring in the first transport spring seat 2002 extends outward and is connected to a circular material fixing sleeve 2003. The material fixing sleeve 2003 is evenly spaced in the circumferential direction and is connected to a plurality of inner sleeve adjustment bolts 2005. The inner sleeve adjustment bolts 2005 are screwed into the interior of the material fixing sleeve 2003 through threads. The interior of the material fixing sleeve 2003 is provided with a plurality of material fixing inner sleeves 2004, and each material fixing inner sleeve 2004 is fixed to an inner sleeve adjustment bolt 2003. 5, when it is necessary to transport long strips of material such as bundles of steel bars or concrete columns, they are inserted into the material fixing inner sleeves 2004 of the two wheeled-legged robot clusters. By screwing in the inner sleeve adjustment bolts 2005, the material fixing inner sleeves 2004 are tightened to lock the material firmly and allow transportation. During transportation, the first transport spring seat 2002 on each body 1001 can support the material. The spring seat of the body to which the entire cluster rotates is grounded serves as the main support seat for the material. The above is the case of the closed combination of wheeled-legged robots used for transportation. When used in construction, they can be mainly used to climb structures such as steel pipes to perform steel structure weld crack detection and welding.

[0033] like Figure 5 As shown, when it is used to climb a large steel pipe 2001, it can control the third servo 1009 on the fuselage 1001 to control the rotation of the wheel feet 1002 (only the left and right wheel feet are rotated in the figure), so that both wheel feet 1002 can climb the inner wall of the steel pipe. When the eight wheel feet of the cluster composed of four bodies have completed the turning, the cluster can climb stably inside the steel pipe, and the fuselage 1001 of the four bodies can be equipped with devices such as welding robotic arms, welding guns, ultrasonic flaw detection sensors, wide-angle cameras, laser scanners, thermal imagers, gas sensors, etc. to detect cracks, incomplete welding, slag inclusions and other defects on the inner wall of the steel structure, and locate and identify welds and structural surface defects (such as pits and oxide layers) and classify defects (such as cold welds and pores) through AI algorithms, and then repair and re-inspect them. Example

[0034] When using a two-body or three-body large-angle rotation combination for multi-dimensional construction, such as Figure 4As shown, at this time, each two adjacent single bodies are also called the left single body and the right single body. In addition to controlling the first rotating seat 1004 of the left single body to rotate under the drive of the rotating motor and the second rotating seat 1008 of the right single body to rotate synchronously under the drive of the rotating motor, it is also necessary to control the rotation of the first servo 1005 and the second servo 1007 according to the situation. As shown in the figure, a fuselage 1001 facing the x-axis, a fuselage 1001 facing the y-axis, and a fuselage 1001 facing the z-axis are finally obtained. Various construction equipment such as spray guns, painting robotic arms, etc. can be installed on the fuselage 1001. Here, a group of symmetrical clusters can be added to the right side of the cluster. The two groups of clusters are connected through the horizontal single body 1000 at the far right end, and then the single body 1000 at the far left end is controlled to rotate back to the same direction as the middle single body. At this time, the two groups of clusters are connected into a large U-shaped cluster. The wheel feet 1002 of the two horizontal single bodies 1000 at the far right end are rotated so that the wheel feet 1002 close to the ground are grounded and in the same direction as the wheel feet 1002 of the middle single body 1000. At this time, the large robot cluster forms a stable U-shape, which can move around the construction site. When construction is required, the corresponding single body 1000 and the mechanism thereon are controlled to rotate according to the position of the construction surface, so that the construction equipment is close to the construction surface and then work is carried out.

[0035] Figure 1 The wheel foot 1002 is located outside the fuselage 1001. When it rotates around the output shaft of the third servo 1009, it can move to the inside of the fuselage 1001. For example, Figure 1 The wheel foot at the lower right corner can be rotated 90 degrees clockwise to form an "outward eight" leg, and rotated 90 degrees counterclockwise to form an "inward eight" leg. Figure 5 The leftmost wheel foot is identical.

[0036] The wheel feet 1002 of the present invention can adopt the wheel feet of the Rider-Pi model wheel-foot robot of Shenzhen Yabo Intelligent Technology Co., Ltd. The specific size can be adjusted according to the actual situation. For example, the wheel feet of this model robot are smaller, and the wheel feet of the present invention are relatively larger, so larger wheels, drive motors and other components are used. The wheel feet 1002 support the body 1001 of the robot. The two wheel feet 1002 on the single body 1000 can support the robot to walk, tilt, and jump steadily. The two wheel feet 1002 can be bent to different heights at the same time to form a height difference, or they can be quickly retracted and then bounced to realize the robot's jumping. When the robot of the present invention is combined together, the two wheel feet 1002 on the single body 1000 cooperate with the wheel feet of other dimensions to move on various planes at the same time. For example, at this time, it is necessary to perform exterior wall inspection work on the exterior wall of a high-rise building. At this time, the robot is on the ground. If the body is composed of two single bodies such as Figure 1The robot is connected to the rope hanging from the upper floor of the building, and then the robot moves horizontally to the bottom of the wall. By rotating one of the single bodies, it Figure 4 The single body on the upper left is perpendicular to the wall. At this time, the entire robot is lifted up, and it can contact the wall through this single body and climb vertically. The single body originally in contact with the ground becomes suspended in the air. Then, by controlling their same relative rotation, the two single bodies form a vertical position on the wall. Figure 1 Of course, there are many ways to rotate and move in combination. The above is just one of them. The specific method can be adjusted according to the actual situation.

[0037] Accordingly, the construction method of the combined wheel-legged robot applied to construction of the present invention comprises the following steps: S1. When only a single unit 1000 is used as the minimum action unit, the first servo 1005 and the second servo 1007 on both sides of the fuselage 1001 of the unit 1000 are disconnected from the other units, and the unit 1000 is moved using its own two wheel feet 1002. At this time, it can carry a small transport mechanism for material transportation, or a small robotic arm and a spray gun for small-scale garbage cleaning, wall cleaning, and spraying operations.

[0038] S2. When two single bodies 1000 are used in a conventional combination as a motion unit, the conventional combination herein refers to a connection without significant rotation or special relative position. When the two single bodies 1000 are moved, crossed, or ascended stairs, the left wheel foot is raised, and simultaneously the first rotating seat 1004 of the left single body rotates clockwise under the drive of the rotary motor, and the second rotating seat 1008 of the right single body rotates clockwise under the drive of the rotary motor, so that the fuselage 1001 of the left single body is higher than the right single body. The transport box 2102 on the fuselage 1001 remains stable with the assistance of the second transport spring seat 2101. Suppose that a construction site needs to transport a number of different types of materials stored in one place to various locations on the construction site, such as bulk materials such as cement bags, tiles, and paint buckets, as well as tools such as electric drills and welders. In this case, a group of motion units can be set up at the loading point. The motion units are equipped with mechanisms such as mechanical arms and grippers for transporting materials. At the same time, several groups of motion units can be equipped to travel to various locations on the construction site. The length of such motion units and the size of the transport boxes they carry can be adjusted according to actual conditions. In fact, in addition to several directly connected single bodies 1000, the action unit here can also include indirectly connected single bodies. For example, the action unit formed by the ordinary combination of two groups of two single bodies 1000 on the left and right is further spliced to form a large action unit composed of four single bodies 1000. The indirect connection is mainly composed of a large transport box directly installed on the four single bodies 1000 through the second transport spring seat 2101, and the two single bodies 1000 in the left and right groups are directly connected through the coupling 1006 respectively. This design can form a wheeled robot cluster to transport larger materials such as precast concrete slabs, steel structures, glass curtain walls, etc., and the transportation is more stable. Similarly, the single bodies can be connected in 3*3, 3*2, etc.; when unloading is required, the unloading rotating motor 2104 is controlled to drive the rotating shaft to rotate, so that the unloading baffle 2107 opens outward, and then the conveyor drive motor 2103 drives the conveyor 2105 to rotate, and the material is pushed out of the transport box 2102 under the push of the conveying partition 2106.

[0039] S3. When a closed wheel-legged robot cluster is formed by three or four bodies, the two combination interfaces 1003 on each single body 1000 are required to cooperate with each other to complete the connection. The two adjacent single bodies 1000 are called the left single body and the right single body. The first rotating seat 1004 of the left single body is controlled to rotate under the drive of the rotating motor, and the second rotating seat 1008 of the right single body is controlled to rotate synchronously under the drive of the rotating motor. Finally, the output shafts of each group of the first servo 1005 and the second servo 1007 are relative, and then they are connected together through the coupling 1006 to form a closed triangular wheel. The wheeled robot cluster, when assembled into a closed three-body or four-body wheeled robot cluster, can carry out material transportation in another dimension, which is similar to a tumbler, and can be used by two groups of robot clusters to jointly clamp and transport an extra-long material. When the robot is walking, the four single bodies 1000 form a rectangular wheel, and the left and right groups of robot clusters form two rectangular wheels, and the transported material 2006 in the middle is their connecting rod. When the robot cluster encounters a steep road, no matter which side of the single body 1000 contacts the ground, it can provide support for the entire cluster. The best way is to use the left and The lower single body is in contact with the ground for driving, and when climbing forward, it can be switched to the left and upper single bodies in contact with the ground to complete the counterclockwise cluster rotation, thereby crossing various terrains and ensuring the stability of the internal materials (it should be noted that a three-body combination can also be used here, and the number and size of the single bodies can be adjusted according to actual conditions); the above is a closed combination of wheeled and footed robots used for transportation. When it is used in construction, it can be mainly used to climb structures such as steel pipes to detect steel structure weld cracks and weld. When it is used to climb large steel pipes 2001, it can control the third servo 1009 on the fuselage 1001 to control the wheel foot 100 2 rotation so that both wheel feet 1002 can climb the inner wall of the steel pipe. When the eight wheel feet of the four-body cluster have completed the turning, the cluster can climb stably inside the steel pipe, and the fuselage 1001 of the four-body can be equipped with devices such as welding robotic arms, welding guns, ultrasonic flaw detection sensors, wide-angle cameras, laser scanners, thermal imagers, gas sensors, etc. to detect defects such as cracks, incomplete welding, slag inclusions on the inner wall of the steel structure, and locate and identify welds and structural surface defects (such as pits and oxide layers) and classify defects (such as cold welds and pores) through AI algorithms, and then repair and re-inspect them.

[0040] S4. When a two-body or three-body large-angle rotation combination is used for multi-dimensional construction, each adjacent two single bodies are also called the left single body and the right single body. In addition to controlling the first rotating seat 1004 of the left single body to rotate under the drive of the rotating motor and the second rotating seat 1008 of the right single body to rotate synchronously under the drive of the rotating motor, it is also necessary to control the rotation of the first servo 1005 and the second servo 1007 according to the situation, and finally obtain a fuselage facing the x-axis, a fuselage facing the y-axis, and a fuselage facing the z-axis. Various construction equipment such as spray guns, painting robotic arms, etc. can be installed on the fuselage 1001. Here, a set of symmetrical The cluster is connected through the horizontal single body 1000 at the far right end, and then the single body 1000 at the far left end is controlled to rotate back to the same direction as the middle single body. At this time, the two groups of clusters are connected into a large U-shaped cluster. The wheel feet of the two horizontal single bodies 1000 at the far right end are rotated so that the wheel feet 1002 close to the ground are grounded and in the same direction as the wheel feet 1002 of the middle single body 1000. At this time, the large cluster of robots forms a stable U-shape, which can move around the construction site. When construction is needed, the corresponding single body 1000 and the mechanism on it are controlled to rotate according to the position of the construction surface, so that the construction equipment is close to the construction surface and then work is carried out.

[0041] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A combined wheel-legged robot used in construction, characterized in that: It is based on a single body (1000), and several single bodies (1000) are combined and connected to form different action units; The single body (1000) is mainly composed of a fuselage (1001), and third steering gears (1009) are provided on the left and right sides thereof, facing downwards. The output shaft of the third steering gear (1009) passes through the fuselage (1001) and is connected to the upper end of the wheel foot (1002) located at the bottom of the fuselage (1001); the third steering gear (1009) is installed in the fuselage (1001) and faces vertically downwards. The rotation plane of the output shaft of the third steering gear (1009) is parallel to the upper surface of the fuselage (1001). The output shaft of the third steering gear (1009) passes through the bottom of the fuselage (1001) and is connected to the connecting plate at the top end of the wheel foot (1002); A combination interface (1003) is provided in the middle of the front and rear sides of the fuselage (1001). The combination interface (1003) is a rectangular opening, and a horizontal rotating motor is provided inside the combination interface (1003). The output shaft of the rotating motor in one combination interface (1003) extends horizontally from the combination interface (1003) and is fixedly connected to the first rotating seat (1004). The output shaft is controlled to rotate and thus drive the first rotating seat (1004) to rotate. The first rotating seat (1004) is provided with a first A servo (1005); the output shaft of the rotating motor in another combined interface (1003) is fixedly connected to the second rotating seat (1008), and the second rotating seat (1008) is driven to rotate by controlling the output shaft to rotate. A second servo (1007) is provided at one end of the second rotating seat (1008) away from the fuselage (1001). The output shaft of the first servo (1005) is connected to the output shaft of the second servo (1007) of another single body (1000) opposite to it through a coupling (1006).

2. The combined wheel-legged robot for construction according to claim 1, characterized in that: When the transport equipment is installed on the action unit, a second transport spring seat (2101) is provided on the fuselage (1001), and the second transport spring seat (2101) comprises a base, a spring located inside the base, and a support plate fixed around the top of the base. In an initial state, the spring extends out of the base and is higher than the support plate; one end of the spring is fixedly connected to the bottom of the base, and the other end is fixedly connected to the bottom of the transport box (2102). When the fuselages (1001) of the two single bodies (1000) are kept at the same horizontal line, the springs in the second transport spring seats (2101) of the two fuselages (1001) are pressed into their bases, and the transport box (2102) is assisted by the support plate.

3. The combined wheel-legged robot for construction according to claim 2, characterized in that: A conveyor belt drive motor (2103) facing the interior of the transport box (2102) is provided at the front bottom thereof, the output shaft of the conveyor belt drive motor (2103) being connected to a conveyor belt (2105) at the bottom of the box, the conveyor belt (2105) being provided with a conveying partition (2106) for separating materials, a rectangular opening being provided on the left side of the transport box (2102), the outside of the rectangular opening being covered with a discharge baffle (2107), the bottom of the discharge baffle (2107) being provided with a rotating shaft, The rotating shaft is fixedly connected to the output shaft of the unloading rotating motor (2104) fixed to the bottom of the front side of the transport box (2102); when unloading is required, the unloading rotating motor (2104) is controlled to drive the rotating shaft to rotate so that the unloading baffle (2107) opens outward, and then the conveyor belt drive motor (2103) drives the conveyor belt (2105) to rotate. Under the push of the conveying partition (2106), the material is pushed out of the transport box (2102), and the transport box (2102) is loaded with materials in cooperation with the robotic arms on other action units.

4. The combined wheel-legged robot for construction according to claim 3, characterized in that: When transporting longer materials, a material transport mechanism is installed on the fuselage (1001), the material transport mechanism comprising a first transport spring seat (2002) installed on the fuselage (1001), a spring in the first transport spring seat (2002) extending outwardly and connected to a circular material fixing outer sleeve (2003), a plurality of inner sleeve adjusting bolts (2005) being evenly spaced in a circumferential direction of the material fixing outer sleeve (2003) being threadedly connected, the inner sleeve adjusting bolts (2005) being screwed into the interior of the material fixing outer sleeve (2003), a plurality of material fixing inner sleeves (2004) being provided inside the material fixing outer sleeve (2003), each material fixing inner sleeve (2004) being respectively fixed to the bottom of an inner sleeve adjusting bolt (2005); when it is necessary to transport a long strip of material, the material is inserted into the material fixing inner sleeve (2004), and the material fixing inner sleeve (2004) is tightened by screwing in the inner sleeve adjusting bolt (2005) to lock the material for transport.

5. The combined wheel-legged robot for construction according to claim 4, characterized in that: Three single bodies (1000) are interconnected to form a closed triangle. Each two adjacent single bodies (1000) are called a left single body and a right single body. The first rotating seat (1004) of the left single body is controlled to rotate under the drive of a rotating motor, and the second rotating seat (1008) of the right single body is controlled to rotate synchronously under the drive of a rotating motor. Finally, the output shafts of each group of first servos (1005) and second servos (1007) are relative, and then they are connected together through a coupling (1006) to form a closed triangular wheel-foot robot cluster.

6. The construction method of the combined wheel-legged robot applied to construction according to claim 5, characterized in that: The steps are: S1. When only a single unit (1000) is used as the minimum action unit, the first servo (1005) and the second servo (1007) on both sides of the fuselage (1001) of the unit (1000) are disconnected from the other units, and the unit is moved using its own two wheel feet (1002). At this time, the unit carries a small transport mechanism for material transportation, and can also carry a small robotic arm and a spray gun for small-scale garbage cleaning, wall cleaning, and spraying operations; S2. When two single bodies (1000) are used as a common combination as a moving unit, when they move, cross, or go up stairs, the wheel foot on the left side rises, and at the same time, the first rotating seat (1004) of the left single body rotates clockwise under the drive of the rotating motor, and the second rotating seat (1008) of the right single body rotates clockwise under the drive of the rotating motor, so that the fuselage (1001) of the left single body is higher than the right single body, and the transport box (2102) on the fuselage (1001) always remains stable with the assistance of the second transport spring seat (2101); assuming that the construction site needs To transport a plurality of different types of materials stored in one place to various locations on the construction site, a group of action units is set up at the loading point. The action units are provided with a mechanism for transporting materials including a mechanical arm and a gripper. At the same time, several groups of action units are equipped to travel to various locations on the construction site. When unloading is required, the unloading rotary motor (2104) is controlled to drive the rotating shaft to rotate, thereby causing the unloading baffle (2107) to open outward. The conveyor belt drive motor (2103) then drives the conveyor belt (2105) to rotate, and the materials are pushed out of the transport box (2102) by the conveyor partition (2106). S3. When a closed wheel-legged robot cluster is formed by assembling three or four bodies, the two combined interfaces (1003) on each single body (1000) are connected by the mechanisms thereof in cooperation with each other. The two adjacent single bodies (1000) are called the left single body and the right single body. The first rotating seat (1004) of the left single body is controlled to rotate under the drive of the rotating motor, and the second rotating seat (1008) of the right single body is controlled to rotate synchronously under the drive of the rotating motor, so that the first servo (1005) of each group is finally ) are opposite to the output shafts of the second servo (1007), and then connected together by a coupling (1006) to form a closed triangular or rectangular wheel-foot robot cluster; when assembled into a closed three-body or four-body wheel-foot robot cluster, another dimension of material transportation is carried out, in which two groups of robot clusters jointly grasp and transport a long material. When the robot is walking, the four single bodies (1000) form a rectangular wheel, the left and right groups of robot clusters form two rectangular wheels, and the middle The transported materials (2006) are their connecting rods. When the robot cluster encounters a steep road surface, no matter which side of the single body (1000) contacts the ground, it provides support for the entire cluster. When it is used as a construction situation, it is used to climb steel pipes for steel structure weld crack detection and welding. When it is used to climb large steel pipes (2001), it controls the third servo (1009) on the fuselage (1001) to control the wheel feet (1002) to rotate so that both wheel feet (1002) are on the inner wall of the steel pipe. Climbing, when the eight wheels of the cluster consisting of four bodies have completed the turning, the cluster will climb steadily inside the steel pipe, and the fuselage (1001) of the four bodies is equipped with a mechanism including a welding robot arm, a welding gun, an ultrasonic flaw detection sensor, a wide-angle camera, a laser scanner, a thermal imager, and a gas sensor to detect cracks, incomplete welding, and slag inclusion defects on the inner wall of the steel structure, and locate and identify defects on the weld seam and structure surface, and classify the defects through AI algorithms, and then repair and re-inspect them; S4. When a two-body or three-body large-angle rotation combination is used for multi-dimensional construction, each adjacent two single bodies are also referred to as a left single body and a right single body. In addition to controlling the first rotating seat (1004) of the left single body to rotate under the drive of the rotating motor and the second rotating seat (1008) of the right single body to rotate synchronously under the drive of the rotating motor, it is also necessary to control the rotation of the first servo (1005) and the second servo (1007) according to the situation, and finally obtain a fuselage facing the x-axis, a fuselage facing the y-axis, and a fuselage facing the z-axis. Construction equipment including a spray gun and a painting robot arm is installed on the fuselage (1001). Here, a symmetrical cluster is added to the right side of the cluster. The connection is made through the rightmost horizontal single body (1000), and then the leftmost single body (1000) is controlled to rotate back to the same direction as the middle single body. At this time, the two groups of clusters are connected to form a large U-shaped cluster. The wheel feet of the two rightmost horizontal single bodies (1000) are rotated so that the wheel feet (1002) close to the ground are grounded and in the same direction as the wheel feet (1002) of the middle single body (1000). At this time, the large robot cluster forms a stable U-shape, which wanders around the construction site. When construction is required, the corresponding single body (1000) and the mechanism on it are controlled to rotate according to the position of the construction surface, so that the construction equipment is close to the construction surface and then the operation is carried out.

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