Intelligent board inserting robot and construction method

Abstract

The invention discloses an intelligent board inserting robot and a construction method. The intelligent board inserting robot comprises a machine body, a board inserting frame and a navigation walking device. A plugboard frame and a navigation walking device are arranged on the machine body; the navigation walking device is used for driving the machine body and the board inserting frame on the machine body to move to a board inserting point position required in advance according to a planned operation path of board inserting construction; and inserting plates are installed on the inserting plate frame, and the inserting plate frame is used for inserting the inserting plates downwards into the soft soil foundation below at the same time when the inserting plate frame reaches the required inserting plate point position in the planned operation path of the inserting plate construction, and after the inserting operation is completed, the inserting plate cutting operation is executed. A plurality of drainage plates can be inserted at the same time, the plate inserting efficiency is remarkably improved, and the construction cost is saved. In addition, adverse effects of noise and vibration generated by the vibration hammer on the surrounding environment and personnel health can be effectively avoided, direct contact between workers and the plugboard equipment can be effectively reduced, and potential safety hazards are remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of soft soil foundation treatment engineering in the energy-saving and environmental protection industry, and in particular to an intelligent plate-inserting robot and a construction method. Background Art

[0002] Economic development has led to a shortage of land resources in my country's coastal areas, prompting land reclamation projects to become a key solution. These projects utilize hydraulically-filled soft soil (soft foundation) created by dredgers. This soil has high moisture content and high compressibility, making it difficult to construct directly without treatment. This makes it difficult to repurpose the land for construction or recycle it as a resource.

[0003] At present, vacuum preloading method is an effective means to deal with such soft soil foundations. Its principle is to insert vertical drainage channels (such as plug-ins as plastic drainage boards) into the foundation, lay a sand cushion layer and cover it with an airtight film, and then form a negative pressure by vacuuming to promote soil drainage and consolidation.

[0004] However, the traditional vacuum preloading and inserting method has numerous drawbacks. First, in terms of construction efficiency, traditional inserting machines can only insert one drain board at a time, requiring frequent equipment adjustments during operation, which is time-consuming and can easily cause the drain board to tilt or damage. Second, the vibrating hammer used in traditional inserting machines, which strikes the drain board (i.e., the inserter) downward, generates high noise and vibration, seriously affecting the surrounding environment and personnel health. Furthermore, regarding construction safety, ultra-soft soil is highly fluid, making it easy for construction workers to become mired in mud.

[0005] It's important to note that drain board is a highly effective drainage and consolidation material used in soft soil foundation treatment. It's primarily used to accelerate water removal from soft soil layers, improve foundation bearing capacity, and reduce settlement. Plastic drain board is the most commonly used type of drain board. It can be bent and unwound. Its core is made of polypropylene or polyethylene, with grooves or channels and a filter membrane to prevent silt clogging.

[0006] Therefore, there is an urgent need to develop a technology that can solve the above technical problems. Summary of the Invention

[0007] The purpose of the present invention is to provide an intelligent board-inserting robot in view of the technical defects in the prior art.

[0008] To this end, the present invention provides an intelligent board-slotting robot, comprising a body, a board-slotting rack, and a navigation walking device;

[0009] The fuselage is equipped with a plugboard rack and a navigation walking device;

[0010] A navigation walking device is used to drive the fuselage and the plug-in board rack on the fuselage to move to the pre-required plug-in board point according to the planned operation path of the plug-in board construction;

[0011] The plugboard rack is equipped with plugboards, which are used to simultaneously insert multiple plugboards downward into the soft soil foundation below when the plugboard points required in the planned operation path of the plugboard construction are reached, and perform the plugboard cutting operation after the insertion operation is completed.

[0012] In addition, the present invention also provides a construction method of the intelligent plug-in robot as described above, which comprises the following steps:

[0013] Step S1, system initialization and task loading;

[0014] Step S1 includes step S11 and step S12;

[0015] Step S11: Assemble the plugboard to the plugboard rack drain board fixing steel plate, that is, clamp the middle and lower parts of the plugboard through the clamping module installed on the plugboard rack drain board fixing steel plate, and connect the upper part of the plugboard through the plugboard slot of the drain board cutting device to the unwinding device, and power the positioning navigation and driving wheel motor control device and the driving wheel motor;

[0016] Step S12, loading multiple plug-in points that need to be plugged in through the positioning navigation and driving wheel motor control device;

[0017] Step S2: autonomously navigate to the target plug-in board position;

[0018] Step S2 includes step S21 and step S22;

[0019] Step S21: The positioning navigation and driving wheel motor control device plans a planned operation path for the plugging board construction according to the multiple plugging board points loaded in step S1;

[0020] In step S22, the positioning navigation and driving wheel motor control device controls the driving wheel motor to drive the driving wheel, so that the robot body moves along the planned operation path of the plugboard construction, and the driven wheel assists the body movement until it moves along the planned operation path of the plugboard construction to the first plugboard point in the planned operation path of the plugboard construction;

[0021] Step S3, fully automatic board insertion and cutting operation;

[0022] Step S3 includes step S31 and step S32;

[0023] Step S31, sending a plug-in instruction through the pay-off motor controller, so that the first pay-off motor and the second pay-off motor drive the first pay-off pulley and the second pay-off pulley to rotate respectively, thereby controlling the up and down movement of the plug-in rack pay-off cable, driving the plug-in rack to move up and down, so that multiple plug-in rack drainage plate fixing steel plates carry multiple plug-ins and are inserted into the soft soil foundation, and the lowering is stopped when the insertion depth reaches a preset depth;

[0024] Step S32: After the board is inserted, the power cylinder of the drainage board shearing device is started to drive the shear blade to cut the board, and then the clamping module on the drainage board fixing steel plate of the board frame no longer clamps the board, completing the board insertion operation at the current board insertion point;

[0025] Step S4, continuous operation and autonomous shifting;

[0026] Step S4 includes step S41 and step S42;

[0027] Step S41: After the current plugging operation is completed, the positioning navigation and driving wheel motor control device automatically loads the next plugging point in the working path of the plugging construction and controls the robot to move to the new plugging point;

[0028] Step S42, repeating steps S2 to S3 until the board-insertion tasks of all board-insertion points in the working path of the board-insertion construction are completed.

[0029] It can be seen from the technical solution provided by the present invention above that, compared with the existing technology, the present invention provides an intelligent board-inserting robot and construction method, which is scientifically designed and can insert multiple drainage boards at the same time, significantly improving the efficiency of board insertion and saving construction costs, and has great practical significance.

[0030] Furthermore, the technical solution of the present invention eliminates the need for a vibrating hammer to strike the drainboard (i.e., the insert), effectively preventing the adverse effects of noise and vibration generated by the vibrating hammer on the surrounding environment and personnel health. Furthermore, the present invention effectively reduces direct contact between workers and the inserting equipment, preventing workers from sinking into the mud on soft soil foundations, significantly reducing safety hazards.

[0031] The intelligent panel insertion robot provided by the present invention, a novel intelligent panel insertion device that integrates intelligent control, mechanical design, and automation technologies, can achieve efficient and precise insertion of multiple drainage panels, ensuring safe and stable construction. This can effectively improve foundation reinforcement efficiency, reduce costs, and provide an innovative solution for related land reclamation projects. The application of the present invention helps to reliably address the low efficiency, insufficient automation, and high safety risks associated with traditional vacuum preloading panel insertion operations. The present invention provides an intelligent panel insertion robot and construction method that achieves efficient and precise construction through the simultaneous insertion of multiple drainage panels, automatic navigation and positioning, and intelligent control technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of an intelligent plug-in robot provided by the present invention;

[0033] Figure 2This is a structural schematic diagram of a plate (i.e., drainage plate) shearing device provided in an intelligent plate-sliding robot provided by the present invention;

[0034] Figure 3 This is an enlarged schematic diagram of the three-dimensional structure of a section of plugboard (the figure only shows the structure of a portion of the length of a plugboard);

[0035] Figure 4 A schematic diagram of the structure of a clamping module provided on a steel plate fixing plate of each plate rack drain plate;

[0036] In the figure: 1-1, first pay-off pulley; 1-2, second pay-off pulley; 2-1, first pay-off motor; 2-2, second pay-off motor; 3, pay-off motor controller;

[0037] 4-1. First pay-off motor support; 4-2. Second pay-off motor support; 5. Guide rail steel column;

[0038] 6-1, first plugboard frame pays out the zip line; 6-2, second plugboard frame pays out the zip line; 6-10, first sub-zip line; 6-20, second sub-zip line;

[0039] 7. Stopper; 8. Connecting column of plug-in board frame; 9. Inclined steel beam of plug-in board frame; 10. Horizontal steel beam of plug-in board frame;

[0040] 11. Insert plate rack support; 12. Insert plate rack support slider; 13. Drain plate shearing device;

[0041] 131. Cylinder; 132. Shear blade; 133. Insert plate slot (i.e., drain plate slot); 134. Limit block;

[0042] 14. Steel plate for fixing the plug-in board frame and drainage board; 15. Inclined steel beam for the base;

[0043] 16. Base crossbeam; 17. Base connecting longitudinal beam; 18. Navigation travel device connecting longitudinal beam; 19. Navigation travel device supporting crossbeam; 20. Driving wheel;

[0044] 21. Driving wheel motor; 22. Positioning navigation and driving wheel motor control device; 23. Driven wheel;

[0045] 24. Insert plate (i.e., drainage plate); 25. Clamping module 25; 251. Clamping cylinder; 252. Clamping groove; 253. Clamping block. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0048] In the description of this patent, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," and "set" should be understood in a broad sense. For example, they can refer to fixed connection or set, detachable connection or set, or integral connection or set. Those skilled in the art will understand the specific meanings of the above terms in this patent based on the specific circumstances.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0050] See also Figures 1 to 4 , the present invention provides an intelligent board-inserting robot, comprising a body, a board-inserting rack and a navigation walking device;

[0051] The fuselage is equipped with a plugboard rack and a navigation walking device;

[0052] A navigation travel device is used to drive the fuselage and the plug-in board rack on the fuselage to move to a pre-required plug-in board point (i.e., the plug-in board operation position) according to a planned operation path for plug-in board construction (the path includes multiple plug-in board points and multiple moving routes connecting the multiple plug-in board points in sequence);

[0053] The plug-in board rack is equipped with a plug-in board 24 (i.e., a drainage board). When the plug-in board point (i.e., the plug-in board operation position) required in the planned operation path of the plug-in board construction is reached, multiple plug-in boards 24 are inserted downward into the soft soil foundation below at the same time, and after the insertion operation is completed, the plug-in board cutting operation is performed.

[0054] In the present invention, the fuselage includes a base and a guide rail steel column 5;

[0055] Four parallel and vertically distributed guide rail steel columns 5 are set at the top center of the base;

[0056] The shape formed by connecting the projections of the center points of the four guide rail steel columns 5 on the horizontal plane is a rectangle.

[0057] In a specific implementation, the base includes four base beams 16 distributed laterally;

[0058] The four base beams 16 are spaced apart longitudinally and arranged parallel to each other;

[0059] Four vertically distributed guide rail steel columns 5 are provided on the top of the two base cross beams 16 located on the longitudinal inner side.

[0060] Furthermore, when the plug-in robot of the present invention is idle (i.e., no longer moved and stored), two longitudinally distributed base connecting beams 17 can be placed under the three base cross beams 16; the base cross beams 16 and the base connecting beams 17 are placed crosswise; the two base connecting beams 17 play a supporting role.

[0061] It should be noted that, for the present invention, the bottom connecting longitudinal beam 17 plays a supporting role when the robot of the present invention is idle, and is removed in advance when the robot of the present invention needs to be moved for operation.

[0062] In terms of specific implementation, the fuselage also includes four base oblique steel beams 15;

[0063] The lower outer side of each guide rail steel column 5 is also connected to the top of the guide rail running device connecting longitudinal beam 18 in the guide rail running device through a base inclined steel beam 15.

[0064] It should be noted that, in the present invention, the fuselage is used to provide support and installation basis for the plugboard rack and the navigation walking device.

[0065] In the present invention, the plugboard rack comprises a plugboard rack body;

[0066] The board rack body is movably arranged on the guide rail steel column 5 in the fuselage;

[0067] The plate rack body is connected to the guide rail steel column 5 in a sliding manner.

[0068] In specific implementation, the plug-in frame body includes a plug-in frame connecting column 8, a plug-in frame inclined steel beam 9, a plug-in frame horizontal steel beam 10 and a plug-in frame drainage board fixing steel plate 14;

[0069] The lower ends of a plurality of (for example, four) vertically distributed plug-in rack drain plate fixing steel plates 14 are fixedly connected to the top of a base crossbeam 16 located on the inner side of the fuselage;

[0070] The upper ends of the plurality of (for example, four) plug-in rack drainage plate fixing steel plates 14 are fixedly connected to the same transversely distributed plug-in rack cross steel beam 10;

[0071] A vertically distributed plug-in rack connecting column 8 is provided at the top horizontal middle position of the plug-in rack cross steel beam 10;

[0072] The top of the plug-in frame connecting column 8 is fixedly connected to the left and right ends of the plug-in frame horizontal steel beam 10 through a plug-in frame inclined steel beam 9;

[0073] The horizontal steel beam 10 of the inserting plate rack is horizontally passed through the longitudinal gaps of the four guide rail steel columns 5 included in the fuselage;

[0074] The board rack connecting column 8 and the board rack oblique steel beam 9 are located in the longitudinal gap between the four guide rail steel columns 5 included in the fuselage;

[0075] Wherein, each plug-in board rack drainage board fixing steel plate 14 is used to fix a plug-in board 24 (i.e., a drainage board, such as a plastic drainage board);

[0076] When the plug-in plate frame is in the raised state, the lower part of the plug-in plate 24 protrudes downward from the bottom surface of the driven wheel 23 provided at the bottom of the base crossbeam 16 connected to the lower end of the plug-in plate frame drain plate fixing steel plate 14 (that is, a certain length is exposed. The plug-in plate has a certain toughness and hardness. The length of this protruding section is the length that the user wants to insert into the soil below. It should be noted that, according to construction requirements, after the plug-in plate is inserted into the soil, it is also necessary to reserve a part of its length to be exposed on the top surface of the soil, that is, to be exposed on the surface of the soft soil foundation. The exposed length can be adjusted accordingly by adjusting the specific installation position of the drainage plate shearing device 13 on the plug-in plate frame drain plate fixing steel plate 14 for shearing the plug-in plate 24);

[0077] It should be noted that, for the present invention, the middle and lower parts of the plug plate (i.e., the drainage plate) 24 are clamped by the clamping module 25 installed on the plug plate rack drainage plate fixing steel plate 14, and the upper part of the plug plate 24 passes through the plug plate slot 133 of the drainage plate cutting device 13 (located at the upper rear side of the plug plate rack drainage plate fixing steel plate 14) and is connected to the unwinding device.

[0078] In specific implementation, a reeling device is provided above the fixed steel plate 14 of each plug-in board rack drain plate; each reeling device includes a rotatable reeling shaft (the reeling shaft can be pivotally connected to an external support frame); the circumferential outer wall of the reeling shaft is provided with a circular turntable; the circumferential outer wall of the turntable is wound with a plug-in board. Furthermore, one end of the reeling shaft is also connected to the power output end of the reeling motor (for example, the power output shaft of the reeling motor is connected to the reeling shaft through a coupling); at this time, the reeling shaft is used to perform the reeling operation on the plug-in board under the drive of the reeling motor; further, multiple reeling devices can be provided on an unwinding operation panel, the top of which is connected to the first pay-off motor support 4-1 through multiple connecting rods.

[0079] For specific implementation, see Figure 4 As shown, a clamping module 25 is provided on the back of each plug-in board rack drain board fixing steel plate 14 (ie, located on the same side as the drain board shearing device 13 described below);

[0080] The clamping module 25 is used to perform a clamping operation on the inserting plate 24 before the insertion operation in the soft soil foundation is completed.

[0081] The clamping module 25 includes a clamping cylinder 251, a clamping groove 252 and a clamping block 253;

[0082] The clamping groove 252 is longitudinally distributed and opens rearward, and is located between the cylinder body of the clamping cylinder 251 and the clamping block 253;

[0083] The power output end (retractable power output end) of the clamping cylinder 251 is connected to the clamping block 253, which is used to drive the clamping block to move horizontally left and right, thereby clamping the inserting plate 24 located in the clamping groove 252;

[0084] The clamping groove 252 is used to vertically pass through a plug plate 24 (i.e., a drain plate);

[0085] It should be noted that, in the present invention, after being activated, the clamping cylinder 251 is used to clamp the inserting plate 24 (ie, the drainage plate) vertically passing through the clamping groove 252 .

[0086] In a specific implementation, four board rack support sliders 12 are provided on the board rack body;

[0087] Each plate rack support slider 12 is respectively connected to a guide rail steel column 5 in a sliding fit.

[0088] Furthermore, four card rack support sliders 12 are arranged at the four corners of the bottom of a horizontally distributed card rack support 11;

[0089] The insert plate rack support 11 is fixedly connected to the bottom of the insert plate rack cross steel beam 10 in the insert plate rack body.

[0090] It should be noted that the slide block 12 of the insert plate rack support is slidably connected to each guide rail steel column 5, using a conventional slide rail and slide block structure. For example, the outer side of the guide rail steel column 5 has a vertically distributed slide rail (i.e., a concave slide groove). The side of the insert plate rack support slide block 12 facing the guide rail steel column 5 is provided with an embedded slide block at a position corresponding to each slide rail. The embedded slide block is slidably connected to the corresponding slide rail. The slide rail and slide block structure is well known in the art and will not be described in detail here.

[0091] In specific implementation, for each guide rail steel column 5 of the fuselage, a limiter 7 is distributed at the upper and lower ends;

[0092] The limiter 7 is used to limit the vertical movement range of the board rack body.

[0093] It should be noted that, for the present invention, the plate rack body is connected to the guide rail steel column 5 through the plate rack support slider 12 and can move up and down along the guide rail steel column 5; a limiter 7 is respectively provided at the upper and lower parts of the guide rail steel column 5 to limit the up and down movement range of the rack body.

[0094] It should be noted that the present invention has a limit protection function: limiters 7 are provided at the upper and lower ends of the guide rail steel column 5 to limit the movement range of the plug-in board frame body to avoid over-limit damage.

[0095] In a specific implementation, the plugboard rack also includes a plugboard rack body lifting device;

[0096] The plug-in board rack body lifting device is used to connect the plug-in board rack body and drive the plug-in board rack body to perform lifting operations.

[0097] Furthermore, the plate rack body lifting device includes an ascending module and a descending module spaced apart in an upper and lower manner;

[0098] The ascending module and the descending module are respectively located above and below the horizontal steel beam 10 of the board rack in the board rack body;

[0099] The ascending module and the descending module are respectively used to connect the plate rack body and drive the plate rack body to perform ascending and descending operations.

[0100] Furthermore, the ascending module includes a first pay-off motor support 4-1, a first pay-off pulley 1-1 and a first pay-off motor 2-1;

[0101] The first pay-off motor support 4-1 is fixedly arranged on the upper ends of the four guide rail steel columns 5 included in the fuselage;

[0102] The first pay-off motor 2-1 is arranged on the horizontally distributed first pay-off motor support 4-1;

[0103] A first pay-off pulley 1-1 is provided on the output shaft of the first pay-off motor 2-1;

[0104] The first pay-off pulley 1-1 is wound with a first plate rack pay-off cable 6-1 (i.e., forming a cable roll);

[0105] The extended end (i.e., the extended end) of the first plug-in frame pay-off cable 6-1 is connected to the top of the plug-in frame cross steel beam 10 in the plug-in frame body; specifically, the extended end (i.e., the extended end) of the first plug-in frame pay-off cable 6-1 is connected to the two ends of the top of the plug-in frame cross steel beam 10 through two sections of first sub-cables 6-10, and the two sections of first sub-cables 6-10 are symmetrically distributed on the left and right;

[0106] Furthermore, the descending module includes a second pay-off motor support 4-2, a second pay-off pulley 1-2 and a second pay-off motor 2-2;

[0107] The second pay-off motor support 4-2 is fixedly arranged at the lower end of the four guide rail steel columns 5 included in the fuselage;

[0108] The second pay-off motor 2-2 is provided on the horizontally distributed second pay-off motor support 4-2;

[0109] A second pay-off pulley 1-2 is provided on the output shaft of the second pay-off motor 2-2;

[0110] The second pay-off pulley 1-2 is wound with a second plate rack pay-off cable 6-2 (i.e., forming a cable roll);

[0111] The extended end (i.e., the extended end) of the second plug-in frame pay-off cable 6-2 is connected to the bottom of the plug-in frame cross steel beam 10 in the plug-in frame body; specifically, the extended end (i.e., the extended end) of the second plug-in frame pay-off cable 6-2 is connected to the two ends of the bottom of the plug-in frame cross steel beam 10 through two sections of second sub-cables 6-20, and the two sections of second sub-cables 6-20 are symmetrically distributed on the left and right;

[0112] It should be noted that the first pay-off motor 2-1 and the second pay-off motor 2-2 are each equipped with a corresponding pay-off motor controller 3; the two pay-off motor controllers 3 are respectively mounted on the first pay-off motor support 4-1 and the second pay-off motor support 4-2. Therefore, in the present invention, the card rack body realizes the up and down movement function through the lifting module and the lowering module.

[0113] In a specific implementation, the plug-in board rack further includes a drainage board shearing device 13;

[0114] The drainage board shearing device 13 is used to cut off the plug board after the plug board has been inserted into the soft soil foundation.

[0115] Furthermore, the drainage board shearing device 13 includes a power cylinder 131, a shearing blade 132, a plate slot 133 and a limit block 134;

[0116] A drainage board shearing device 13 is provided on the rear side of the upper end of each plug-in board frame drainage board fixing steel plate 14;

[0117] Each drain plate shearing device 13 is provided with a plate slot (i.e., drain plate slot) 133 that is longitudinally distributed and open at the rear side;

[0118] Each insert plate slot (i.e., drainage plate slot) 133 is used to vertically pass through an insert plate (i.e., drainage plate);

[0119] A limit block 133 is provided on one side of the insert plate slot (i.e., the drain plate slot) 133, and a power cylinder 131 is provided on the other side;

[0120] The power output end of the power cylinder 131 is connected to one end of the shear blade 132;

[0121] The other end of the shear blade 132 faces the direction of the insert plate groove (i.e., the drain plate groove);

[0122] The power cylinder 131 is used to drive the shear blade 132 to move toward the insert plate groove (i.e., the drainage plate groove) 133 until it contacts the limit block 133.

[0123] It should be noted that, in the present invention, after being started, the power cylinder 131 is used to drive the shear blade 132 to cut the insert plate (ie, the drainage plate).

[0124] It should be noted that, in the present invention, the plug-in plate rack uses the drainage plate shearing device 13 and the plug-in plate rack drainage plate fixing steel plate 14 to shear and fix the drainage plate respectively.

[0125] It should be noted that multiple (for example, four) plug-in plate rack drainage board fixing steel plates 14 are arranged horizontally at intervals, multiple (for example, four) drainage board fixing steel plates 14 are arranged in parallel at intervals, and multiple (for example, four) plug-in plates (for example, plastic drainage boards) are arranged, and the drainage board shearing device 13 includes a power cylinder 131 and a shearing blade 132. Multiple drainage board shearing devices 13 support cutting of multiple drainage boards at one time.

[0126] In the present invention, in a specific implementation, the front and rear middle parts of the base included in the fuselage are respectively provided with a navigation walking device;

[0127] The two navigation walking devices are symmetrically distributed front and back;

[0128] A navigation traveling device, including a navigation traveling device mounting base;

[0129] The navigation running device mounting base includes a navigation running device connecting longitudinal beam 18 and a navigation running device supporting cross beam 19;

[0130] The navigation walking device mounting base is connected to the fuselage (specifically, it is connected to two spaced-apart base beams 16);

[0131] In specific implementation, the navigation walking device also includes a positioning control module and a driving walking module;

[0132] Positioning control module, specifically including positioning navigation and driving wheel motor control device 22;

[0133] The positioning navigation and driving wheel motor control device 22 is used to load multiple plug-in board points (i.e., plug-in board operation positions) where plug-in boards are required, and plan a planned operation path for plug-in board construction based on the multiple plug-in board operation positions (i.e., plug-in board points) (specifically, loading a three-dimensional map of the construction area and point data of the plug-in boards to generate a task sequence and an optimal path), and controlling the driving wheel motor 21 to drive the driving wheel 20 to work, so that the robot body moves along the operation path of the plug-in board construction;

[0134] Driving walking module, specifically including driving wheel motor 21 and driving wheel 20;

[0135] The power output end of the driving wheel motor 21 is connected to the driving wheel 20 to drive the driving wheel 20 to work, thereby driving the fuselage to move;

[0136] The left and right bottom ends of each base beam included in the fuselage are respectively provided with a movable driven wheel 23;

[0137] The driving wheel motor 21 is connected to the positioning navigation and driving wheel motor control device 22 in the positioning control module, and is used to start running according to the motor working instructions sent by the positioning navigation and driving wheel motor control device 22, thereby driving the driving wheel 20 to work;

[0138] It should be noted that, for the present invention, the positioning function and the function of controlling the driving wheel motor to move along the planned route according to the preset plan are realized through positioning navigation and the driving wheel motor control device 22; the driving wheel 20 and the driven wheel 23 assist the robot in walking, thereby realizing the robot of the present invention to walk autonomously on flat ground and accurately position itself.

[0139] It should be noted that the navigation walking device can adopt a mature driving device with navigation and walking functions in the existing technology, such as a corresponding driving device that has been used in a sweeping robot, etc., which will not be described in detail here.

[0140] It should be noted that the navigation technology used in the navigation walking device of the present invention is laser SLAM navigation technology, which is currently a common and mature navigation technology. The driving wheel motor 21 realizes the functions of forward, backward, and turning by controlling the rotation direction of the driving wheel 20 and the speed of the two wheels (i.e., the two driving wheels). The details will not be repeated here.

[0141] Based on the intelligent plate-inserting robot provided by the present invention, the present invention also provides a construction method of the intelligent plate-inserting robot, which includes the following steps:

[0142] Step S1, system initialization and task loading;

[0143] Step S1 includes step S11 and step S12;

[0144] Step S11: Assemble the plugboard (i.e., the drain board) onto the plugboard rack drain board fixing steel plate 14, i.e., clamp the middle and lower portion of the plugboard 24 by the clamping module 25 installed on the plugboard rack drain board fixing steel plate 14, and connect the upper portion of the plugboard 24 to the unwinding device after passing through the plugboard slot 133 of the drain board cutting device 13, and power the positioning navigation and driving wheel motor control device 22 and the driving wheel motor 21;

[0145] Step S12: Load multiple plugging points (i.e., plugging operation positions, specifically, loading a three-dimensional coordinate map of the construction area and plugging point distribution data) where plugging is required through the positioning navigation and driving wheel motor control device 22 to generate a plugging task sequence.

[0146] In step S11, the robot power supply is started to supply power to the positioning, navigation, and driving wheel motor control device 22 and the driving wheel motor 21. The robot power supply is an existing power supply module that meets the power supply requirements of the positioning, navigation, and driving wheel motor control device 22 and the driving wheel motor 21, and will not be described in detail here.

[0147] In step S12, in specific implementation, data of multiple plug-in board points (i.e., plug-in board operating positions) of the plug-in board are required. The user can connect the positioning navigation and driving wheel motor control device 22 through an external computer to establish wired communication or wireless communication to load the data into the positioning navigation and driving wheel motor control device 22.

[0148] Step S2: autonomously navigate to the target plug-in board position;

[0149] Step S2 includes step S21 and step S22;

[0150] In step S21, the positioning navigation and driving wheel motor control device 22 plans a planned operation path for the plugboard construction based on the multiple plugboard points (i.e., the plugboard operation positions) loaded in step S1 (specifically, an optimal path is generated based on the loaded three-dimensional map of the plugboard construction area and point data, and the path includes the multiple plugboard points and the multiple plugboard points are connected together through multiple movement routes);

[0151] In step S22, the positioning navigation and driving wheel motor control device 22 controls the driving wheel motor 21 to drive the driving wheel 20, so that the robot body moves along the planned operation path of the plugboard construction, and the driven wheel 23 assists the body movement until it moves along the planned operation path of the plugboard construction to the first plugboard point in the planned operation path of the plugboard construction;

[0152] It should be noted that, for the present invention, the positioning navigation and driving wheel motor control device 22 in the robot can generate an optimal moving path through a conventional path planning algorithm mature in the existing technology, and use the optimal moving path as the working path for the plugboard construction.

[0153] Step S3, fully automatic board insertion and cutting operation;

[0154] Step S3 includes step S31 and step S32;

[0155] In step S31, a plug-in instruction is sent through the pay-off motor controller 3, so that the first pay-off motor 2-1 and the second pay-off motor 2-2 respectively drive the first pay-off pulley 1-1 and the second pay-off pulley 1-2 to rotate, thereby controlling the plug-in rack pay-off rope 6 to move up and down, driving the plug-in rack to move up and down, so that multiple plug-in rack drainage plate fixing steel plates 14 carry multiple plug-ins (i.e., drainage plates) and are inserted into the soft soil foundation at a uniform speed, and the lowering is stopped when the insertion depth reaches the preset depth.

[0156] It should be noted that, for the robot of the present invention, when not in operation, the plug-in plate frame drain plate fixing steel plate 14 is on the ground surface, the upper portion of the drain plate passes through the plug-in plate slot 133 on the drain plate shearing device 13, and the lower portion is fixed and clamped by the clamping module 25 on the plug-in plate frame drain plate fixing steel plate 14;

[0157] During operation, the pay-off motor drives the pay-off cable of the plate frame, which pulls the plate frame downward. At this time, the plate frame's drain plate fixing steel plate 14 applies vertical downward pressure to the drain plate, inserting it into the ground. When the pay-off motor stops after a preset number of revolutions, the drain plate shearing device 13 shears the drain plate. The pay-off motor then reverses, pulling the plate frame's pay-off cable back up to the ground. A new section of drain plate is then reinstalled.

[0158] It should be noted that, regarding the description of the plug-in board frame of the present invention, during the movement process through the navigation walking device, the plug-in board frame is in a raised state. At this time, the plug-in board 24 (i.e., the drainage board) has been pre-protruded downward from the bottom surface of the driven wheel 23 provided at the bottom of the base crossbeam 16 connected to the lower end of the plug-in board frame drainage board fixing steel plate 14 (i.e., exposed downward). When it moves to the designated point for insertion (temporarily stops moving at this time), the pay-off motor drives the plug-in board frame to move downward to insert the plug-in board (i.e., the drainage board) into the soil below (i.e., the soft soil foundation). After the insertion is completed, the drainage board is cut off, and then the clamping module 25 on the plug-in board frame drainage board fixing steel plate 14 no longer clamps the plug-in board 24. The cut plug-in board (i.e., the drainage board) is disconnected from the plug-in board frame drainage board fixing steel plate 14 in the plug-in board frame, and then the pay-off motor is controlled to reverse to raise the plug-in board frame. The drainage board will remain in the soil due to the friction with the soil. After the plug-in board frame is raised, the robot continues to move to the next point to work.

[0159] It should be noted that, for the present invention, the bottom connecting longitudinal beam 17 plays a supporting role when the robot of the present invention is idle, and can be removed in advance (i.e., can be removed) when the robot of the present invention is moving and running. When the robot is in a mobile construction state, the bottom connecting longitudinal beam 17 has been removed in advance.

[0160] It should be noted that, in the present invention, the steel plate 14 of the plug-in frame drain plate is pressed against the bottom of the plug-in plate 24 (i.e., the drain plate), and vertical downward pressure is applied to press the drain plate into the soil below. The plug-in frame is raised and lowered by controlling the plug-in frame pay-out cable via a pay-out motor at the top, providing power to press the drain plate into the soil during descent. The motor controller (i.e., pay-out motor controller 3) associated with the pay-out motor can control the number of revolutions of the pay-out motor, thereby controlling the depth of descent of the plug-in frame, thereby controlling the insertion depth of the plug-in plate clamped on the plug-in frame into the soil below.

[0161] Step S32: After the board is inserted, the power cylinder 131 of the drainage board shearing device 13 is started, driving the shear blade 132 to instantly cut the board (i.e., the drainage board), completing the board insertion operation at the current board insertion point;

[0162] Step S4, continuous operation and autonomous shifting;

[0163] Step S4 includes step S41 and step S42;

[0164] In step S41, after the plugging operation of the current plugging point is completed, the positioning navigation and driving wheel motor control device 22 automatically loads the next plugging point in the working path of the plugging construction (ie, the next target coordinate) and controls the robot to move to the new plugging point.

[0165] Step S42, repeating steps S2 to S3 until the board-insertion tasks of all board-insertion points in the working path of the board-insertion construction are completed.

[0166] It should be noted that after the task is completed, the robot automatically returns to the starting point and enters the standby state.

[0167] In the present invention, in specific implementation, after step S4, the following steps may be further included:

[0168] Step S5: Status monitoring and exception handling; details are as follows:

[0169] Step S51: A remote monitoring terminal (e.g., an industrial computer) is connected to the positioning navigation and driving wheel motor control device 22 and the drainage plate shearing device 13 (e.g., wirelessly or wiredly) to display the robot position information, plate insertion progress information, shearing operation information, and other information in real time;

[0170] It should be noted that, in the present invention, the pay-off motor controller 3 controls the pay-off motor and controls the number of revolutions of the pay-off motor, thereby controlling the lifting range of the plug-in board rack and thus controlling the plug-in board progress. In a specific implementation, the movement of the pay-off motor can be controlled by a remote controller.

[0171] It should be noted that the pay-off motor controller 3 is in communication with the drain plate shearing device 13 .

[0172] In step S52, if an unavoidable obstacle or system failure (such as motor overload) occurs, the positioning navigation and driving wheel motor control device 22 in the robot automatically shuts down and sends positioning information and alarm information to an external monitoring terminal (such as an industrial computer) to wait for manual intervention.

[0173] Therefore, the construction method of the intelligent plug-in robot provided by the present invention has the following technical advantages:

[0174] 1. Multi-board synchronous construction: multiple drainage boards can be fixed at a time, and the installation can be completed at one time by lifting the board rack as a whole. Compared with the traditional single-board installation, the efficiency is several times higher;

[0175] 2. Intelligent control process: integrated system initialization, autonomous navigation, automatic board insertion, shearing and resetting, and continuous operation full process automation to reduce manual intervention;

[0176] 3. Safety guarantee mechanism: The drainage board shearing device 13 is provided with a limit block to constrain the position of the plug board, and the plug board can be sheared by a shear blade to reduce construction risks.

[0177] In summary, the intelligent board-insertion robot provided by the present invention provides power for installing drainage boards through a set of wire-paying motors, arranges multiple drainage boards in parallel and at intervals on the board-insertion rack through fixed steel plates, and is equipped with a specially designed drainage board cutting device. It can complete the installation and cutting operations of multiple drainage boards at one time, realize efficient and automatic board insertion, and significantly improve the efficiency of board insertion operations.

[0178] In addition, the intelligent plug-in robot provided by the present invention has navigation and flat-ground walking functions. It can accurately perform plug-in operations along the planned route according to the preset plan based on the signal transmitted by the user (that is, a data signal with information on multiple plug-in points), further improving the degree of automation and accuracy of the operation, and providing solutions to the problems of low efficiency and insufficient automation of existing vacuum preloading plug-in operations.

[0179] Compared with the prior art, the intelligent plug-in robot and construction method provided by the present invention have the following beneficial effects:

[0180] 1. High efficiency: Multiple drain boards can be inserted and cut simultaneously, and multiple drain boards can be processed in a single operation, which significantly improves the efficiency of board insertion and saves more than 60% of operation time compared with traditional equipment;

[0181] 2. Accuracy: Through the mature three-dimensional coordinate positioning and path planning algorithm of existing technology, the depth, spacing and verticality of the plugboard are ensured to meet the design requirements, avoiding deviations caused by manual operation;

[0182] 3. Safety: Fully automated operation reduces direct contact between personnel and equipment. During construction on soft soil foundations, it effectively prevents personnel from getting stuck in mud. Shear device failures are automatically handled, effectively reducing operational risks.

[0183] 4. Adaptability: The navigation walking device supports autonomous movement in complex terrain and can operate stably in harsh environments such as soft soil filling, expanding the application scenarios of the vacuum preloading method.

[0184] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An intelligent plug-in robot, characterized in that: Including fuselage, board rack and navigation running gear; The fuselage is equipped with a plugboard rack and a navigation walking device; A navigation walking device is used to drive the fuselage and the plug-in board rack on the fuselage to move to the pre-required plug-in board point according to the planned operation path of the plug-in board construction; A plugboard rack is provided with a plugboard (24) mounted thereon, and is used for simultaneously inserting a plurality of plugboards (24) downwards into the soft soil foundation below when the plugboard point required in the planned operation path of the plugboard construction is reached, and performing a plugboard cutting operation after the insertion operation is completed.

2. The intelligent plug-in robot according to claim 1, characterized in that: The fuselage includes a base and guide rail steel columns (5); Four mutually parallel and vertically distributed guide rail steel columns (5) are arranged at the top center of the base; The shape formed by connecting the projections of the center points of the four guide rail steel columns (5) on the horizontal plane in sequence is a rectangle.

3. The intelligent plug-in robot according to claim 2, characterized in that: The base comprises four base beams (16) distributed laterally; Four base cross beams (16) are longitudinally spaced and arranged parallel to each other; Four vertically distributed guide rail steel columns (5) are provided on the top of the two base cross beams (16) located on the longitudinal inner side; The fuselage also includes four base oblique steel beams (15); The lower outer side of each guide rail steel column (5) is also connected to the top of the guide rail running device connecting longitudinal beam (18) in the guide rail running device through a base inclined steel beam (15); For each guide rail steel column (5) of the fuselage, a limiter (7) is provided at the upper and lower ends thereof; The limiter (7) is used for limiting the vertical movement range of the plug-in board rack body.

4. The intelligent plug-in robot according to claim 1, characterized in that: The plugboard rack comprises a plugboard rack body; The plug-in board frame is movably arranged on a guide rail steel column (5) in the machine body; The plate rack body is connected with the guide rail steel column (5) in a sliding manner.

5. The intelligent plug-in robot according to claim 4, characterized in that: The plug-in board frame body comprises a plug-in board frame connecting column (8), a plug-in board frame inclined steel beam (9), a plug-in board frame horizontal steel beam (10) and a plug-in board frame drainage board fixing steel plate (14); The lower ends of a plurality of vertically distributed plug-in plate rack drainage plate fixing steel plates (14) are fixedly connected to the top of a base crossbeam (16) located on the inner side of the fuselage; The upper ends of the plurality of plug-in board rack drainage board fixing steel plates (14) are fixedly connected to the same transversely distributed plug-in board rack cross steel beam (10); A vertically distributed plug-in frame connecting column (8) is provided at the top horizontal middle position of the plug-in frame transverse steel beam (10); The top end of the plug-in frame connecting column (8) is fixedly connected to the left and right ends of the plug-in frame transverse steel beam (10) through a plug-in frame inclined steel beam (9); The plate rack cross steel beam (10) is laterally passed through the longitudinal gaps between the four guide rail steel columns (5) included in the fuselage; The plug-in frame connecting column (8) and the plug-in frame oblique steel beam (9) are located in the longitudinal gap between the four guide rail steel columns (5) included in the fuselage; Wherein, each plug-in board rack drainage board fixing steel plate (14) is used to fix a plug-in board (24) respectively; When the plug-in board rack is in a raised state, the lower portion of the plug-in board (24) protrudes downward from the bottom surface of the driven wheel (23) provided at the bottom of the base crossbeam (16) connected to the lower end of the plug-in board rack drainage plate fixing steel plate (14); Wherein, four plug-in board rack support sliders (12) are provided on the plug-in board rack body; Each plate rack support slider (12) is respectively connected to a guide rail steel column (5) in a sliding manner; Four inserting plate rack support sliders (12) are arranged at the four corners of the bottom of a horizontally distributed inserting plate rack support (11); The inserting plate frame support (11) is fixedly connected to the bottom of the inserting plate frame transverse steel beam (10) in the inserting plate frame body.

6. The intelligent board-switching robot according to claim 5, characterized in that: The middle and lower part of the plug board (24) is clamped by a clamping module (25) installed on the plug board frame drainage plate fixing steel plate (14); A clamping module (25) is provided on the back of each plug-in board rack drainage board fixing steel plate (14); A clamping module (25) is used to perform a clamping operation on the inserting plate (24) before the soft soil foundation insertion operation is completed; The clamping module (25) includes a clamping cylinder (251), a clamping groove (252) and a clamping block (253); The clamping groove (252) is longitudinally distributed and opens rearward, and is located between the cylinder body of the clamping cylinder (251) and the clamping block (253); The power output end of the clamping cylinder (251) is connected to the clamping block (253) and is used to drive the clamping block to move horizontally to the left and right, thereby clamping the inserting plate (24) located in the clamping groove (252); The clamping groove (252) is used to vertically penetrate a plug plate (24).

7. The intelligent plug-in robot according to claim 4, characterized in that: The plugboard rack also includes a plugboard rack body lifting device; The plug-in board frame body lifting device is used to connect the plug-in board frame body and drive the plug-in board frame body to perform lifting operations; The board rack body lifting device includes an ascending module and a descending module spaced apart in an upper and lower manner; The ascending module and the descending module are respectively located above and below the plate rack cross steel beam (10) in the plate rack body; The ascending module and the descending module are respectively used to connect the plate rack body and drive the plate rack body to perform ascending and descending operations; The ascending module comprises a first pay-off motor support (4-1), a first pay-off pulley (1-1) and a first pay-off motor (2-1); The first pay-off motor support (4-1) is fixedly arranged on the upper ends of four guide rail steel columns (5) included in the machine body; A first pay-off motor (2-1) is provided on a horizontally distributed first pay-off motor support (4-1); A first pay-off pulley (1-1) is provided on the output shaft of the first pay-off motor (2-1); A first plate rack pay-off cable (6-1) is wound around the first pay-off pulley (1-1); The extended end of the first plug-in frame pay-out cable (6-1) is connected to the two ends of the top of the plug-in frame cross steel beam (10) in the plug-in frame body through two sections of the first sub-cable (6-10), and the two sections of the first sub-cable (6-10) are symmetrically distributed on the left and right. A descending module comprises a second pay-off motor support (4-2), a second pay-off pulley (1-2) and a second pay-off motor (2-2); The second pay-off motor support (4-2) is fixedly arranged at the lower ends of four guide rail steel columns (5) included in the machine body; A second pay-off motor (2-2) is provided on a horizontally distributed second pay-off motor support (4-2); A second pay-off pulley (1-2) is provided on the output shaft of the second pay-off motor (2-2); A second plate rack pay-off cable (6-2) is wound around the second pay-off pulley (1-2); The extended end of the second plug-in frame line-laying sling (6-2) is connected to the two ends of the bottom of the plug-in frame transverse steel beam (10) in the plug-in frame body through two sections of second sub-slings (6-20), and the two sections of second sub-slings (6-20) are symmetrically distributed on the left and right.

8. The intelligent plug-in robot according to claim 1, characterized in that: The plate rack also includes a drainage plate shearing device (13); A drainage board shearing device (13) is used to cut off the board after the insertion operation in the soft soil foundation is completed; The drainage plate shearing device (13) comprises a power cylinder (131), a shearing blade (132), a plate inserting slot (133) and a limiting block (134); A drainage board shearing device (13) is provided on the rear side of the upper end of each plug-in board rack drainage board fixing steel plate (14); Each drain plate shearing device (13) is provided with a plate inserting slot (133) distributed longitudinally and open at the rear side; Each insert plate slot (133) is used to vertically pass through an insert plate; A limit block (133) is provided on one side of the inserting plate slot (133), and a power cylinder (131) is provided on the other side; The power output end of the power cylinder (131) is connected to one end of the shear blade (132); The other end of the shearing blade (132) faces the direction of the inserting plate slot (133); The power cylinder (131) is used for driving the shearing blade (132) to move in the direction of the inserting plate slot (133) until it contacts the limiting block (133).

9. The intelligent plug-in robot according to claim 1, characterized in that: The front and rear middle parts of the base of the fuselage are respectively provided with a navigation walking device; The two navigation walking devices are symmetrically distributed front and back; A navigation traveling device, including a navigation traveling device mounting base; The navigation running device mounting base comprises a navigation running device connecting longitudinal beam (18) and a navigation running device supporting cross beam (19); The mounting base of the navigation walking device is connected to the fuselage; The navigation walking device also includes a positioning control module and a driving walking module; A positioning control module, specifically including a positioning navigation and driving wheel motor control device (22); The positioning navigation and driving wheel motor control device (22) is used to load a plurality of plug-in board points where the plug-in board is required, and to plan a planned operation path for the plug-in board construction according to the plurality of plug-in board points, and to control the driving wheel motor (21) to drive the driving wheel (20) to work, so that the body of the robot moves along the operation path for the plug-in board construction; A driving module comprises a driving wheel motor (21) and a driving wheel (20); The power output end of the driving wheel motor (21) is connected to the driving wheel (20) and is used to drive the driving wheel (20) to work, thereby driving the fuselage to move; A movable driven wheel (23) is respectively provided at the bottom of the left and right ends of each base crossbeam included in the fuselage; The driving wheel motor (21) is connected to the positioning navigation and driving wheel motor control device (22) in the positioning control module and is used to start running according to the motor working instruction sent by the positioning navigation and driving wheel motor control device (22), thereby driving the driving wheel (20) to work.

10. A construction method of an intelligent plug-in robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1, system initialization and task loading; Step S1 includes step S11 and step S12; Step S11, assembling the plug board (24) onto the plug board rack drainage board fixing steel plate (14), that is, allowing the middle and lower parts of the plug board (24) to be clamped by the clamping module (25) installed on the plug board rack drainage board fixing steel plate (14), and the upper part of the plug board (24) passes through the plug board slot (133) of the drainage board cutting device (13) and is connected to the unwinding device, and power is supplied to the positioning navigation and driving wheel motor control device (22) and the driving wheel motor (21); Step S12, loading multiple board points where boards need to be plugged in through the positioning navigation and driving wheel motor control device (22); Step S2: autonomously navigate to the target plug-in board position; Step S2 includes step S21 and step S22; Step S21, the positioning navigation and driving wheel motor control device (22) plans and forms a planned operation path for the plugging board construction according to the multiple plugging board points loaded in step S1; Step S22, the positioning navigation and driving wheel motor control device (22) controls the driving wheel motor (21) to drive the driving wheel (20) to work, so that the body of the robot moves along the planned operation path of the plugboard construction, and the driven wheel (23) assists the body in moving until it moves along the planned operation path of the plugboard construction to the first plugboard point in the planned operation path of the plugboard construction; Step S3, fully automatic board insertion and cutting operation; Step S3 includes step S31 and step S32; Step S31, sending a plug-in instruction through the pay-off motor controller (3), so that the first pay-off motor (2-1) and the second pay-off motor (2-2) respectively drive the first pay-off pulley (1-1) and the second pay-off pulley (1-2) to rotate, thereby controlling the plug-in rack pay-off cable (6) to move up and down, driving the plug-in rack to move up and down, so that multiple plug-in rack drainage plate fixing steel plates (14) carry multiple plug-ins and are inserted into the soft soil foundation, and the lowering is stopped when the insertion depth reaches a preset depth; Step S32, after the board is inserted, the power cylinder (131) of the drainage board shearing device (13) is started, driving the shearing blade (132) to cut the board, and then the clamping module (25) on the drainage board fixing steel plate (14) of the board frame no longer clamps the board (24), completing the board insertion operation at the current board insertion point; Step S4, continuous operation and autonomous shifting; Step S4 includes step S41 and step S42; Step S41, after the plugging operation of the current plugging point is completed, the positioning navigation and driving wheel motor control device (22) automatically loads the next plugging point in the working path of the plugging construction and controls the robot to move to the new plugging point; Step S42, repeating steps S2 to S3 until the board-insertion tasks of all board-insertion points in the working path of the board-insertion construction are completed.

Images