Multi-scene multi-form building robot connection system and method

Abstract

The invention belongs to the technical field of constructional engineering, and discloses a multi-scene multi-form building robot connection system and method.The multi-scene multi-form building robot connection system comprises a connection frame part serving as a main body, a first-stage connection part installed in the upper area of the connection frame part and a second-stage connection part installed in the lower area of the connection frame part; the main body of the connection frame part is formed by a top plate mounted at the bottom of a hoisting mechanism of the tower crane, and the bottom of the top plate is connected with a first-stage connection unit storage frame; a second-level connection track is arranged at the bottom of the first-level connection unit storage frame, and a plurality of first-level connection units are arranged on one side of the central area of the first-level connection unit storage frame. According to the method, various application scenes are specifically classified into first-stage or second-stage direct lowering construction, remote construction is carried out, and then recovery is carried out; the second-stage transfer track is constructed; the robot connection system can be directly applied to existing robot connection, and the construction efficiency is effectively improved by integrating a plurality of different types of robots into the connection system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction engineering, in particular to a multi-scene and multi-form building robot connection system, and also relates to a multi-scene and multi-form building robot connection method. BACKGROUND

[0002] In the existing robot construction application, the construction path is usually divided into traditional transportation and autonomous movement. In the traditional transportation, the large robot is hoisted to the construction site by the tower crane, the aerial attitude is uncontrollable, collision is easy to occur, and construction can only be carried out after the robot is completely lowered to the destination. The small robot is transported by the construction elevator in sections, and the multiple transportation may cause positioning loss and time and labor consumption. The autonomous movement such as the wheeled robot and the tracked robot is difficult to cross the floor gap, and needs to be manually set up a platform. The wall climbing robot needs higher scene conditions, such as the building needs to have a large area of flat facade, and is difficult to adapt to the curved surface structure. Therefore, the existing robot construction path has great limitations.

[0003] At the same time, the utilization rate of the existing tower crane is low, and it is only used as a material lifting tool. If the robot needs to be hoisted, a hoist needs to be customized. For various robots on the market, a hoist needs to be customized separately, which consumes time and labor and has poor compatibility. The tower crane and the robot operate independently, and cannot be adjusted in real time to cooperate with the hoisting path, which reduces the construction quality and efficiency. SUMMARY

[0004] Based on the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present application is to provide a multi-scene and multi-form building robot connection system, which can be directly hoisted by the tower crane and flexibly transported to each construction site. All places where the traditional tower crane can transport are within the construction coverage range, realizing flexible transportation and construction of robots at all places in the construction site, greatly saving the robot transportation time, improving the efficiency and construction quality.

[0005] Another object of the present application is to provide a multi-scene and multi-form building robot connection method, which is classified into first or second direct lowering construction, remote construction and then recovery, facade and plane (loose rope) by classifying a plurality of application scenes. The second switching track construction (direct construction without rope) and the second switching rope construction (tight rope needs two units to be combined and matched) can be directly applied to the existing robot connection. By integrating a plurality of different types of robots in the connection system, the construction efficiency is effectively improved.

[0006] In order to achieve the above-mentioned purposes, the present application adopts the following technical solutions:

[0007] The multi-scene multi-form building robot connection system of the application comprises a connection frame part as a main body, a first connection part installed on the upper area thereof and a second connection part installed on the lower area thereof; the connection frame part is composed of a top plate installed on the bottom of the lifting mechanism of a tower crane, the bottom of the top plate is connected with a first connection unit storage frame; the bottom of the first connection unit storage frame is provided with a second connection track, the side of the first connection unit storage frame close to the central area of the second connection track is provided with a plurality of first connection units, and the lower part of the top plate near the first connection units is provided with two first servo winches; the first connection part comprises robot connection units as a main body, each robot connection unit is matched with a first connection unit and a first servo winch near the first connection unit; the robot connection units are fixedly connected with facade construction robots, plane construction robots or attitude adjustment units; the second connection part is composed of a plurality of second connection units installed on the second connection track, the second connection track is provided with a plurality of electric trolleys, the electric trolleys are provided with rotating motors, the output shafts of the rotating motors are connected with second connection bearing plates of the second connection units, and the lower surfaces of the second connection bearing plates are provided with two second servo winches which are the same as the first servo winches of the first connection units.

[0008] Preferably, the first connection unit comprises two lateral outward extending partitions, a bottom upward extending baffle, a first electric permanent magnetic suction disc installed on the inner surface thereof, the middle part of the inner surface and the first electric permanent magnetic suction disc is provided with a rectangular opening with the same size, the inside of the rectangular opening is provided with a first electric push rod outward, the first electric push rod is fixed in the first connection unit storage frame, and the output shaft thereof is fixedly connected with an electric clamping jaw.

[0009] Further, the robot connection unit is composed of an L-shaped magnetic suction base disc as a main body, the vertical outer surface of the magnetic suction base disc is provided with a rectangular opening corresponding to the middle part of the first electric permanent magnetic suction disc, the rectangular opening is provided with a clamping seat, the horizontal outer surface of the magnetic suction base disc is provided with connecting seats at both ends, the middle part of the connecting seat is provided with a lifting ring, and the lifting ring is lifted by a pull rope of the first servo winch or the second servo winch through the electric clamping jaw.

[0010] Further, the main body of the attitude adjustment unit is installed on the inner surface of the L-shaped magnetic suction base disc, which is composed of a counterweight mounting seat at the bottom, which is a multi-groove rectangular box, the box is provided with a counterweight block at the bottom, the counterweight block is provided with a high-pressure nitrogen gas tank, the high-pressure nitrogen gas tank is fixed through a nitrogen gas tank fixing belt installed on the magnetic suction base disc, and the inner surface of the magnetic suction base disc in the upper area of the high-pressure nitrogen gas tank is provided with an attitude adjustment mechanism.

[0011] Preferably, the posture adjusting mechanism is specifically composed of a middle air source distributor, the air source distributor is connected with two end blowing electromagnetic valves through pipelines, the blowing electromagnetic valves are connected with a nozzle installed at the end of the output shaft of the posture adjusting rudder through pipelines; harmless nitrogen in a high-pressure nitrogen tank is distributed through the air source distributor, then the blowing electromagnetic valves are controlled to be on or off to make the nozzle spray high-pressure gas, the docking system is rotated reversely, and the docking system rotating direction is adjusted by adjusting the nozzle orientation through the posture adjusting rudder.

[0012] Further, the bottom of the secondary docking bearing plate is provided with a secondary electric permanent magnetic chuck mounting seat, the secondary electric permanent magnetic chuck mounting seat is provided with a secondary electric permanent magnetic chuck, the secondary electric permanent magnetic chuck mounting seat and the secondary electric permanent magnetic chuck are provided with the same rectangular opening as the primary docking unit and the primary electric permanent magnetic chuck in the middle part, the rectangular opening is also provided with an outward secondary electric push rod, the secondary electric push rod is fixed in the secondary electric permanent magnetic chuck mounting seat, and the output shaft end of the secondary electric push rod is connected with an electric clamping jaw.

[0013] Preferably, the periphery of the top plate is provided with a laser radar scanner for monitoring the distance between the docking system and the building; the top plate is also provided with a three-dimensional ultrasonic anemometer for detecting the wind speed and direction at the docking system, so as to facilitate posture adjustment; the bottom of the primary docking unit storage frame is provided with a first connecting plate, the two sides of the first connecting plate are connected with outward second connecting plates, and the lower parts of the first connecting plate and the second connecting plates are jointly connected with a secondary docking track.

[0014] Correspondingly, the application also provides a multi-scene multi-form building robot docking method, and the steps are as follows:

[0015] S1, when the robot is connected to the plane, if the robot is directly placed on the first connection part, the robot is placed on a robot connection unit, the robot connection unit is adsorbed in a first connection unit by magnetic adsorption, and the clamping seat is clamped by the electric clamping jaw of the first electric push rod. The first electric permanent magnet adsorber of the corresponding first connection unit is controlled to be disconnected, then the first electric push rod is controlled to push the robot connection unit to a suitable distance, the electric clamping jaw is loosened, the two first servo winches connected with the robot connection unit are controlled to lower the rope, the length of the two ropes is controlled according to the plane angle, so that there is a length difference, and then the robot is converted from the vertical state to the state with a certain inclination when it is close to the ground, so that it can better connect with the ground. When the robot is completely in contact with the ground, the winch rope can be loosened to a larger extent, so that the robot can move in the construction area, or the connecting electric clamping jaw connected with the lifting ring of the robot connection unit can be loosened, so that the robot is completely separated from the connection system for autonomous construction. After the construction is completed, the connecting electric clamping jaw is reconnected, and then the robot is retracted into the connection system in the opposite way; if the robot is directly placed on the second connection part, the robot connection unit with the robot needs to be transferred from the first connection part to the second connection part; when the type of the robot needs to be changed, different types of robots are connected to the second connection part for storage, and then transferred to the first connection part for storage. The types of robots in the second connection part that are not needed are removed, so that the whole connection system is more portable and convenient. When the first and second connection parts need to be transferred, a group of second connection units are controlled to come to the corresponding first connection unit, that is, the back thereof. In the same way as above, the magnetic attraction between the robot connection unit and the first connection unit is loosened, and then the robot connection unit is lowered to the horizontal plane of the second connection unit by the two first servo winches. At this time, the second electric permanent magnet adsorber of the second connection unit forms an adsorption force on the robot connection unit, the second electric push rod is pushed out and the electric clamping jaw is clamped on the clamping seat. At this time, the electric clamping jaw at the end of the rope of the inner first servo winch is loosened, the second electric push rod is pulled back, and the electric clamping jaw at the end of the rope of the inner second servo winch is clamped on the loosened lifting ring. Then the electric clamping jaw of the other first servo winch is loosened, and the lifting ring is clamped by the electric clamping jaw at the end of the rope of the outer second servo winch. At this time, the whole robot connection unit is completely transferred from the first connection unit to the second connection unit. At this time, the robot is lowered in the same way as the first connection unit, and the second connection unit can move and rotate on the second connection track to the lowering site;

[0016] S2, when the robot connection construction of the facade is carried out, the specific lowering mode is the same as that in step S1, but when lowering, the height difference of the two primary and secondary servo winches does not need to be adjusted, the robot shape does not need to be adjusted, and the robot remains vertical, only the connection system needs to be controlled to be near the building facade, and the robot is in contact with the facade to carry out construction, at this time, the rope is not completely relaxed like step S1, it still provides a lifting force to support the robot, but does not form resistance to the robot climbing the facade, the robot used here is usually a light wall construction robot, which can autonomously climb the building facade for construction;

[0017] S3, when the moving construction on the secondary connection track is carried out, the robot and its robot connection unit used are transferred to the secondary connection part through the same transfer mode as step S1, but unlike steps S1 and S2, the rope of the winch does not need to be lowered, the secondary electric permanent magnet disc also remains tightly attracted, and the robot connection unit is always fixed on the secondary connection unit, the electric trolley and the rotating motor on the secondary connection unit are controlled to control its movement and rotation on the secondary connection track, so that it faces the construction area, and then the robot is controlled to directly carry out construction; In the construction process, the laser radar scanner, three-dimensional ultrasonic wind speed instrument and double-axis photovoltaic array inclination instrument in the connection system are used to monitor the high-altitude environmental parameters in real time, the direction and inclination of the connection system are adjusted by the attitude adjustment unit, and then the construction is guided;

[0018] S4, when the long-distance moving construction on the secondary connection track is carried out, unlike the direct lowering construction of the facade in step S2, a group of robot connection units with attitude adjustment units are prepared in advance, and the robot connection unit with the robot is combined for construction, the two robot connection units are fixedly connected through the electromagnetic lock tongue and the lock groove, then the robot is constructed during the lowering process, and the attitude of the robot is adjusted through the attitude adjustment unit, the high-pressure gas is sprayed out through the air source distributor, the blowing electromagnetic valve, the attitude adjustment rudder and the nozzle to adjust the attitude of the robot and resist the inclination caused by strong wind, and then the construction is stabilized.

[0019] From the above, the beneficial effects of the multi-scene and multi-form building robot connection system and method of the present application are as follows:

[0020] 1, the connection system designed in the application can be directly lifted by the tower crane and flexibly transported to various construction sites, all places where the traditional tower crane can be transported are within its construction coverage, so it has good flexibility and a large construction range, and it greatly expands the functions of the traditional tower crane, so that it can no longer be used only for material transportation, but also as a major participant in building construction.

[0021] 2、The connecting system designed in the application has a two-level connecting structure, so that the robot can move and switch between the connecting parts at each level, better coping with various construction needs. The first-level connecting part can stably store the robot and the attitude adjustment unit, and the second-level connecting part can move the robot and the attitude adjustment unit flexibly through the track, while flexibly constructing, the connecting system can adjust the counterweight system in real time, so that it can better cope with environmental factors such as strong wind in the air, and actively spray high-pressure gas to control the autonomous steering of the connecting system, so that the whole system is more controllable and safe.

[0022] 3、The connecting unit designed in the application connects and controls the robot in two dimensions of magnetic attraction and lifting, so that it can be connected to the system for stable operation in the system, or put down to the construction site for flexible operation, or even disengaged from the system for autonomous operation and then recycled to the system for energy charging. This connecting method has good application prospect.

[0023] 4、The connecting method designed in the application classifies construction scenes and forms, including first-level or second-level direct release construction, remote construction and then recovery, facade and plane (loose rope); second-level switching track construction (direct construction without rope); second-level switching rope construction (tight rope needs two units to be spliced and matched); through the specific classification of various application scenes, the application prospect of the system is more clear. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings described herein are used to provide further understanding of the present application, and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present application after hoisting;

[0026] Figure 2 It is a schematic diagram of the structure of the connecting system of the present application;

[0027] Figure 3 It is a schematic diagram of the structure of the connecting frame part of the present application;

[0028] Figure 4 It is a schematic diagram of the structure of the first-level connecting part of the present application;

[0029] Figure 5 It is a schematic diagram of the structure of the robot connecting unit of the present application;

[0030] Figure 6 It is a schematic diagram of the structure of the attitude adjustment unit of the present application;

[0031] Figure 7 It is a schematic diagram of the structure of the second-level connecting part of the present application;

[0032] Figure 8 Structure diagram of secondary connection unit of the present application.

[0033] Legend:

[0034] 0001-cranes; 0002-lifting mechanism; 0003-connection system mounting rack;

[0035] 1000-connection frame part:

[0036] 1001-top plate; 1002-first connection unit storage frame; 1003-first connecting plate; 1004-second connecting plate; 1005-secondary connection rail; 1006-first connection unit; 1006a-baffle; 1006b-first electric permanent magnetic suction disc; 1006c-push rod opening; 1006d-first electric push rod; 1007-first servo winch;

[0037] 2000-first connection part:

[0038] 2001-facade construction robot; 2002-planar construction robot;

[0039] 2100-robot connection unit; 2101-connection electric clamping jaw; 2102-sling; 2103-connection seat; 2104-magnetic suction base plate; 2105-clamping seat;

[0040] 2200-pose adjustment unit; 2201-counterweight mounting seat; 2202-high-pressure nitrogen gas tank; 2203-nitrogen gas tank fixing belt; 2204-gas source distributor; 2205-injection electromagnetic valve; 2206-pose adjustment steering engine; 2207-injection port;

[0041] 3000-secondary connection part:

[0042] 3100-secondary connection unit; 3101-secondary connection bearing plate; 3102-secondary electric permanent magnetic suction disc mounting seat; 3103-secondary electric permanent magnetic suction disc; 3104-secondary electric push rod; 3105-secondary servo winch. DETAILED DESCRIPTION

[0043] In order to facilitate those skilled in the art to understand and implement the present application, the present application will be further described in detail below in conjunction with the drawings and implementation examples, and it should be understood that the implementation examples described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0044] Below, combined with Figures 1 to 8 A multi-scene and multi-form building robot connection system and method are provided.

[0045] As shown in Figures 1-2 The multi-scene multi-form building robot of the present application comprises a connection system mounting frame 0003 as a ground bearing seat for hoisting the connection system, and a tower crane 0001 for hoisting the connection system, the connection frame part 1000 of the connection system body is installed on the lifting mechanism 0002, the connection system comprises the connection frame part 1000 as the body, and the first connection part 2000 installed on the upper region and the second connection part 3000 installed on the lower region.

[0046] As shown in Figure 3 The connection frame part 1000 is composed of a top plate 1001 installed at the bottom of the lifting mechanism 0002, the periphery of the top plate 1001 can be provided with a laser radar scanner for monitoring the distance between the connection system and the building, and a three-dimensional ultrasonic anemometer can also be provided on the top plate 1001 for detecting the wind speed and direction at the connection system, facilitating attitude adjustment; the bottom of the top plate 1001 is connected with a first connection unit storage frame 1002, the bottom of the first connection unit storage frame 1002 is provided with a first connecting plate 1003, the two sides of the first connecting plate 1003 are connected with outwardly extending second connecting plates 1004, and the lower parts of the first connecting plate 1003 and the second connecting plates 1004 are jointly connected with a second connection rail 1005; a plurality of first connection units 1006 are arranged on one side of the first connection unit storage frame 1002 close to the central region of the second connection rail 1005, the first connection unit 1006 comprises two outwardly extending partition plates, a bottom upwardly extending baffle 1006a, and a first electric permanent magnetic suction disc 1006b installed on the inner surface thereof, the inner surface and the first electric permanent magnetic suction disc 1006b are provided with the same size rectangular openings in the middle part, the inside of the rectangular opening is provided with a first electric push rod 1006d outwardly, the first electric push rod 1006d is fixed in the first connection unit storage frame 1002, and the output shaft thereof is fixedly connected with an electric clamping jaw; two first servo winches 1007 are arranged on the lower part of the top plate 1001 near the first connection unit 1006, and the first servo winches 1007 are designed in front and back; it should be noted that the number of the first connection units 1006 in the first connection unit storage frame 1002 can be adjusted according to actual conditions, for example, if more smaller building robots are needed for construction, more smaller first connection units 1006 can be arranged, and in this embodiment, three first connection units 1006 are arranged, if larger building robots are needed for construction, fewer larger first connection units 1006 can be arranged, and two first servo winches 1007 corresponding to each first connection unit 1006 are arranged on the lower part of the top plate 1001.

[0047] As shown in Figures 4-6As shown, the primary connection part 2000 includes a robot connection unit 2100 as the main body, each of which can be matched with a primary connection unit 1006 and a primary servo winch 1007 near it; the robot connection unit 2100 can be fixedly connected with a facade construction robot 2001 or a plane construction robot 2002; the facade construction robot 2001 usually refers to a construction robot that can be directly hung on the connection system to perform construction on the surface of the building, such as a wall surface, or the mechanism thereof can directly interact with the building construction area, while the plane construction robot 2002 needs to be adjusted in posture and then placed on the building for construction, such as being adjusted from a vertical state to a horizontal state and then placed on the construction ground for autonomous movement and construction, and the winch rope is released to make it move freely, and it is retracted by the winch rope when it is retracted; meanwhile, the robot connection unit 2100 can also be fixedly provided with a posture adjustment unit 2200, and a plurality of posture adjustment units 2200 can be provided on the same connection system, which is used as a counterweight and a main driving mechanism for overall posture adjustment.

[0048] The robot connection unit 2100 is composed of an L-shaped magnetic suction base plate 2104 as the main body, which can be composed of a laminated composite structure composed of a surface layer of ultra-low carbon stainless steel, an intermediate layer of soft magnetic alloy sheet, a base layer of aluminum alloy, and a protective layer of micro-arc oxidation ceramic film, the surface layer of stainless steel can resist corrosion and wear, the intermediate soft magnetic layer can efficiently guide the magnetism to make the connection and adsorption more stable, the bottom layer of aluminum alloy makes the main body more lightweight, and the ceramic film can be insulated to prevent electric arc; the vertical outer surface of the magnetic suction base plate 2104 is provided with a rectangular opening corresponding to the middle part of the primary electric permanent magnet suction plate 1006b, and a clamping seat 2105 is arranged in the rectangular opening, which is designed to make the process of adsorbing the magnetic suction base plate 2104 by the electric permanent magnet suction plate more stable through the electric push rod, electric clamping jaw, and clamping seat, and facilitate the switching between the primary connection part 2000 and the secondary connection part 3000; the horizontal outer surface of the magnetic suction base plate 2104 is provided with a connecting seat 2103, and the middle part of the connecting seat 2103 is provided with a lifting ring 2102, which can be lifted by the rope of the primary servo winch 1007 or the secondary servo winch 3105 through the connecting electric clamping jaw 2101.

[0049] As Figure 6As shown, the main body of the posture adjustment unit 2200 is mounted on the inner surface of the L-shaped magnetic bottom disc 2104, which is composed of a counterweight mounting seat 2201 at the bottom, which is a multi-groove rectangular box, and the inner bottom of the box can be provided with a counterweight block, and a high-pressure nitrogen gas tank 2202 is arranged on the counterweight block. The high-pressure nitrogen gas tank 2202 is fixed by a nitrogen gas tank fixing belt 2203 mounted on the magnetic bottom disc 2104. A posture adjustment mechanism is arranged on the inner surface of the magnetic bottom disc 2104 in the upper region of the high-pressure nitrogen gas tank 2202. The posture adjustment mechanism specifically comprises a gas source distributor 2204 at the middle as the main body. The gas source distributor 2204 is connected with two end blow electromagnetic valves 2205 through pipelines. The blow electromagnetic valves 2205 are connected with a nozzle 2207 mounted at the end of the output shaft of a posture adjustment steering engine 2206 through pipelines. The purpose of setting this structure is to distribute the harmless nitrogen gas in the high-pressure nitrogen gas tank 2202 through the gas source distributor 2204, then control the on-off of the blow electromagnetic valve 2205 to make the nozzle spray high-pressure gas, and push back the rotation of the docking system, and at the same time, adjust the direction of the nozzle by the posture adjustment steering engine 2206, so as to adjust the rotation direction of the docking system, which can adjust the inclination of the system while resisting external wind resistance.

[0050] The bottom of the counterweight mounting seat 2201 of the posture adjustment unit 2200 is also provided with a dual-axis photovoltaic array inclination instrument, which functions to monitor the inclination of the docking system, and then guide the posture adjustment unit 2200 to assist in adjustment. It should be noted that in this embodiment, multiple posture adjustment units 2200 are usually arranged on the secondary docking part 3000, which are simultaneously distributed in each region of the secondary docking track 1005. Through the simultaneous monitoring of multiple sets of inclination data and the adjustment of the posture adjustment mechanism, the entire docking system can resist the external strong wind environment to a certain extent and maintain stable construction.

[0051] By Figures 7-8As shown, the secondary connection part 3000 is composed of a plurality of secondary connection units 3100 arranged on the secondary connection track 1005; the secondary connection track 1005 is provided with a plurality of electric trolleys, and the electric trolleys are provided with rotating motors, the output shafts of the rotating motors are connected with the secondary connection bearing plates 3101 of the secondary connection units 3100, the bottom of the secondary connection bearing plate 3101 is provided with a secondary electric permanent magnet suction seat 3102, the secondary electric permanent magnet suction seat 3102 is provided with a secondary electric permanent magnet suction plate 3103, the middle part of the secondary electric permanent magnet suction seat 3102 and the secondary electric permanent magnet suction plate 3103 is provided with a rectangular opening which is the same as the first connection unit 1006 and the first electric permanent magnet suction plate 1006b, and the rectangular opening is also provided with an outward secondary electric push rod 3104, the secondary electric push rod 3104 is fixed in the secondary electric permanent magnet suction seat 3102, and the output shaft end of the secondary electric push rod 3104 is connected with an electric clamping jaw; the lower surface of the secondary connection bearing plate 3101 is provided with two secondary servo winches 3105 which are the same as the first servo winch 1007 of the first connection unit 1006; the purpose of the structure is to enable the robot connection unit 2100 to be lowered and misaligned under the action of magnetic suction, electric clamping jaws and electric push rods, and to enable the robot connection unit 2100 with the robot or attitude adjusting unit 2200 to be flexibly switched between the first and secondary connection units, and the secondary connection unit 3100 can be flexibly moved, rotated and constructed on the track.

[0052] Correspondingly, the multi-scene and multi-form building robot connection method of the application has the following steps:

[0053] Firstly, the construction scene and form are divided, and the specific division is as follows:

[0054] The robot connection unit 2100 of the first connection part 2000 or the secondary connection part 3000 is directly lowered to the construction site for construction, at this time, the pull rope of the servo winch is loosened, the robot is free to act, and after the construction is completed, the pull rope is tightened to recover the robot, which is divided into two cases of plane and facade, namely, embodiment one and embodiment two.

[0055] After the robot connection unit 2100 of the first connection part 2000 is switched to the secondary connection part 3000, it is moved on the secondary connection track 1005 for construction, at this time, the pull rope is in a tightened state, and the magnetic suction disc 2104 is also in a suction tightened state, which is embodiment three.

[0056] The robot connecting unit 2100 of the primary docking part 2000 is connected to the secondary docking part 3000, and then moves on the secondary docking track 1005 for construction, while the rope is released for a long length, so that the robot can approach the construction site alone away from the docking system, which is different from examples one and two in that the rope is fully tightened throughout, still supported by the docking system as gravity, and the secondary docking track 1005 of the docking system as a displacement mechanism. In this case, each individual robot connecting unit 2100 with a robot needs to be bundled and fixed with another robot connecting unit 2100 with a posture adjusting unit 2200. It can be stably connected through the electromagnetic lock tongue and lock slot, so that the single robot released has the ability to adjust the posture to cope with external strong winds or internal tilting. This is example four.

[0057] S1, embodiment one: when the robot connection construction is carried out in the plane, if the construction is directly carried out through the first connection part 2000 at this time, the robot is loaded on a robot connection unit 2100, the robot connection unit 2100 is adsorbed in a first connection unit 1006 through magnetic adsorption, at the same time, the clamping seat 2105 thereof is clamped by the electric clamping jaw of the first electric push rod 1006d, the first electric permanent magnet adsorber 1006b corresponding to the first connection unit 1006 is controlled to be disconnected, then the first electric push rod 1006 is controlled to push out the robot connection unit 2100 to a suitable distance, the electric clamping jaw thereon is released, two first servo winches 1007 connected with the robot connection unit 2100 are controlled to lower the ropes, the extension lengths of the two ropes are controlled according to the plane inclination angle, so that there is a length difference, and then the robot is turned from the vertical state to the state with a certain inclination angle when it is close to the ground, so that it can better be connected with the ground, when the robot is completely connected with the ground, the winch rope can be optionally released to a larger extent, so that the robot can move in the construction area in a large range and autonomously, the connecting electric clamping jaw 2101 connected with the lifting ring 2102 of the robot connection unit 2100 can also be optionally released, so that the robot completely separates from the connection system to carry out autonomous construction, after the construction is completed, the connecting electric clamping jaw 2101 is reconnected, and then the robot is recovered to the connection system in the reverse way.At this time, if the construction is directly lowered through the secondary connection part 3000, the robot connection unit 2100 with the robot needs to be transferred from the primary connection part 2000 to the secondary connection part 3000 first. The advantage of this method is that multiple robot connection units 2100 can be connected in the secondary connection part 3000 at the same time, and the number can even exceed the storage limit of the primary connection part 2000, so that the connection system can lower more groups of robots for construction at the same time. Similarly, this method can be used for robot composition update in the connection system. For example, when the type of robot needed changes, different types of robots can be connected to the secondary connection part 3000 for storage, and then transferred to the primary connection part 2000 for storage. Then, the unnecessary types of robots in the secondary connection part 3000 are removed, so that the entire connection system is updated more conveniently. When the primary and secondary connection parts need to be transferred, control a group of secondary connection units 3100 to approach the corresponding primary connection unit 1006, i.e. the back thereof. Loosen the magnetic attraction connection between the robot connection unit 2100 and the primary connection unit 1006 in the same way as described above. Then, lower the robot connection unit 2100 to the horizontal plane of the secondary connection unit 3100 through the two primary servo winches 1007. At this time, start the secondary electric permanent magnet suction cup 3103 of the secondary connection unit 3100 to form a suction force on the robot connection unit 2100. Push out the secondary electric push rod 3104 and control the electric clamping jaw to clamp the clamping seat 2105. Loosen the connection electric clamping jaw 2101 at the end of the pull rope of the inner primary servo winch 1007. Pull back the secondary electric push rod 3104 while controlling the electric clamping jaw at the end of the pull rope of the inner secondary servo winch 3105 to clamp the loosened lifting ring. Loosen the electric clamping jaw of the other primary servo winch 1007, and clamp the lifting ring through the electric clamping jaw at the end of the pull rope of the outer secondary servo winch 3105. At this time, the entire robot connection unit 2100 is completely transferred from the primary connection unit 1006 to the secondary connection unit 3100. At this time, the robot can be lowered in the same way as the primary connection unit. Meanwhile, the secondary connection unit 3100 can move and rotate on the secondary connection rail 1005 to get the best lowering location.

[0058] S2, Example Two: When the robot connection construction is performed on the facade, the specific lowering method and steps S1 are the same, but there is no need to adjust the height difference of the pull ropes of the two primary and secondary servo winches, and there is no need to adjust the robot shape, so that it remains vertical. Only need to control the connection system to approach the building facade, so that the robot contacts the facade to perform construction. At this time, the pull rope is not completely loosened, and it still provides a lifting force to support the robot, but does not form resistance to the robot climbing the facade. The robot used here is usually a light wall construction robot, which can climb and construct on the building facade autonomously.

[0059] S3, embodiment three: when moving construction on the secondary connection track 1005, the robot and its robot connecting unit 2100 needed to be used are transferred to the secondary connection part 3000 by the same transfer mode as step S1, but unlike steps S1 and S2, the pull rope of the hoist does not need to be lowered, the secondary electric permanent magnet suction cup 3103 also remains suction tight, the robot connecting unit 2100 is always fixed on the secondary connection unit 3100, and the electric trolley and rotating motor on the secondary connection unit 3100 are controlled to control its movement and rotation on the secondary connection track 1005, so that it faces the construction area, and then the robot is controlled to directly perform construction, which can be commonly used for concrete pouring assistance, concrete vibrating, and curtain wall outer surface construction. It should be noted that the high-altitude environmental parameters can be monitored in real time by using the laser radar scanner, three-dimensional ultrasonic anemometer, and dual-axis photovoltaic array inclination instrument in the connection system during the construction process, and the direction and inclination of the connection system are adjusted by the attitude adjustment unit 2200, thereby guiding the construction.

[0060] S4, embodiment four: when performing long-distance mobile construction on the secondary connection track 1005, unlike the direct lowering construction on the facade in step S2, the robot is still suspended in this embodiment even if it is lowered, and it does not contact the building, so it will be affected by the environmental wind in the air and rotate, affecting the construction, so a set of robot connecting units 2100 with attitude adjustment units 2200 are prepared in advance for combined construction with the robot connecting unit 2100 with the robot, the two robot connecting units 2100 are fixedly connected by the electromagnetic lock tongue and the lock groove, and then the robot is constructed during the lowering process, while the attitude of the robot is adjusted by the attitude adjustment unit 2200, the gas source distributor 2204, the blowing electromagnetic valve 2205, the attitude adjustment rudder 2206, and the nozzle 2207 cooperate with each other to spray high-pressure gas to adjust the attitude of the robot and resist the inclination caused by the strong wind, thereby stabilizing the construction.

[0061] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can understand the transformation or replacement within the technical scope disclosed by the present application, which should be covered within the scope of the present application.

Claims

1. A multi-scenario multi-modal building robot docking system, characterized in that, The connecting frame part (1000) includes a connecting frame part (1000) as a main body, a first connecting part (2000) installed on the upper region thereof, and a second connecting part (3000) installed on the lower region thereof; The connecting frame part (1000) is composed of a top plate (1001) installed at the bottom of the lifting mechanism (0002) of the tower crane (0001), and the bottom of the top plate (1001) is connected with a first connecting unit storage frame (1002); the bottom of the first connecting unit storage frame (1002) is provided with a second connecting rail (1005), and the side of the first connecting unit storage frame (1002) close to the central region of the second connecting rail (1005) is provided with a plurality of first connecting units (1006); the lower part of the top plate (1001) near the first connecting units (1006) is provided with two first servo winches (1007); The first connecting part (2000) includes a robot connecting unit (2100) as a main body, each robot connecting unit (2100) is matched with a first connecting unit (1006) and a first servo winch (1007) near the first connecting unit (1006); the robot connecting unit (2100) is fixedly connected with a facade construction robot (2001), a plane construction robot (2002), or a posture adjusting unit (2200); The second connecting part (3000) is composed of a plurality of second connecting units (3100) installed on the second connecting rail (1005); the second connecting rail (1005) is provided with a plurality of electric trolleys, and the electric trolleys are provided with rotating motors, the output shafts of the rotating motors are connected with second connecting bearing plates (3101) of the second connecting units (3100); the lower surface of the second connecting bearing plate (3101) is provided with two second servo winches (3105) which are the same as the first servo winches (1007) of the first connecting units (1006).

2. The multi-scenario multi-modality construction robot docking system of claim 1, wherein, The first connecting unit (1006) includes two side outward extending partitions, a bottom upward extending baffle (1006a), and a first electric permanent magnetic suction disc (1006b) installed on the inner surface thereof; the inner surface and the middle part of the first electric permanent magnetic suction disc (1006b) are provided with the same size rectangular openings, and the inside of the rectangular openings is provided with a first electric push rod (1006d) outward; the first electric push rod (1006d) is fixed in the first connecting unit storage frame (1002), and the output shaft thereof is fixedly connected with an electric clamping jaw.

3. The multi-scenario multi-modality construction robot docking system of claim 2, wherein, The robot connecting unit (2100) is composed of an L-shaped magnetic suction disc (2104) as a main body, and the vertical outer surface of the magnetic suction disc (2104) is provided with a rectangular opening corresponding to the middle part of the first electric permanent magnetic suction disc (1006b); and the rectangular opening is provided with a clamping seat (2105). The magnetic chassis (2104) has connecting seats (2103) at both ends of its horizontal outer surface. The connecting seat (2103) has a lifting ring (2102) in the middle. The lifting ring (2102) is pulled up by the pull rope of a primary servo winch (1007) or a secondary servo winch (3105) through a connecting electric gripper (2101).

4. The multi-scenario multi-modality construction robot docking system of claim 3, wherein, The main body of the attitude adjustment unit (2200) is installed on the inner surface of the L-shaped magnetic chassis (2104). The main body is composed of a counterweight mounting base (2201) at the bottom, which is a multi-slot rectangular box. A counterweight block is provided at the bottom of the box. A high-pressure nitrogen tank (2202) is provided on the counterweight block. The high-pressure nitrogen tank (2202) is fixed by a nitrogen tank fixing strap (2203) installed on the magnetic chassis (2104). An attitude adjustment mechanism is provided on the inner surface of the magnetic chassis (2104) in the upper region of the high-pressure nitrogen tank (2202).

5. The multi-scenario multi-modality construction robot docking system of claim 4, wherein, The attitude adjustment mechanism is mainly composed of a gas source distributor (2204) in the middle. The gas source distributor (2204) is connected to the jet solenoid valves (2205) at both ends through pipes. The jet solenoid valves (2205) are connected to a nozzle (2207) at the end of the output shaft of the attitude adjustment servo (2206) through pipes. The harmless nitrogen in the high-pressure nitrogen tank (2202) is distributed through the gas source distributor (2204). Then, the jet solenoid valves (2205) are controlled to open and close, so that the nozzle sprays out high-pressure gas, which pushes the docking system to rotate. At the same time, the attitude adjustment servo (2206) adjusts the nozzle orientation and thus adjusts the rotation direction of the docking system.

6. The multi-scenario multi-modality construction robot docking system of claim 5, wherein, The bottom of the secondary connecting bearing plate (3101) is provided with a secondary electro-permanent magnet chuck mounting base (3102), and a secondary electro-permanent magnet chuck (3103) is provided on the secondary electro-permanent magnet chuck mounting base (3102). The secondary electro-permanent magnet chuck mounting base (3102) and the secondary electro-permanent magnet chuck (3103) are provided with a rectangular opening in the middle, which is the same as that of the primary connecting unit (1006) and the primary electro-permanent magnet chuck (1006b). A secondary electric push rod (3104) facing outward is also provided in the rectangular opening. The secondary electric push rod (3104) is fixed in the secondary electro-permanent magnet chuck mounting base (3102), and the end of the output shaft of the secondary electric push rod (3104) is connected to an electric gripper.

7. The multi-scenario multi-modal architectural robot docking system of claim 6, wherein, The top plate (1001) is equipped with a laser radar scanner around its perimeter to monitor the distance between the connection system and the building; a three-dimensional ultrasonic anemometer is also installed on the top plate (1001) to detect the wind speed and direction at the connection system, facilitating attitude adjustment. The bottom of the primary connection unit storage frame (1002) is provided with a first connecting plate (1003), and the two sides of the first connecting plate (1003) are connected to outwardly extending second connecting plates (1004). The lower parts of the first connecting plate (1003) and the second connecting plate (1004) are connected to a secondary connection track (1005).

8. A multi-scenario multi-modal building robot docking method employing the system of claim 7, characterized by, The steps are as follows: S1, when the robot is connected to the plane, if the robot is directly placed on the first connection part (2000), the robot is placed on a robot connection unit (2100), the robot connection unit (2100) is adsorbed in a first connection unit (1006) by magnetic adsorption, the clamping seat (2105) is clamped by the electric clamping jaw of the first electric push rod (1006d), the first electric permanent magnet adsorber (1006b) of the corresponding first connection unit (1006) is controlled to be disconnected, then the first electric push rod (1006) is controlled to push the robot connection unit (2100) to a suitable distance, the electric clamping jaw is released, the two first servo winches (1007) connected with the robot connection unit (2100) are controlled to lower the ropes, the lengths of the two ropes are controlled according to the plane inclination, there is a length difference, and then the robot is converted from the vertical state to the state with a certain inclination when it is close to the ground, so that it can better connect with the ground. When the robot is completely in contact with the ground, the winch rope is released, so that the robot can move in the construction area, the connecting electric clamping jaw (2101) connected with the lifting ring (2102) of the robot connection unit (2100) can be released, the robot is completely separated from the connection system for autonomous construction, the connecting electric clamping jaw (2101) is reconnected after the construction is completed, and then the robot is recovered to the connection system in the opposite way; if the robot is directly placed on the second connection part (3000), the robot connection unit (2100) with the robot needs to be transferred from the first connection part (2000) to the second connection part (3000).When the required robot type changes, different types of robots are connected to the secondary connection part (3000) for storage, and then connected to the primary connection part (2000) for storage, and then the secondary connection part (3000) is removed. The robot type that is not needed makes the entire connection system update more portable. When the primary and secondary connection parts need to be connected, control a group of secondary connection units (3100) to come to the corresponding primary connection unit (1006) near the back, loosen the magnetic connection between the robot connection unit (2100) and the primary connection unit (1006) in the same way as above, and then lower the robot connection unit (2100) to the horizontal plane of the secondary connection unit (3100) through two primary servo winches (1007). At this time, start the secondary electric permanent magnet suction cup (3103) of the secondary connection unit (3100) to form a suction force on the robot connection unit (2100), push out the secondary electric push rod (3104) and control its electric clamping jaw to clamp the clamping seat (2105). At this time, loosen the connection electric clamping jaw (2101) at the end of the pull rope of the inner primary servo winch (1007), pull back the secondary electric push rod (3104) while controlling the electric clamping jaw at the end of the pull rope of the inner secondary servo winch (3105) to clamp the loose ring, then loosen the electric clamping jaw of the other primary servo winch (1007), and clamp the ring through the electric clamping jaw at the end of the pull rope of the outer secondary servo winch (3105). At this time, the entire robot connection unit (2100) is completely transferred from the primary connection unit (1006) to the secondary connection unit (3100). At this time, lower the robot in the same way as the primary connection unit, and the secondary connection unit (3100) moves and rotates on the secondary connection track (1005) to the lowering site. S2, when the robot connection construction of the facade is carried out, the specific lowering method is the same as step S1, but there is no need to adjust the height difference of the two primary and secondary servo winches during lowering, and there is no need to adjust the robot form, so that it remains vertical, and only the connection system needs to be controlled to approach the building facade, so that the robot contacts the facade to carry out construction. At this time, the rope is not completely relaxed like step S1, and it still provides a lifting force to support the robot, but does not form resistance to the robot climbing the facade. The robot used here is usually a light wall construction robot that can autonomously climb the facade for construction; S3, when moving construction on the secondary connection track (1005) is carried out, the robot and its robot connection unit (2100) that need to be used are transferred to the secondary connection part (3000) through the same transfer method as step S1, but unlike steps S1 and S2, the rope of the winch does not need to be lowered, and the secondary electric permanent magnet suction cup (3103) also remains suctioned. The robot connection unit (2100) is always fixed on the secondary connection unit (3100), and the electric trolley and rotary motor on the secondary connection unit (3100) are controlled to move and rotate on the secondary connection track (1005) so that they face the construction area, and then the robot is controlled to directly carry out construction. In the construction process, the laser radar scanner, three-dimensional ultrasonic wind speed instrument and double-axis photovoltaic array inclination instrument in the connection system are used to monitor the high-altitude environmental parameters in real time, and the direction and inclination of the connection system are adjusted by the attitude adjustment unit (2200), thereby guiding the construction. S4, when long-distance moving construction on the secondary connection track (1005) is carried out, unlike the direct lowering construction of the facade in step S2, a group of robot connection units (2100) with attitude adjustment units (2200) are prepared in advance, and the robot connection unit (2100) with the robot is combined for construction. The two robot connection units (2100) are fixedly connected through electromagnetic lock tongues and lock grooves, and then the robot is used for construction during lowering, and the attitude of the robot is adjusted by the attitude adjustment unit (2200). Through the cooperation of the air source distributor (2204), the blowing electromagnetic valve (2205), the attitude adjustment rudder (2206) and the nozzle (2207), high-pressure gas is sprayed to adjust the attitude of the robot and resist the inclination caused by strong wind, thereby stabilizing the construction.

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