A building robot corner recognition positioning device

Abstract

The application discloses a building robot corner recognition positioning device and relates to the technical field of building, which comprises a mounting table, a fixing seat arranged at the center of one end of the mounting table, a rotating frame arranged at the center of the fixing seat and rotating on the fixing seat, a driving piece arranged in the fixing seat, a steering assembly arranged in the rotating frame, and a rotating table fixed on the steering assembly and rotating with the steering assembly in the rotating frame. The driving piece drives the recognition mounting plate to rotate, and the steering assembly is used to adjust the recognition mounting plate in front, back, left and right directions, so that the detected data is more accurate and rich, and the corners can be more accurately recognized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of building technology, in particular to a building robot corner recognition positioning device. BACKGROUND

[0002] Building engineering is the planning, surveying, design, construction, completion and other technical work and completed engineering entities of new, reconstruction or expansion of housing buildings and auxiliary structures, as well as the installation engineering of supporting lines, pipelines and equipment. It also refers to the construction engineering of various houses and buildings. This part of investment must be implemented through construction activities.

[0003] The existing Chinese patent CN202122977897.1 discloses a building robot corner recognition positioning device. The utility model discloses a laser ranging sensor for being used for passing through laser ranging which is arranged at four corners of the template one side, and the other side of the template is provided with a mechanical arm which controls the real-time movement of the template through the controller. When the patent product is used, it cannot accurately collect data and adjust the position. SUMMARY

[0004] The purpose of the present application is to provide a building robot corner recognition positioning device to solve the problems raised in the background art.

[0005] In order to solve the above technical problems, the present application provides the following technical scheme: a building robot corner recognition positioning device, comprising:

[0006] A mounting table is fixed at the end of the building robot;

[0007] A fixing seat is arranged at the center of one end of the mounting table;

[0008] A rotating frame is arranged at the center of the fixing seat, and the rotating frame rotates on the fixing seat;

[0009] A driving member is arranged in the fixing seat, and the output end of the driving member is connected with the middle part of the bottom end of the rotating frame and drives the rotating frame to rotate;

[0010] A steering assembly is arranged in the rotating frame, and the rotating table is fixed on the steering assembly, and the steering assembly drives the rotating table to rotate forward and backward and left and right in the rotating frame;

[0011] An identification mounting plate is arranged on the rotating table, and a sensor for detecting angle is fixed on the identification mounting plate.

[0012] As a preferred scheme of the building robot corner recognition positioning device, the turning assembly comprises sliding components distributed on the inner wall of the turning frame.

[0013] A bottom telescopic component is arranged on the sliding component at the bottom of the turning frame, and the sliding component drives the bottom telescopic component to be in the middle position when there is no load.

[0014] A middle telescopic component is arranged on the sliding component at the side wall of the turning frame, and the top of the bottom telescopic component is connected to the end of the middle telescopic component.

[0015] An adjusting telescopic component is arranged between the end of the middle telescopic component and the bottom of the turning table.

[0016] As a preferred scheme of the building robot corner recognition positioning device, the bottom telescopic component and the middle telescopic component are both elastic telescopic rods, and the adjusting telescopic component is an electric push rod.

[0017] As a preferred scheme of the building robot corner recognition positioning device, the sliding component comprises a sliding rod attached to the inner wall of the turning frame.

[0018] A sliding block is arranged on the sliding rod, lubricating oil is applied to the connection between the sliding rod and the sliding block, and the bottom telescopic component, the middle telescopic component and the adjusting telescopic component are all connected to the corresponding sliding blocks.

[0019] Balance springs are arranged on the outer side of the sliding rod at both ends of the sliding block, the balance springs are made of stainless steel springs, the specific elastic properties are selected according to specific use, and belong to the prior art, which will not be described here.

[0020] As a preferred scheme of the building robot corner recognition positioning device, the sliding component further comprises a limiting rod attached to the inner wall of the turning frame, the limiting rod passes through the sliding block and makes the sliding block move linearly, and the diameter of the limiting rod is smaller than that of the sliding rod.

[0021] As a preferred scheme of the building robot corner recognition positioning device, the number of the limiting rods is two, and the limiting rods are correspondingly distributed on both sides of the sliding block.

[0022] As a preferred scheme of the building robot corner recognition positioning device, the recognition mounting plate comprises two oppositely arranged turning rods made of aluminum alloy, and the sensor is fixed on the turning rods.

[0023] A turning groove is opened in the turning table, and the two turning rods are rotationally connected at the middle position of the turning groove.

[0024] Gear wheels are arranged at the bottom of the two rotating rods, and the two gear wheels are engaged with each other.

[0025] A driving gear wheel is arranged at one side of the gear wheel and engaged with the driving gear wheel, and a bidirectional motor is connected to the input end of the driving gear wheel.

[0026] As a preferred scheme of the building robot corner identification positioning device, a damper is additionally arranged between the rotating rod and the rotating groove.

[0027] As a preferred scheme of the building robot corner identification positioning device, a plurality of sensors are uniformly distributed at the corresponding positions of the two rotating rods.

[0028] As a preferred scheme of the building robot corner identification positioning device, a mounting hole is arranged in the inner side of the mounting table, and a fastening bolt is arranged in the mounting hole.

[0029] Compared with the prior art, the building robot corner identification positioning device has the following advantages: the identification mounting plate is driven to rotate by the driving member, and the identification mounting plate can be adjusted in the front, back, left and right directions by using the steering assembly, so that the detection data is more accurate and rich, and the corner can be more accurately identified. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, illustrate the application, and are used together with the embodiments to explain the application, and do not constitute a limitation on the application. In the drawings:

[0031] Figure 1 is a perspective view of the building robot corner identification positioning device of the application;

[0032] Figure 2 is a mounting structure diagram of the limiting rod of the building robot corner identification positioning device of the application;

[0033] Figure 3 is a right view of the building robot corner identification positioning device of the application;

[0034] Figure 4 is a front view of the building robot corner identification positioning device of the application;

[0035] Figure 5 is a building robot corner identification positioning device of the application Figure 4 is a sectional view along A-A of the building robot corner identification positioning device of the application;

[0036] Figure 6It is the structural schematic view of the steering assembly of the corner identification positioning device of the building robot of the patent application;

[0037] Figure 7 It is the structural schematic view of the identification installation plate of the corner identification positioning device of the building robot of the patent application;

[0038] Figure 8 It is the connection structural schematic view of the steering assembly and the rotating table of the corner identification positioning device of the building robot of the patent application;

[0039] Figure 9 It is the structural schematic view of the sliding part of the corner identification positioning device of the building robot of the patent application;

[0040] Figure 10 It is the installation structural schematic view of the installation table of the corner identification positioning device of the building robot of the patent application.

[0041] Markings in the figure:

[0042] 100, installation table;

[0043] 200, fixed seat;

[0044] 300, rotating frame;

[0045] 400, limiting sliding groove;

[0046] 500, sliding plate;

[0047] 600, driving piece;

[0048] 700, steering assembly; 701, bottom telescopic piece; 702, middle telescopic piece; 703, sliding part; 703a, sliding rod; 703b, sliding block; 703c, balance spring; 703d, limiting rod; 704, adjusting telescopic piece;

[0049] 800, rotating table;

[0050] 900, identification installation plate; 901, rotating groove; 902, rotating rod; 903, gear; 904, driving gear; 905, bidirectional motor;

[0051] 1010, sensor. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0053] Please refer to Figure 1 - Figure 10 The application provides a technical scheme: a building robot corner identification positioning device, comprising: a mounting table 100, the mounting table 100 is fixed at the end of the building robot, the mounting table 100 is a conventional design structure, which belongs to the prior art and will not be described here; a fixed seat 200 arranged at the center of one end of the mounting table 100, the fixed seat 200 is a stainless steel component, the specific model of stainless steel is selected according to actual use, which belongs to the prior art and will not be described here, and the mounting table 100 and the fixed seat 200 are fixed by welding; a rotating frame 300 arranged at the center of the fixed seat 200, the rotating frame 300 is also a stainless steel component and has a U shape, the rotating frame 300 rotates on the fixed seat 200, the centers of the fixed seat 200 and the rotating frame 300 are on a straight line, the rotating frame 300 rotates around the middle position of the fixed seat 200, which prevents deviation and swinging during rotation and reduces service life; a driving part 600 arranged in the fixed seat 200, the driving part 600 adopts a servo motor, the specific model of which is selected according to actual use, the output end of the driving part 600 is connected with the middle part of the bottom end of the rotating frame 300 and drives the rotating frame 300 to rotate, and a speed reducer is connected between the output end of the driving part 600 and the middle part of the bottom end of the rotating frame 300; a steering assembly 700 arranged in the rotating frame 300, a rotating table 800 is fixed on the steering assembly 700, and the steering assembly 700 drives the rotating table 800 to rotate forward, backward, leftward and rightward in the rotating frame 300; an identification mounting plate 900 arranged on the rotating table 800, a sensor 1010 for detecting angles is fixed on the identification mounting plate 900, the sensor 1010 is a distance measuring sensor, which belongs to the prior art and will not be described here.

[0054] In use, after the building robot moves to a position to be identified, the identification mounting plate 900 is located at the position to be identified, the sensor 1010 detects data and transmits the data to a controller in the building robot for data analysis, when the position is incorrect or the position is adjusted in advance, the driving part 600 can be started to rotate first, the rotation of the driving part 600 drives the rotating frame 300 to rotate on the fixed seat 200, the rotation of the rotating frame 300 drives the identification mounting plate 900 on the rotating table 800 to rotate through the transmission of the steering assembly 700, the angle of the identification mounting plate 900 at the position to be identified is adjusted, and then the steering assembly 700 drives the identification mounting plate 900 on the rotating table 800 to adjust forward, backward, leftward and rightward, so that the detected data is more accurate and rich, and the corners can be more accurately identified.

[0055] Among them, please refer to Figure 5 , Figure 6 and Figure 8The steering assembly 700 comprises sliding components 703 distributed on the inner wall of the rotating frame 300, a bottom telescopic component 701 arranged on the sliding components 703 at the bottom of the rotating frame 300, the sliding components 703 driving the bottom telescopic component 701 to be in the middle position when there is no load, a middle telescopic component 702 arranged on the sliding components 703 at the side wall of the rotating frame 300, the top of the bottom telescopic component 701 being connected to the end of the middle telescopic component 702, and an adjusting telescopic component 704 arranged between the end of the middle telescopic component 702 and the bottom of the rotating table 800. The bottom telescopic component 701 and the middle telescopic component 702 are elastic telescopic rods, and the adjusting telescopic component 704 is an electric push rod. The electric push rod is a conventional structure and belongs to the prior art. The specific model is selected according to the actual use, and details are not described here.

[0056] In use, when the steering assembly 700 is adjusted, the corresponding adjusting telescopic component 704 can be controlled to be telescoped through the controller on the construction robot. The corresponding adjusting telescopic component 704 on the corresponding side is telescoped, for example, the side is elongated, and the corresponding side is retracted. This is used in the adjustment field through existing programming and belongs to the prior art. The rotating table 800 can be controlled to be adjusted in the corresponding direction. When the adjusting telescopic component 704 is used, the adjusting telescopic component 704 drives the connected middle telescopic component 702 to be telescoped first, and then slides on the sliding component 703. The sliding of the middle telescopic component 702 on the sliding component 703 drives the connected bottom telescopic component 701 to be telescoped correspondingly. The telescoping of the bottom telescopic component 701 slides on the corresponding sliding component 703. Through the connection of the middle telescopic component 702 and the sliding component 703, the elastic deformation of the telescoping and the elastic deformation in use can be used more stably and reliably.

[0057] The sliding component 703 comprises a sliding rod 703a attached to the inner wall of the rotating frame 300, a sliding block 703b arranged on the sliding rod 703a, and lubricating oil being coated on the connection between the sliding rod 703a and the sliding block 703b. The bottom telescopic component 701, the middle telescopic component 702 and the adjusting telescopic component 704 are connected to the corresponding sliding block 703b. Balance springs 703c are arranged on the outer side of the sliding rod 703a and located at both ends of the sliding block 703b. The balance springs 703c are made of stainless steel springs, and the specific elastic performance is selected according to the specific use, which belongs to the prior art and will not be described here.

[0058] In use, the middle telescopic component 702 and the adjusting telescopic component 704 extrude the sliding block 703b to slide on the sliding rod 703a, and the balance springs 703c at both ends are telescoped or compressed to balance the sliding of the sliding block 703b and the vibration generated in use in turn. The balance springs 703c can be used to balance the vibration in use, which is more stable.

[0059] Wherein, please refer to Figure 2 And Figure 9 The sliding component 703 further comprises a limiting rod 703d attached to the inner wall of the rotating frame 300, the limiting rod 703d penetrating through the sliding block 703b and enabling the linear movement of the sliding block 703b; the limiting rod 703d is in a number of two and is correspondingly distributed on both sides of the sliding block 703b, and the diameter of the limiting rod 703d is smaller than that of the sliding rod 703a.

[0060] In use, the use of the limiting rod 703d can limit the sliding to be only back and forth on the sliding rod 703a, without rotation, but only linear sliding.

[0061] Wherein, please refer to Figure 6 And Figure 7 The recognition mounting plate 900 comprises two oppositely arranged rotating rods 902 made of aluminum alloy to reduce weight and facilitate use, the sensor 1010 is fixed on the rotating rod 902, and the sensor 1010 is fixed on the rotating rod 902 by screws; the rotating groove 901 is opened on the rotating table 800, the two rotating rods 902 are rotationally connected to the middle position of the rotating groove 901, and the two rotating rods 902 are rotationally connected to the middle position of the rotating groove 901 by rotating shafts; the gear 903 is arranged at the bottom of the two rotating rods 902, the two gears 903 are meshed with each other, the driving gear 904 is arranged on one side of one of the gears 903 and is meshed with each other, and the input end of the driving gear 904 is connected with the bidirectional motor 905, which belongs to the prior art and will not be described here.

[0062] In use, the bidirectional motor 905 is started, rotates, drives the driving gear 904 to rotate clockwise, drives the gear 903 in contact to rotate counterclockwise, and drives the other gear 903 to rotate clockwise through meshing, so that the rotating rods 902 on the two gears 903 are close to or away from each other.

[0063] Wherein, the connection between the rotating rod 902 and the rotating groove 901 is additionally provided with damping, and the additional damping belongs to the prior art and will not be described here.

[0064] In use, the additional damping can prevent the rotating rod 902 from easily rotating without resistance, which affects the use effect.

[0065] Wherein, the number of the sensor 1010 is multiple, and the multiple sensors 1010 are uniformly distributed at positions corresponding to the two rotating rods 902.

[0066] In use, the symmetrical data detection of the multiple sensors 1010 can make the adopted data more accurate.

[0067] The mounting base 100 is internally provided with a mounting hole, and the mounting hole is internally provided with a fastening bolt.

[0068] In use, the building robot is inserted into the mounting hole through the end, and the fastening bolt is tightened, which is simple and convenient to use.

[0069] Importantly, it should be noted that the construction and arrangement of the application shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications can be made to the embodiments without departing from the novel teachings and the advantages that are described in this application (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, locations, and the like). For example, the elements shown as integrally formed can be constructed of multiple parts or elements, the position of elements can be reversed or otherwise varied, and the nature or number of elements or positions can be altered or varied. Accordingly, all such modifications are intended to be included within the scope of the present application. The order or sequence of any process or method steps can be varied or re-sequenced without departing from the generality of the application. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes, and omissions can be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present application. Accordingly, the present application is not limited to particular embodiments described, but extends to various modifications that nevertheless fall within the scope of the appended claims.

[0070] Furthermore, in order to provide a concise description of exemplary embodiments, all features of an actual implementation can not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the application, or those unrelated to enabling the claimed application).

[0071] It is to be understood that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions can be made. Such development efforts can be complex and time-consuming, but would be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure.

[0072] It should be noted that the above examples are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced, without departing from the spirit and scope of the technical solutions of the present application, which should be covered in the scope of the claims of the present application.

Claims

1. A corner recognition and positioning device for a construction robot, characterized in that, include: Mounting platform (100), which is fixed to the end of the construction robot; A fixing seat (200) is provided at the center of one end of the mounting platform (100); A rotating frame (300) is disposed at the center of the fixed base (200), and the rotating frame (300) rotates on the fixed base (200); A drive unit (600) is disposed in the fixed base (200), the output end of the drive unit (600) is connected to the middle of the bottom end of the rotating frame (300) and drives the rotating frame (300) to rotate; A steering assembly (700) is disposed within the rotating frame (300), and a rotating platform (800) is fixed on the steering assembly (700). The steering assembly (700) drives the rotating platform (800) to rotate back and forth and left and right within the rotating frame (300). An identification mounting plate (900) is disposed on the rotating platform (800), and an angle detection sensor (1010) is fixed on the identification mounting plate (900); the steering assembly (700) includes sliding components (703) distributed on the inner wall of the rotating frame (300). A bottom telescopic member (701) is provided on the bottom sliding member (703) of the rotating frame (300), and the sliding member (703) drives the bottom telescopic member (701) to be in the middle position when there is no load; An intermediate telescopic member (702) is provided on the sliding component (703) on the side wall of the rotating frame (300), and the top of the bottom telescopic member (701) is connected to the end of the intermediate telescopic member (702); An adjusting telescopic component (704) is provided between the end of the intermediate telescopic component (702) and the bottom of the rotating platform (800). The sliding component (703) includes a slide rod (703a) that is attached to the inner wall of the rotating frame (300); The slider (703b) is provided on the slide bar (703a), and the bottom telescopic member (701), the middle telescopic member (702) and the adjusting telescopic member (704) are all connected to the corresponding slider (703b); Balance springs (703c) are provided on the outside of the slide bar (703a) at both ends of the slider (703b); the sliding component (703) also includes a limiting rod (703d) attached to the inner wall of the rotating frame (300), the limiting rod (703d) passes through the slider (703b) and causes the slider (703b) to move linearly; The number of limiting rods (703d) is two, correspondingly distributed on both sides of the slider (703b).

2. The corner recognition and positioning device for construction robots according to claim 1, characterized in that: The bottom telescopic component (701) and the middle telescopic component (702) are both elastic telescopic rods, and the adjusting telescopic component (704) is an electric push rod.

3. The corner recognition and positioning device for construction robots according to claim 1, characterized in that: The identification mounting plate (900) includes two opposing rotating rods (902), and the sensor (1010) is fixed on the rotating rods (902); A rotating groove (901) is formed on the rotating platform (800), and two rotating rods (902) are rotatably connected at the middle position of the rotating groove (901); Gears (903) are disposed at the bottom of the two rotating rods (902), and the two gears (903) mesh with each other; A drive gear (904) is provided on one side of one of the gears (903) and meshes with it. The input end of the drive gear (904) is connected to a bidirectional motor (905).

4. The corner recognition and positioning device for construction robots according to claim 3, characterized in that: The connection between the rotating rod (902) and the rotating groove (901) is provided with damping.

5. The corner recognition and positioning device for construction robots according to claim 3, characterized in that: The number of sensors (1010) is multiple, and the multiple sensors (1010) are evenly distributed at the corresponding positions of the two rotating rods (902).

6. The corner recognition and positioning device for construction robots according to claim 1, characterized in that: The mounting platform (100) has mounting holes on its inner side, and fastening bolts are installed inside the mounting holes.

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