Building external scaffold vertical rod conveying robot

Abstract

The invention relates to the field of scaffold installation, and discloses a building external scaffold vertical rod conveying robot which comprises a power box and further comprises a walking unit which is adjustably arranged on one side of the power box and abuts against a scaffold, a first clamping unit which is arranged on one side of the power box and is connected with the walking unit, and a second clamping unit which is arranged on one side of the power box and is connected with the first clamping unit. The second clamping unit is arranged on the power box and located above the first clamping unit, and when the second clamping unit encounters a steel pipe fastener on the scaffold, the second clamping unit is matched with the first clamping unit to alternately control the walking unit to fix the scaffold and control the walking unit to cross the steel pipe fastener; the third clamping unit is arranged on the power box and used for fixing the vertical rod needing to be conveyed. According to the vertical rod conveying device, the walking unit can cross the steel pipe fasteners, frequent manual intervention and adjustment are not needed, the vertical rod conveying time is shortened, the overall conveying efficiency is improved, and the construction progress of a scaffold is accelerated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of scaffold installation, in particular to a building outer scaffold vertical rod conveying robot. BACKGROUND

[0002] In the field of building construction, the erection of a building outer scaffold is a key link to ensure the safety and smooth progress of construction, and the vertical rod, as the main supporting structure of the outer scaffold, directly affects the progress of the entire project in terms of conveying and installation efficiency.

[0003] At present, the conveying of the vertical rod of the building outer scaffold mainly relies on manual operation, and the construction personnel need to carry the vertical rod from the ground to the corresponding position of the scaffold and then install and fix it. This traditional manual conveying method has many drawbacks.

[0004] The existing equipment has the following disadvantages: the labor intensity of manual carrying of the vertical rod is extremely great. The vertical rod of the building outer scaffold is usually long and heavy, and the construction personnel need to consume a lot of physical strength to carry it, especially in high-rise building construction, and multiple round trips to carry the vertical rod not only easily leads to fatigue of the construction personnel, but also may cause safety accidents due to physical exhaustion. On the other hand, the manual conveying efficiency is low. Due to the limitation of human physical strength and carrying capacity, the number of vertical rods carried at a time is limited, and the carrying speed is slow, which prolongs the erection period of the entire scaffold and increases the cost and time investment of the project.

[0005] Therefore, the present application proposes a building outer scaffold vertical rod conveying robot to solve the above problems. SUMMARY

[0006] The purpose of the present application is to provide a building outer scaffold vertical rod conveying robot to solve the problem that the construction personnel need to consume a lot of physical strength to carry, especially in high-rise building construction, and multiple round trips to carry the vertical rod not only easily leads to fatigue of the construction personnel.

[0007] To achieve the above purpose, the present application provides the following technical scheme: a building outer scaffold vertical rod conveying robot, comprising a power box, further comprising: A walking unit is adjustably arranged on one side of the power box and abuts against the scaffold, and is used to control the walking of the conveying robot on the scaffold; A first clamping unit is arranged on one side of the power box and connected with the walking unit, and is used to control the fixation of the walking unit and the scaffold; A second clamping unit is arranged on the power box and located above the first clamping unit, and cooperates with the first clamping unit to alternately control the fixation of the walking unit and the scaffold when encountering a steel pipe fastener on the scaffold, and controls the walking unit to cross the steel pipe fastener; A third clamping unit is arranged on the power box and used for fixing the vertical rod to be conveyed.

[0008] The first clamping unit and the second clamping unit are identical in structure.

[0009] The first clamping unit comprises: An outer box is arranged on one side of the power box and provides a mounting space for the whole clamping device. A first power member is arranged inside the outer box. A clamping plate is symmetrically arranged on the side of the first power member away from the outer box and connected to the first power member through a connecting member. The clamping plate is flipped along the central position of the first power member to realize clamping and separating work on the scaffold under the drive of the first power member.

[0010] The connecting member comprises: A moving block is arranged on the power output end of the first power member. A connecting seat is arranged on the outer box. A push rod is arranged on the moving block. A support rod is arranged on the side of the push rod away from the moving block and connected to the clamping plate at one end and connected to the connecting seat at the other end.

[0011] The walking units are arranged on the inner side of the clamping plate.

[0012] The walking units comprise: A support frame is arranged on the inner side of the clamping plate and used for supporting the walking units. A first motor is fixed on the outer side of the support frame and used for providing power to the walking units. A first gear is arranged on the power output end of the first motor and used for transmitting the power of the first motor. A guide roller is arranged inside the support frame. Support rollers are arranged inside the support frame. A gear belt is sleeved on the guide roller and the support rollers and meshingly connected with the first gear. The gear belt is abutted with the scaffold and walks on the scaffold under the drive of the first motor.

[0013] The outer side of the gear belt is provided with anti-skid strips.

[0014] The adjusting unit comprises: An adjusting unit is arranged on the power box and connected to the second clamping unit and used for adjusting the installation angle of the second clamping unit. The adjusting unit comprises: A second motor is fixed in a mounting groove inside the power box. A rotating shaft is arranged on the power output end of the second motor and extends upward through the power box. A mounting seat is arranged on the top end of the rotating shaft and connected with the second clamping unit.

[0015] The adjusting unit further comprises: A second power member is arranged on the mounting seat and connected with the second clamping unit, for adjusting the distance between the second clamping unit and the upright rod.

[0016] A total station is arranged on the power box, for detecting the positions of the scaffold port and the steel pipe fastener.

[0017] Compared with the prior art, the present application has the following beneficial effects: The conveying robot is equipped with a walking unit and first and second clamping units. The walking unit can walk on the scaffold under the power drive. The first clamping unit can control the walking unit to be fixed with the scaffold, ensuring stable walking. When the steel pipe fastener on the scaffold is encountered, the second clamping unit cooperates with the first clamping unit to alternately control the walking unit to be fixed with the scaffold, so that the walking unit can cross the steel pipe fastener without frequent manual intervention and adjustment, thereby shortening the time for conveying the upright rod and improving the overall conveying efficiency. The third clamping unit is arranged to enable the robot to quickly and firmly fix the upright rod to be conveyed, thereby improving the efficiency of conveying and installing the upright rod and accelerating the construction progress of the scaffold. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a main structure schematic diagram in an embodiment of the present application. Figure 2 It is a front view structure schematic diagram in an embodiment of the present application. Figure 3 It is a sectional view structure schematic diagram in an embodiment of the present application. Figure 4 It is a top view structure schematic diagram in an embodiment of the present application. Figure 5 It is a structure schematic diagram in which the first and second clamping units fix the scaffold in an embodiment of the present application. Figure 6 It is a structure schematic diagram in which the conveying robot is connected with the scaffold in an embodiment of the present application. Figure 7 It is a front view structure schematic diagram in which the conveying robot is connected with the scaffold in an embodiment of the present application. Figure 8 It is a structure schematic diagram of the first clamping unit in an embodiment of the present application. Figure 9 It is a structure schematic diagram in which the first clamping unit controls the moving direction of the clamping plate when the scaffold is released in an embodiment of the present application. Figure 10 Figure is a structure diagram of walking unit and scaffold connection in an embodiment of the present application; Figure 11 Figure is a structure diagram of walking unit and clamping plate connection in an embodiment of the present application; Figure 12 Figure is a structure diagram of adjusting unit in an embodiment of the present application; Figure 13 Figure is a structure diagram of walking unit in an embodiment of the present application.

[0019] In the figure: 1, power box; 101, installation groove; 102, through groove; 11, charging port; 2, first clamping unit; 21, outer box; 22, first power piece; 23, moving block; 24, connecting seat; 25, pushing rod; 26, supporting rod; 27, clamping plate; 3, walking unit; 31, supporting frame; 32, first motor; 33, first gear; 34, gear belt; 35, supporting roller; 36, guide roller; 4, adjusting unit; 41, second motor; 42, rotating shaft; 43, mounting seat; 44, second power piece; 5, second clamping unit; 6, third clamping unit; 7, total station; 8, scaffold; 81, steel pipe fastener; 82, vertical rod. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0021] Please refer to Figures 1-13 The present application provides a technical solution: a vertical rod conveying robot for building outer scaffold, comprising a power box 1, further comprising: a walking unit 3, which is adjustably arranged on one side of the power box 1 and abuts against the scaffold 8, and is used for controlling the walking of the conveying robot on the scaffold 8; a first clamping unit 2, which is arranged on one side of the power box 1 and connected with the walking unit 3, and is used for controlling the fixing of the walking unit 3 and the scaffold 8; a second clamping unit 5, which is arranged on the power box 1 and above the first clamping unit 2, and is used for alternately controlling the fixing of the walking unit 3 and the scaffold 8 when encountering the steel pipe fastener 81 on the scaffold 8, and controlling the walking unit 3 to cross the steel pipe fastener 81; and a third clamping unit 6, which is arranged on the power box 1 and is used for fixing the vertical rod 82 to be conveyed.

[0022] It should be noted that, in operation, when the scaffold 8 needs to be transported, the first clamping unit 2 and the second clamping unit 5 are fixed at the bottom of the scaffold 8, the upright rod 82 to be transported is installed in the through slot 102 inside the power box 1, and the upright rod 82 is fixed by the third clamping unit 6 which has the same structure as the walking unit 3, then the power element on the walking unit 3 is started to drive the power box 1 to walk on the scaffold 8, when the steel pipe fastener 81 on the scaffold 8 is encountered, the second clamping unit 5 is opened to release the fixing of the scaffold 8, at this time only the first clamping unit 2 fixes the scaffold 8, then the walking unit 3 continues to drive the first clamping unit 2 to move upwards on the scaffold 8, then the second clamping unit 5 will cross the steel pipe fastener 81, then after crossing the steel pipe fastener 81, the second clamping unit 5 is fixed on the scaffold 8 and continues to move upwards under the drive of the walking unit 3, when the first clamping unit 2 contacts the steel pipe fastener 81, the first clamping unit 2 will be opened, then the fixing of the scaffold 8 is released, then the walking unit 3 on the second clamping unit 5 continues to control the power box 1 to move upwards, after the first clamping unit 2 crosses the steel pipe fastener 81, the first clamping unit 2 is fixed with the scaffold 8, the side of the power box 1 is provided with a charging port 11 for charging, the transport robot is equipped with the walking unit 3 and the first clamping unit 2 and the second clamping unit 5, the walking unit 3 can walk on the scaffold 8 under the drive of the power, the first clamping unit 2 can control the walking unit 3 to be fixed with the scaffold 8 to ensure stable walking, when the steel pipe fastener 81 on the scaffold 8 is encountered, the second clamping unit 5 cooperates with the first clamping unit 2 to alternately control the walking unit 3 to be fixed with the scaffold 8, so that the walking unit 3 can cross the steel pipe fastener 81 without frequent manual intervention and adjustment, the time for transporting the upright rod 82 is shortened, and the overall transport efficiency is improved, and the setting of the third clamping unit 6 enables the robot to quickly and firmly fix the upright rod 82 to be transported, thereby improving the efficiency of transporting and installing the upright rod 82 and speeding up the construction progress of the scaffold 8.

[0023] In an embodiment, the first clamping unit 2 and the second clamping unit 5 have the same structure.

[0024] In this way, referring to Figure 5 Since the two clamping units have the same structure, the designer does not need to carry out complex and independent design work for the first clamping unit 2 and the second clamping unit 5 respectively, but only needs to complete a complete design scheme, and the clamping units with the same structure mean that they have similar mechanical properties, motion characteristics and function implementation modes, so that the designer can more conveniently plan and optimize the clamping system of the whole robot, and ensure that the two clamping units can better match and cooperate when working together, thereby improving the overall working performance and stability of the robot.

[0025] In an embodiment, the first clamping unit 2 comprises: an outer box 21 arranged on one side of the power box 1 to provide a mounting space for the entire clamping device; a first power member 22 arranged inside the outer box 21; clamping plates 27 symmetrically arranged on a side of the first power member 22 away from the outer box 21 and connected to the first power member 22 through connecting members, and the clamping plates 27 are flipped along the central position of the first power member 22 to realize clamping and separation of the scaffold 8 under the drive of the first power member 22.

[0026] In this way, as shown in Figure 8 , and Figure 10 , the outer box 21 is arranged on one side of the power box 1 to build a solid and reliable mounting frame for the entire clamping device, the first power member 22 is mounted inside the outer box 21, the clamping plates 27 are connected to the first power member 22 through the connecting members, the first power member 22 serves as a drive core to accurately control the movement of the clamping plates 27, the clamping plates 27 are symmetrically arranged on a side of the first power member 22 away from the outer box 21, and the clamping plates 27 are flipped along the central position of the first power member 22 under the drive of the first power member 22. This flipping clamping mode can uniformly apply pressure to the scaffold 8 from both sides of the clamping plates 27, ensuring the firmness of clamping the scaffold 8 and preventing the robot from separating from the scaffold 8 during walking. When the robot needs to cross the steel pipe fastener 81, the first power member 22 controls the clamping plates 27 to flip outward, so that the clamping plates 27 can cross the steel pipe fastener 81. When the robot needs to continue walking, the first power member 22 can drive the clamping plates 27 to flip in the opposite direction, so that the clamping plates 27 are fixed with the scaffold 8, and the device can automatically avoid obstacles on the scaffold 8, improving the practicability of the device.

[0027] In an embodiment, the connecting members comprise: a moving block 23 arranged on a power output end of the first power member 22; a connecting seat 24 arranged on the outer box 21; a push rod 25 arranged on the moving block 23; and a support rod 26 arranged on a side of the push rod 25 away from the moving block 23 and connected to the clamping plates 27 at one end and connected to the connecting seat 24 at the other end.

[0028] In this way, as shown in Figure 10The movable block 23 is located at the power output end of the first power member 22, which can convert the first power member 22 into a rotating part that allows the clamping plate 27 to rotate along the connecting seat 24. When the first power member 22 is started, the power can be transmitted to the movable block 23. The movable block 23 pushes the push rod 25 to rotate, and the push rod 25 pushes the support rod 26 to rotate along the connecting seat 24, thereby changing the opening angle of the clamping plate 27. When the top of the clamping plate 27 encounters an obstacle, it can open outward, so that the walking unit 3 inside the clamping plate 27 can be separated from the scaffold 8. After successfully avoiding the obstacle, the first power member 22 controls the clamping plate 27 to move closer to each other, thereby clamping and fixing it on the scaffold 8.

[0029] In one embodiment, the walking units 3 are spaced apart on the inner side of the clamping plate 27.

[0030] This design is for reference. Figures 8-11 The walking units 3 are spaced apart inside the clamping plate 27, so that the walking units 3 can better fit the surface of the steel pipe of the scaffold 8. When the robot needs to walk on the horizontal or vertical steel pipe, the spaced walking units 3 can contact different parts of the steel pipe to form a stable support, ensuring that the robot can be firmly attached to the scaffold 8 and reducing the occurrence of slippage or falling off.

[0031] In one embodiment, the walking unit 3 includes: a support frame 31, with the inner side of the clamping plate 27 for supporting the walking unit 3; a first motor 32, fixed to the outer side of the support frame 31 for providing power to the walking unit 3; a first gear 33, disposed at the power output end of the first motor 32 for transmitting the power of the first motor 32; a guide roller 36 disposed inside the support frame 31; support rollers 35, spaced apart inside the support frame 31; and a gear belt 34, sleeved on the guide roller 36 and support rollers 35 and meshing with the first gear 33, abutting against the scaffold 8 and walking on the scaffold 8 under the drive of the first motor 32.

[0032] This design is for reference. Figures 10-11 ,as well as Figure 13The first motor 32 is fixed to the outside of the support frame 31, and its power output end is directly connected to the first gear 33. The first gear 33 meshes with the gear belt 34. When the first motor 32 drives the first gear 33 to rotate, the first gear 33 drives the gear belt 34 to rotate. This allows the gear belt 34 to circulate inside the support frame 31 under the action of the guide roller 36 and the support roller 35. The guide roller 36 is located inside the support frame 31 and can guide and correct the gear belt 34, ensuring that the gear belt 34 rotates smoothly during operation. Throughout the process, the correct trajectory is maintained to avoid deviation. The support rollers 35 are spaced inside the support frame 31, providing multiple support points for the gear belt 34, dispersing the pressure on the gear belt 34, and making the contact between the gear belt 34 and the scaffold 8 more uniform, thereby ensuring the stability of the walking process. The gear belt 34 is sleeved on the guide roller 36 and the support roller 35 and abuts against the scaffold 8. Under the drive of the first motor 32, friction is generated between the gear belt 34 and the scaffold 8, which propels the walking unit 3 to walk on the scaffold 8.

[0033] In one embodiment, an anti-slip strip is provided on the outer side of the gear belt 34.

[0034] This design is for reference. Figure 13 The gear belt 34 relies on the friction between itself and the scaffold 8 to achieve movement and power transmission. The anti-slip strip increases the roughness of the outer surface of the gear belt 34, thereby increasing the friction between the gear belt 34 and the scaffold 8, so that the power output by the first motor 32 can be more effectively converted into the forward power of the walking unit 3 on the scaffold 8.

[0035] In one embodiment, it further includes: an adjustment unit 4, which is disposed on the power box 1 and connected to the second clamping unit 5, for adjusting the installation angle of the second clamping unit 5; the adjustment unit 4 includes: a second motor 41, which is fixed in the mounting groove 101 inside the power box 1; a rotating shaft 42, which is disposed at the power output end of the second motor 41 and extends upward through the power box 1; and a mounting base 43, which is disposed at the top of the rotating shaft 42 and connected to the second clamping unit 5.

[0036] This design is for reference. Figure 12The rotating shaft 42 transmits the power of the second motor 41 to the mounting base 43, which in turn drives the second clamping unit 5 connected to the mounting base 43 to rotate. When the robot moves to the top of the scaffold 8, the second motor 41 controls the rotating shaft 42 to rotate, causing the mounting base 43 to drive the second clamping unit 5 to rotate towards the side closer to the upright 82. Then the second clamping unit 5 fixes the upright 82, and the walking unit 3 inside the second clamping unit 5 controls the upright 82 to move upward. When the upright 82 moves to the set position, the second motor 41 controls the rotating shaft 42 to rotate in the opposite direction, so that the upright 82 on the second clamping unit 5 is aligned with the top of the scaffold 8. Then the scaffold 8 and the upright 82 are docked, which facilitates the next step of fixing and splicing the scaffold 8. Then the power box 1 is started to move downward to transport the next upright 82.

[0037] In one embodiment, the adjustment unit 4 further includes a second power member 44, which is disposed on the mounting base 43 and connected to the second clamping unit 5, for adjusting the distance between the second clamping unit 5 and the upright 82.

[0038] This design is for reference. Figure 6 , Figure 9 as well as Figure 12 The second power unit 44 can precisely control the distance between the second clamping unit 5 and the upright 82. When it is necessary to connect the upright 82 on the power box 1 with the scaffold 8, the second clamping unit 5 is opened, and then the second power unit 44 is started to drive the second clamping unit 5 to move closer to the upright 82. When it moves to the set position, the second power unit 44 is stopped, and then the second clamping unit 5 closes to clamp and fix the upright 82 inside the slot 102. Then the walking unit 3 inside the second clamping unit 5 is started to drive the upright 82 to move upward and separate from the third clamping unit 6 inside the slot 102. Then the second motor 41 can control the mounting base 43 to rotate, so that the upright 82 on the second clamping unit 5 moves to the top of the scaffold 8. Then the installation height of the upright 82 is adjusted so that the bottom of the upright 82 is aligned with the top of the scaffold 8, which can facilitate the fixing and adjustment of the upright 82 and further improve the assembly efficiency of the scaffold 8.

[0039] In one embodiment, a total station 7 is installed on the power box 1 for detecting the position of the scaffolding 8 port and the steel pipe coupler 81.

[0040] This design is for reference. Figure 6 ,as well as Figure 7The total station 7 has high-precision angle and distance measurement capabilities, can accurately determine the position of the scaffold 8 port and the steel pipe fastener 81 in the three-dimensional space, and transmit the received signal to the plc control element on the power box 1, and the plc control element drives the components on the robot to avoid obstacles and install the vertical rod 82, thereby improving the erection precision and quality of the scaffold 8.

[0041] In addition, if the description of "first", "second" and the like is involved in the embodiments, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features.

Claims

1. A construction scaffolding pole conveying robot, comprising a power unit (1), characterized in that, Also includes: The walking unit (3) is adjustablely mounted on one side of the power box (1) and abuts against the scaffold (8) to control the conveying robot to walk on the scaffold (8); The first clamping unit (2) is located on one side of the power box (1) and connected to the walking unit (3), and is used to control the walking unit (3) to be fixed to the scaffold (8); The second clamping unit (5) is set on the power box (1) and located above the first clamping unit (2). When it encounters the steel pipe coupler (81) on the scaffold (8), it cooperates with the first clamping unit (2) to alternately control the walking unit (3) to fix the scaffold (8) and control the walking unit (3) to cross the steel pipe coupler (81). The third clamping unit (6) is installed on the power box (1) and is used to fix the upright (82) to be transported.

2. The scaffolding pole erection and conveying robot according to claim 1, characterized in that: The first clamping unit (2) and the second clamping unit (5) have the same structure.

3. The scaffolding pole erection and conveying robot according to claim 1, characterized in that: The first clamping unit (2) includes: The outer casing (21) is located on one side of the power box (1) to provide installation space for the entire clamping device; The first power component (22) is disposed inside the outer casing (21); The clamping plate (27) is symmetrically arranged on the side of the first power member (22) away from the outer box (21) and connected to the first power member (22) through a connector. Under the drive of the first power member (22), it flips along the center position of the first power member (22) to achieve the clamping and separation of the scaffold (8).

4. The scaffolding pole erection conveying robot according to claim 3, characterized in that: The connector includes: The movable block (23) is located at the power output end of the first power component (22); A connecting seat (24) is provided on the outer casing (21); A push rod (25) is mounted on the movable block (23); The support rod (26) is located on the side of the push rod (25) away from the moving block (23) and one end is connected to the clamping plate (27), and the other end is connected to the connecting seat (24).

5. The scaffolding pole erection conveying robot according to claim 4, characterized in that: The walking units (3) are spaced apart on the inside of the clamping plate (27).

6. The scaffolding pole erection conveying robot according to claim 4, characterized in that: The walking unit (3) includes: The support frame (31) is provided with the inner side of the clamping plate (27) for supporting the walking unit (3); The first motor (32) is fixed on the outside of the support frame (31) and is used to provide power to the walking unit (3); The first gear (33) is located at the power output end of the first motor (32) and is used to transmit the power of the first motor (32); The guide roller (36) is disposed inside the support frame (31); Support rollers (35) are spaced apart inside the support frame (31); The gear belt (34) is fitted on the guide roller (36) and the support roller (35) and meshes with the first gear (33). It abuts against the scaffold (8) and moves on the scaffold (8) under the drive of the first motor (32).

7. The scaffolding pole erection conveying robot according to claim 6, characterized in that: The outer side of the gear belt (34) is provided with anti-slip strips.

8. The scaffolding pole erection conveying robot according to claim 1, characterized in that, Also includes: An adjustment unit (4), disposed on the power box (1) and connected to the second clamping unit (5), is used to adjust the installation angle of the second clamping unit (5): The adjustment unit (4) includes: The second motor (41) is fixed in the mounting slot (101) inside the power box (1); The rotating shaft (42) is located at the power output end of the second motor (41) and extends upward through the power box (1). Mounting base (43) is located at the top of the rotating shaft (42) and connected to the second clamping unit (5).

9. A construction scaffolding pole erection conveying robot according to claim 8, characterized in that: The adjustment unit (4) further includes: The second power component (44) is mounted on the mounting base (43) and connected to the second clamping unit (5), and is used to adjust the distance between the second clamping unit (5) and the upright (82).

10. The scaffolding pole erection conveying robot according to claim 1, characterized in that: The power box (1) is equipped with a total station (7) for detecting the position of the scaffold (8) port and the steel pipe coupler (81).

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