A multi-scenario, multi-form construction robot docking system and method

Abstract

This invention belongs to the technical field of construction engineering and discloses a multi-scenario, multi-form construction robot docking system and method. It includes a docking frame as the main body, a primary docking section installed in its upper region, and a secondary docking section installed in its lower region. The docking frame is mainly composed of a top plate installed at the bottom of the hoisting mechanism of a tower crane. A primary docking unit storage frame is connected to the bottom of the top plate. A secondary docking track is provided at the bottom of the primary docking unit storage frame, and several primary docking units are provided on one side of the central region of the primary docking unit storage frame. This invention categorizes various application scenarios into direct lowering and construction at either the primary or secondary level, remote construction followed by retrieval; secondary transfer track construction; and secondary transfer rope deployment construction. It can be directly applied to existing robot docking systems. By integrating several different types of robots into the docking system, construction efficiency is effectively improved.

Description

Technical Field

[0001] This invention relates to the technical field of construction engineering, specifically to a multi-scenario, multi-form construction robot docking system, and also to a multi-scenario, multi-form construction robot docking method. Background Technology

[0002] In existing robotic construction applications, construction paths are typically divided into traditional transportation and autonomous movement. In traditional transportation, large robots rely on tower cranes to hoist them to the construction site as a whole. Their aerial posture is uncontrollable, which can easily cause collisions, and they can only start construction after being completely lowered to the destination. Small robots are transported in sections by construction elevators, but multiple transports may lead to positioning loss and are time-consuming and labor-intensive. Autonomous movement, such as wheeled and tracked robots, is difficult to cross gaps between buildings and requires manual platform construction. Wall-climbing robots require high-level scene conditions, such as buildings with large flat facades, and are difficult to adapt to curved structures. Therefore, existing robotic construction paths have significant limitations.

[0003] Meanwhile, the existing tower cranes have low utilization rates, serving only as material lifting tools. If robotic hoisting is to be carried out, custom-made hoisting frames are required. For the wide variety of robots on the market, custom-made hoisting frames are needed, which is time-consuming, labor-intensive, and has poor compatibility. Furthermore, the tower crane and the robot operate independently and cannot coordinate and adjust the hoisting path in real time, resulting in reduced construction quality and efficiency. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a multi-scenario and multi-form construction robot docking system, which can be directly lifted by tower cranes and flexibly transported to various construction locations. All locations that traditional tower cranes can transport to are within its construction coverage area, realizing the flexible deployment and construction of robots at various locations on the construction site, greatly saving robot transfer time, and improving efficiency and construction quality.

[0005] Another objective of this invention is to provide a multi-scenario, multi-form construction robot docking method. By specifically classifying various application scenarios, it is divided into first-level or second-level direct deployment for construction, remote construction followed by retrieval, and facade and plane (loosening rope); second-level transfer track construction (direct construction without releasing rope); and second-level transfer rope release construction (tightening rope requires two units to be joined together). It can be directly applied to existing robot docking systems, and by integrating several different types of robots into the docking system, it effectively improves construction efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The multi-scenario, multi-form construction robot docking system of the present invention includes a docking frame as the main body, a primary docking section installed in its upper region, and a secondary docking section installed in its lower region. The docking frame is mainly composed of a top plate installed at the bottom of the hoisting mechanism of a tower crane. A primary docking unit storage frame is connected to the bottom of the top plate. A secondary docking track is provided at the bottom of the primary docking unit storage frame. Several primary docking units are provided on one side of the primary docking unit storage frame near the center region of the secondary docking track. Two primary servo winches are provided on the lower part of the top plate near the primary docking units. The primary docking section includes... The system includes a robot connection unit as the main component, with each robot connection unit cooperating with a primary docking unit and a nearby primary servo winch. A facade construction robot, a posture adjustment unit, or a planar construction robot is fixedly connected to the robot connection unit. The secondary docking section consists of several secondary docking units mounted on a secondary docking track. Several electric trolleys are mounted on the secondary docking track, and each electric trolley is equipped with a rotary motor. The output shaft of the rotary motor is connected to the secondary docking support plate of the secondary docking unit. Two secondary servo winches, identical to the primary servo winches of the primary docking unit, are located on the outer surface of the lower surface of the secondary docking support plate.

[0008] Preferably, the primary connection unit includes partitions extending outward on both sides, a baffle extending upward at the bottom, and a primary electro-permanent magnet chuck installed on its inner surface. The inner surface and the primary electro-permanent magnet chuck have a rectangular opening of the same size in the middle. Inside the rectangular opening is a primary electric push rod extending outward. The primary electric push rod is fixed in the storage frame of the primary connection unit, and its output shaft is fixedly connected to an electric gripper.

[0009] Furthermore, the robot connection unit is mainly composed of an L-shaped magnetic chuck. The vertical outer surface of the magnetic chuck has a rectangular opening in the middle that corresponds to the middle of the primary electro-permanent magnet chuck, and a gripping seat is provided in the rectangular opening. The two ends of the horizontal outer surface of the magnetic chuck have connecting seats, and the middle of the connecting seats has a lifting ring. The lifting ring is pulled up by the pull rope of the primary servo winch or the secondary servo winch through the connection of the electric gripper.

[0010] Furthermore, the main body of the attitude adjustment unit is mounted on the inner surface of an L-shaped magnetic chassis. The main body is composed of a counterweight mounting base at the bottom, which is a multi-slot rectangular box. A counterweight block is set at the bottom of the box, and a high-pressure nitrogen tank is set on the counterweight block. The high-pressure nitrogen tank is fixed by a nitrogen tank fixing strap installed on the magnetic chassis. An attitude adjustment mechanism is set on the inner surface of the magnetic chassis in the upper area of ​​the high-pressure nitrogen tank.

[0011] Preferably, the attitude adjustment mechanism is mainly composed of a central air source distributor. The air source distributor is connected to two solenoid valves at both ends via pipes. The solenoid valves are connected to a nozzle installed at the end of the output shaft of the attitude adjustment servo via pipes. By distributing harmless nitrogen gas from the high-pressure nitrogen tank through the air source distributor, and then controlling the opening and closing of the solenoid valves to make the nozzles spray high-pressure gas, the coupling system is rotated in reverse. At the same time, the attitude adjustment servo adjusts the nozzle orientation, thereby adjusting the rotation direction of the coupling system.

[0012] Furthermore, the bottom of the secondary connecting bearing plate is provided with a secondary electro-permanent magnet chuck mounting base, and a secondary electro-permanent magnet chuck is provided on the secondary electro-permanent magnet chuck mounting base. The secondary electro-permanent magnet chuck mounting base and the secondary electro-permanent magnet chuck are provided with a rectangular opening in the middle, which is the same as that of the primary connecting unit and the primary electro-permanent magnet chuck. A secondary electric push rod facing outward is also provided in the rectangular opening. The secondary electric push rod is fixed in the secondary electro-permanent magnet chuck mounting base, and the end of the output shaft of the secondary electric push rod is connected to an electric gripper.

[0013] Preferably, a laser radar scanner is installed around the top plate to monitor the distance between the connection system and the building; a three-dimensional ultrasonic anemometer is also installed on the top plate to detect the wind speed and direction at the connection system, facilitating attitude adjustment; a first connecting plate is provided at the bottom of the primary connection unit storage frame, and second connecting plates extending outward are connected to both sides of the first connecting plate, and the lower parts of the first connecting plate and the second connecting plate are connected to a secondary connection track.

[0014] Accordingly, the present invention also provides a method for docking multi-scenario, multi-form construction robots, the steps of which are as follows:

[0015] S1. When performing planar robot docking construction, if the robot is directly lowered through the primary docking section, it is mounted on a robot connecting unit. This connecting unit is magnetically attached to the primary docking unit, and its gripper is clamped by the electric jaws of the primary electric push rod. This disconnects the primary electro-permanent magnet chuck of the corresponding primary docking unit. The primary electric push rod then pushes the robot connecting unit to a suitable distance, releasing the electric jaws. The two primary servo winches connected to the robot connecting unit lower the pull ropes, controlling the extension length of the two pull ropes according to the plane's tilt angle to create a length difference. This allows the robot to lower as it approaches the ground. The robot transitions from a vertical position to one with a slight tilt, allowing for better ground contact. Once fully in contact with the ground, the winch rope can be loosened significantly, enabling the robot to move autonomously over a wide area of ​​the work site. Alternatively, the connecting electric gripper connected to the robot's connection unit can be released, allowing the robot to detach from the docking system for autonomous construction. After completion, the connecting electric gripper is reconnected, and the robot is then retrieved back into the docking system in the reverse manner. If the robot is to be lowered directly into the docking system via a secondary docking section, the robot connection unit with the robot attached must first be transferred from the primary docking section to the secondary docking section. When the required robot type... When robot types change, different types of robots are connected to the secondary docking section for storage, and then transferred to the primary docking section for storage. Unnecessary robot types are then removed from the secondary docking section, making the entire docking system more portable for updates. When a transfer between the primary and secondary docking sections is required, a group of secondary docking units is brought to the vicinity of the corresponding primary docking unit (i.e., its back). The magnetic connection between the robot connection unit and the primary docking unit is released in the same manner as described above. Then, two primary servo winches lower the robot connection unit to near the horizontal plane of the secondary docking unit. At this point, the secondary electro-permanent magnet chuck of the secondary docking unit is activated to create an attractive force on the robot connection unit, pushing it forward. The secondary electric push rod extends and its electric gripper grips the gripping seat. At this time, the electric gripper at the end of the inner primary servo winch pull rope is released. While pulling back the secondary electric push rod, the electric gripper at the end of the inner secondary servo winch pull rope is controlled to grip the released lifting ring. Then, the electric gripper of the other primary servo winch is released, and the lifting ring is gripped by the electric gripper at the end of the outer secondary servo winch pull rope. At this time, the entire robot connection unit is completely transferred from the primary docking unit to the secondary docking unit. The robot is then lowered in the same way as the primary docking unit. At the same time, the secondary docking unit can move and rotate on the secondary docking track to reach the lowering location.

[0016] S2. When performing robot docking construction on the facade, the specific lowering method is the same as in step S1. However, when lowering, there is no need to adjust the height difference of the pull ropes of the two primary and secondary servo winches, nor is there a need to adjust the robot's shape. Just keep it vertical. You only need to control the docking system to come near the building facade so that the robot can contact the facade to start construction. At this time, the pull ropes are not completely relaxed as in step S1. They still provide a supporting lifting force for the robot, but do not create resistance for the robot to crawl on the facade. The robot used here is usually a lightweight wall construction robot that crawls autonomously on the building facade.

[0017] S3. When performing mobile construction on the secondary docking track, the robot and its connecting unit are transferred to the secondary docking section using the same transfer method as in step S1. However, unlike steps S1 and S2, it does not require lowering the winch rope, and the secondary electro-permanent magnet chuck remains firmly attached. The robot connecting unit is always fixed on the secondary docking unit. By controlling the electric trolley and rotary motor on the secondary docking unit, its movement and rotation on the secondary docking track are controlled, making it face the construction area. Then, the robot is controlled to directly carry out construction. During the construction process, the laser radar scanner, three-dimensional ultrasonic anemometer, and dual-axis photovoltaic array tilt meter in the docking system are used to monitor the high-altitude environmental parameters in real time. The attitude adjustment unit is used to adjust the direction and tilt of the docking system, thereby guiding the construction.

[0018] S4. When carrying out long-distance mobile construction on the secondary connecting track, unlike the direct lowering construction of the facade in step S2, a set of robot connection units with attitude adjustment units are prepared in advance and combined with the robot connection unit with the robot. The two robot connection units are fixedly connected by electromagnetic locking tongue and locking groove. Then, during the lowering process, the robot is used for construction. At the same time, the attitude adjustment unit adjusts the robot's attitude. Through the cooperation of air source distributor, jet solenoid valve, attitude adjustment servo motor and nozzle, high-pressure gas is sprayed to adjust the robot's attitude and counteract the tilt caused by strong winds, thereby stabilizing the construction.

[0019] Based on the above, the beneficial effects of the multi-scenario, multi-form construction robot docking system and method of the present invention are as follows:

[0020] 1. The docking system designed in this invention can be directly lifted by tower cranes and flexibly transported to various construction sites. All locations that traditional tower cranes can transport to are within its construction coverage area. Therefore, it has good flexibility and a large construction range. Moreover, it greatly expands the functional uses of traditional tower cranes, so that they are no longer just material transporters, but also major participants in building construction.

[0021] 2. The docking system designed in this invention has a two-tiered docking structure, allowing the robot to move and switch flexibly between different docking sections, better meeting various construction needs. The first-tier docking section can stably store the robot and attitude adjustment unit, while the second-tier docking section can flexibly move the robot and attitude adjustment unit via tracks. During flexible construction, the system's counterweight system can be adjusted in real time, enabling it to better cope with environmental factors such as strong winds at high altitudes. Furthermore, it actively emits high-pressure gas to control the autonomous steering of the docking system, making the entire system more controllable and safer.

[0022] 3. The docking unit designed in this invention connects and controls the robot through magnetic attraction and lifting, enabling it to be connected to the system for stable operation, deployed to the construction site for flexible operation, or even detached from the system for autonomous operation and then retrieved back into the system for recharging. This docking method has good application prospects.

[0023] 4. The connection method designed in this invention classifies construction scenarios and forms, including direct lowering of the rope for primary or secondary construction, remote construction followed by retrieval, and vertical and horizontal (loosening the rope); secondary transfer track construction (direct construction without releasing the rope); and secondary transfer rope-releasing construction (tightening the rope requires the joint cooperation of two units). Through the specific classification of various application scenarios, the application prospects of this system become clearer. Attached Figure Description

[0024] The accompanying drawings, which are provided to further understand this application and constitute a part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention after hoisting.

[0026] Figure 2 This is a schematic diagram of the connection system of the present invention;

[0027] Figure 3 This is a schematic diagram of the connecting frame portion of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the primary connection part of the present invention;

[0029] Figure 5 This is a schematic diagram of the robot connection unit of the present invention;

[0030] Figure 6 This is a schematic diagram of the attitude adjustment unit of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the secondary connection part of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of the secondary connection unit of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 0001-Tower crane; 0002-Lifting mechanism; 0003-Connecting system mounting frame;

[0035] 1000-Connecting Frame Section:

[0036] 1001-Top plate; 1002-Primary connecting unit storage frame; 1003-First connecting plate; 1004-Second connecting plate; 1005-Secondary connecting track; 1006-Primary connecting unit; 1006a-Baffle; 1006b-Primary electro-permanent magnet chuck; 1006c-Push rod opening; 1006d-Primary electric push rod; 1007-Primary servo winch;

[0037] 2000-Level 1 Connector Section:

[0038] 2001 - Facade construction robot; 2002 - Planar construction robot;

[0039] 2100 - Robot connection unit; 2101 - Connecting electric gripper; 2102 - Lifting ring; 2103 - Connecting base; 2104 - Magnetic chassis; 2105 - Gripping base;

[0040] 2200 - Attitude Adjustment Unit; 2201 - Counterweight Mounting Base; 2202 - High-Pressure Nitrogen Tank; 2203 - Nitrogen Tank Fixing Strap; 2204 - Gas Source Distributor; 2205 - Injection Solenoid Valve; 2206 - Attitude Adjustment Servo Motor; 2207 - Nozzle;

[0041] 3000-Secondary Connector Section:

[0042] 3100 - Secondary connection unit; 3101 - Secondary connection bearing plate; 3102 - Secondary electro-permanent magnet chuck mounting base; 3103 - Secondary electro-permanent magnet chuck; 3104 - Secondary electric push rod; 3105 - Secondary servo winch. Detailed Implementation

[0043] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0044] Below, in conjunction with Figures 1 to 8 This invention provides a detailed description of a multi-scenario, multi-form construction robot docking system and method.

[0045] Depend on Figure 1-2 As shown, the multi-scenario, multi-form construction robot of the present invention includes a docking system mounting frame 0003, which serves as a ground support for the docking system before hoisting, and a tower crane 0001 for hoisting the docking system. The docking frame portion 1000 of the main body of the docking system is mounted on its lifting mechanism 0002. The docking system includes the docking frame portion 1000 as the main body, a primary docking portion 2000 installed in its upper region, and a secondary docking portion 3000 installed in its lower region.

[0046] Depend on Figure 3 As shown, the connecting frame 1000 consists of a top plate 1001 installed at the bottom of the lifting mechanism 0002. A laser radar scanner can be installed around the top plate 1001 to monitor the distance between the connecting system and the building. A three-dimensional ultrasonic anemometer can also be installed on the top plate 1001 to detect wind speed and direction at the connecting system, facilitating attitude adjustment. A primary connecting unit storage frame 1002 is connected to the bottom of the top plate 1001, and a first connecting plate 100 is provided at the bottom of the primary connecting unit storage frame 1002. 3. The first connecting plate 1003 is connected to two outwardly extending second connecting plates 1004 on both sides. The lower parts of the first connecting plate 1003 and the second connecting plate 1004 are connected to a secondary connecting rail 1005. The primary connecting unit storage frame 1002 is provided with several primary connecting units 1006 on one side near the center area of ​​the secondary connecting rail 1005. The primary connecting unit 1006 includes partitions extending outward on both sides, a baffle 1006a extending upward at the bottom, and a primary electro-permanent magnet chuck installed on its inner surface. 1006b, the inner surface of which has a rectangular opening of the same size as the middle of the primary electro-permanent magnet chuck 1006b, has an outward-facing primary electric push rod 1006d inside the rectangular opening. The primary electric push rod 1006d is fixed inside the primary docking unit storage frame 1002, and its output shaft is fixedly connected to an electric gripper. Two primary servo winches 1007 are located at the lower part of the top plate 1001 near the primary docking unit 1006, and these primary servo winches 1007 are designed to be one in front of the other. It should be noted that here... The number of primary connection units 1006 in the primary connection unit storage frame 1002 can be adjusted according to the actual situation. If more and smaller construction robots are needed for construction, more primary connection units 1006 with smaller areas can be set. In this embodiment, there are three. If larger construction robots are needed for construction, fewer primary connection units 1006 with larger areas can be set. At the same time, two corresponding primary servo winches 1007 are set at the lower part of the top plate 1001 near each primary connection unit 1006.

[0047] Depend on Figure 4-6As shown, the primary docking unit 2000 includes a robot connection unit 2100 as the main body. Each robot connection unit 2100 can cooperate with a primary docking unit 1006 and a nearby primary servo winch 1007. A facade construction robot 2001 or a planar construction robot 2002 can be fixedly connected to the robot connection unit 2100. The facade construction robot 2001 usually refers to a robot that can be directly hung on the docking system to carry out construction on the building surface, such as walls, or its mechanism can directly interact with the building construction area. The planar construction robot 2002 needs to be adjusted in attitude before being placed on the building for construction. For example, it needs to be adjusted from a vertical state to a horizontal state and then placed on the construction ground for autonomous movement and construction. At the same time, the winch rope is released to allow it to move freely, and it is retracted by pulling the rope when it is retracted. At the same time, a posture adjustment unit 2200 can also be fixedly installed on the robot connection unit 2100. Several posture adjustment units 2200 can be installed on the same docking system. Their purpose is to serve as a counterweight for overall posture adjustment and a main drive mechanism.

[0048] The robot connection unit 2100 consists of an L-shaped magnetic base 2104 as its main body. The magnetic base 2104 is a laminated composite structure consisting of a surface layer of ultra-low carbon stainless steel, a middle layer of soft magnetic alloy sheet, a base layer of aluminum alloy, and a protective layer of micro-arc-oxidized ceramic film. The surface stainless steel is corrosion-resistant and wear-resistant, the middle soft magnetic layer provides efficient magnetic conductivity for more stable connection and adsorption, the bottom aluminum alloy layer makes the main body lighter, and the ceramic film provides insulation and arc protection. A rectangular opening corresponding to the center of the primary electro-permanent magnet chuck 1006b is located on the vertical outer surface of the magnetic base 2104. The magnetic base 2104 has a rectangular opening with a gripping seat 2105. The purpose of this design is to make the magnetic base 2104 more stable when it is attracted by the electro-permanent magnet chuck, through the electric push rod, electric gripper, and gripping seat. It also facilitates the transfer between the primary connection part 2000 and the secondary connection part 3000. The magnetic base 2104 has connecting seats 2103 at both ends of its horizontal outer surface. The middle of the connecting seat 2103 has a lifting ring 2102. The lifting ring 2102 can be pulled up by the pull rope of the primary servo winch 1007 or the secondary servo winch 3105 by connecting the electric gripper 2101.

[0049] like Figure 6As shown, the main body of the attitude adjustment unit 2200 is mounted 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 can be set at the bottom of the box. A high-pressure nitrogen tank 2202 is mounted on the counterweight block. The high-pressure nitrogen tank 2202 is fixed by a nitrogen tank fixing strap 2203 mounted on the magnetic chassis 2104. An attitude adjustment mechanism is provided on the inner surface of the magnetic chassis 2104 in the upper part of the high-pressure nitrogen tank 2202. The attitude adjustment mechanism is mainly composed of an air source distributor 2204 in the middle. The air 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 installed at the end of the output shaft of the attitude adjustment servo 2206 through pipes. The purpose of this structure is to distribute the harmless nitrogen in the high-pressure nitrogen tank 2202 through the gas source distributor 2204, and then control the opening and closing of the jet solenoid valve 2205 to make the nozzle spray high-pressure gas, which in turn pushes the docking system to rotate. At the same time, the attitude adjustment servo motor 2206 adjusts the nozzle orientation and thus adjusts the rotation direction of the docking system. It can adjust the tilt angle of the system while counteracting external wind resistance.

[0050] The bottom of the counterweight mounting base 2201 of the attitude adjustment unit 2200 is also equipped with a dual-axis photovoltaic array tilt meter, which is used to monitor the tilt angle of the connection system and guide the attitude adjustment unit 2200 to make auxiliary adjustments. It should be noted that in this embodiment, multiple attitude adjustment units 2200 are usually configured on the secondary connection part 3000 at the same time, and they are distributed in various areas of the secondary connection track 1005. By simultaneously monitoring multiple sets of tilt angle data and adjusting the attitude adjustment mechanism, the entire connection system can maintain construction stability to a certain extent against the external strong wind environment.

[0051] Depend on Figure 7-8As shown, the secondary connection section 3000 consists of several secondary connection units 3100 mounted on the secondary connection track 1005. Several electric trolleys are mounted on the secondary connection track 1005, each equipped with a rotary motor. The output shaft of the rotary motor is connected to the secondary connection support plate 3101 of the secondary connection unit 3100. The bottom of the secondary connection support plate 3101 is equipped with a secondary electro-permanent magnet chuck mounting seat 3102, on which a secondary electro-permanent magnet chuck 3103 is mounted. The secondary electro-permanent magnet chuck mounting seat 3102 and the secondary electro-permanent magnet chuck 3103 have a rectangular opening in the middle, identical to that of the primary connection unit 1006 and the primary electro-permanent magnet chuck 1006b. The rectangular opening also has an outward-facing... The secondary electric push rod 3104 is fixed inside the secondary electro-permanent magnet chuck mounting base 3102. The output shaft end of the secondary electric push rod 3104 is connected to an electric gripper. The lower surface of the secondary connecting bearing plate 3101 is provided with two secondary servo winches 3105, which are the same as the primary servo winch 1007 of the primary connecting unit 1006. The purpose of this structure is to allow the robot connecting unit 2100 to be lowered and misaligned under the action of magnetic attraction, electric gripper, and electric push rod, so that the robot connecting unit 2100 with robot or attitude adjustment unit 2200 can flexibly switch between the primary and secondary connecting units, and the secondary connecting unit 3100 can move, rotate, and operate flexibly on the track.

[0052] Accordingly, the multi-scenario, multi-form construction robot docking method of the present invention comprises the following steps:

[0053] First, the construction scenarios and forms are divided as follows:

[0054] The primary connecting part 2000 or the secondary connecting part 3000 directly lowers the robot connecting unit 2100 to the construction site for construction. At this time, the pull rope of the servo winch is loosened, and the robot moves freely. After the construction is completed, the pull rope is tightened to retrieve the robot. This is divided into two cases: planar and vertical, namely Example 1 and Example 2.

[0055] After the robot connection unit 2100 of the first-level connecting section 2000 is transferred to the second-level connecting section 3000, it moves and performs construction on the second-level connecting track 1005. At this time, the pull rope is in a tightened state, and the magnetic chassis 2104 is also in a attracted state. This is Example 3.

[0056] After the robot connection unit 2100 of the first-level connecting section 2000 is transferred to the second-level connecting section 3000, it moves and performs construction on the second-level connecting track 1005. At the same time, the rope is pulled to release a longer length, allowing the robot to approach the construction site independently away from the connecting system. The difference from Embodiments 1 and 2 is that the rope is tightened throughout the process, and the connecting system still serves as the gravity support. The second-level connecting track 1005 of the connecting system serves as the displacement mechanism. In this case, each individual robot connection unit 2100 with a robot needs to be tied and fixed to another robot connection unit 2100 with an attitude adjustment unit 2200. It can be stably connected by an electromagnetic locking tongue and a locking groove, so that the lowered individual robot has the ability to adjust its attitude to cope with external strong winds or internal tilting. This is Embodiment 4.

[0057] S1. Example 1: When performing planar robot docking construction, if the robot is directly lowered through the primary docking section 2000, the robot is mounted on a robot connection unit 2100. This robot connection unit 2100 is magnetically attached to a primary docking unit 1006, and its gripper 2105 is clamped by the electric gripper of the primary electric push rod 1006d. This disconnects the primary electro-permanent magnet chuck 1006b of the corresponding primary docking unit 1006. Subsequently, the primary electric push rod 1006d pushes the robot connection unit 2100 to a suitable distance, releasing its electric gripper. This controls the two primary servo drives connected to the robot connection unit 2100. The winch 1007 lowers the pull rope, and controls the extension length of the two pull ropes according to the plane tilt angle to create a length difference. This allows the robot to change from a vertical state to a state with a certain tilt angle when it approaches the ground, enabling it to better connect with the ground. Once the robot has made complete contact with the ground, the winch pull rope can be loosened to a greater extent, allowing the robot to move autonomously over a large area of ​​the construction area. Alternatively, the connecting electric gripper 2101 connected to the lifting ring 2102 of the robot connection unit 2100 can be loosened, allowing the robot to completely detach from the docking system for autonomous construction. After the construction is completed, the connecting electric gripper 2101 is reconnected, and then the robot is retrieved into the docking system in the reverse manner.If construction is to be directly deployed via the secondary docking section 3000, the robot connection unit 2100 with the robot must first be transferred from the primary docking section 2000 to the secondary docking section 3000. The advantage of this method is that multiple robot connection units 2100 can be connected simultaneously within the secondary docking section 3000, potentially exceeding the storage limit of the primary docking section 2000. This allows the docking system to deploy more robots simultaneously for construction. Similarly, this method can be used for updating the robot composition within the docking system, such as when additional robots are needed. When the type of robot changes, different types of robots can be connected to the secondary docking section 3000 for storage, and then transferred to the primary docking section 2000 for storage. Unnecessary robot types can then be removed from the secondary docking section 3000, making the entire docking system more portable for updates. When a transfer between the primary and secondary docking sections is required, a set of secondary docking units 3100 is controlled to move to the vicinity of the corresponding primary docking unit 1006, i.e., its back side. The magnetic connection between the robot connection unit 2100 and the primary docking unit 1006 is released in the same manner as described above. The robot connection unit 2100 is lowered to the vicinity of the horizontal plane of the secondary docking unit 3100 by two primary servo winches 1007. At this time, the secondary electro-permanent magnet chuck 3103 of the secondary docking unit 3100 is activated to form a suction force on the robot connection unit 2100, pushing out the secondary electric push rod 3104 and controlling its electric gripper to clamp the gripping seat 2105. At this time, the connecting electric gripper 2101 at the end of the pull rope of the inner primary servo winch 1007 is released, and the secondary electric push rod 3104 is pulled back while the inner secondary servo winch 3105 is controlled. The electric gripper at the end of the pull rope of the first-stage servo winch 1007 grips the released lifting ring, and then releases the electric gripper of the second-stage servo winch 3105. The electric gripper at the end of the pull rope of the second-stage servo winch 3105 then grips the lifting ring. At this point, the entire robot connection unit 2100 is completely transferred from the first-stage connection unit 1006 to the second-stage connection unit 3100. The robot can then be lowered in the same way as in the first-stage connection unit. Simultaneously, the second-stage connection unit 3100 can move and rotate on the second-stage connection track 1005 to achieve the optimal lowering location.

[0058] S2, Example 2: When performing robot docking construction on the facade, the specific lowering method is the same as in step S1. However, when lowering, there is no need to adjust the height difference of the pull ropes of the two primary and secondary servo winches, nor is there a need to adjust the robot's shape to keep it vertical. It is only necessary to control the docking system to come near the building facade so that the robot can contact the facade to carry out construction. At this time, the pull rope is not completely relaxed as in step S1. It still provides a supporting lifting force for the robot, but does not create resistance for the robot to crawl on the facade. The robot used here is usually a lightweight wall construction robot, which can crawl autonomously on the building facade for construction.

[0059] S3, Example 3: When performing mobile construction on the secondary connecting track 1005, the robot and its robot connection unit 2100 are transferred to the secondary connecting section 3000 using the same transfer method as in step S1. However, unlike steps S1 and S2, it does not require lowering the winch rope, and the secondary electro-permanent magnet chuck 3103 remains firmly attached. The robot connection unit 2100 is always fixed on the secondary connecting unit 3100. By controlling the electric trolley and rotary motor on the secondary connecting unit 3100, it is controlled to move and rotate on the secondary connecting track 1005, facing the construction area. Then, the robot is controlled to directly carry out construction. This can usually be used for concrete pouring assistance, concrete vibration, and curtain wall exterior surface construction. It should be noted that during the construction process, the laser radar scanner, three-dimensional ultrasonic anemometer, and dual-axis photovoltaic array tilt meter in the connecting system can be used to monitor the high-altitude environmental parameters in real time. The attitude adjustment unit 2200 is used to adjust the direction and tilt of the connecting system, thereby guiding the construction.

[0060] S4. Example 4: When carrying out long-distance mobile construction on the secondary connecting track 1005, unlike the direct lowering construction on the facade in step S2, even if the robot is lowered in this example, the robot is still suspended in the air and does not contact the building. Therefore, it will be affected by the strong wind in the air and rotate, affecting the construction. Therefore, it is necessary to prepare a set of robot connection units 2100 with attitude adjustment unit 2200 in advance and combine them with the robot connection unit 2100 with the robot. The two robot connection units 2100 are fixedly connected to the lock groove by electromagnetic locking tongue. Then, the robot is used for construction during the lowering process. At the same time, the attitude adjustment unit 2200 adjusts the robot's attitude. The air source distributor 2204, the jet solenoid valve 2205, the attitude adjustment servo motor 2206, and the nozzle 2207 work together to spray high-pressure gas to adjust the robot's attitude and counteract the tilt caused by the strong wind, thereby stabilizing the construction.

[0061] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A multi-scenario multi-modal building robot docking system, characterized in that, It includes a main connecting frame (1000), a primary connecting part (2000) installed in its upper region, and a secondary connecting part (3000) installed in its lower region. The connecting frame part (1000) is mainly composed of a top plate (1001) installed at the bottom of the hoisting mechanism (0002) of the tower crane (0001). The bottom of the top plate (1001) is connected to a primary connecting unit storage frame (1002). The bottom of the primary connecting unit storage frame (1002) is provided with a secondary connecting rail (1005). Several primary connecting units (1006) are provided on one side of the primary connecting unit storage frame (1002) near the center area of ​​the secondary connecting rail (1005). Two primary servo winches (1007) are provided at the lower part of the top plate (1001) near the primary connecting units (1006). The primary connecting section (2000) includes a robot connecting unit (2100) as the main body. Each robot connecting unit (2100) cooperates with a primary connecting unit (1006) and a primary servo winch (1007) nearby. An attitude adjustment unit (2200) and a facade construction robot (2001) or a planar construction robot (2002) are fixedly connected to the robot connecting unit (2100). The secondary connection section (3000) consists of several secondary connection units (3100) installed on the secondary connection track (1005). Several electric trolleys are installed on the secondary connection track (1005). The electric trolleys are equipped with rotary motors. The output shaft of the rotary motors is connected to the secondary connection support plate (3101) of the secondary connection unit (3100). Two secondary servo winches (3105) identical to the primary servo winches (1007) of the primary connection unit (1006) are provided on the outer side of the lower surface of the secondary connection support plate (3101).

2. The multi-scenario multi-modality construction robot docking system of claim 1, wherein, The primary connection unit (1006) includes partitions extending outward on both sides, a baffle (1006a) extending upward at the bottom, and a primary electro-permanent magnet chuck (1006b) mounted on its inner surface. The inner surface and the middle of the primary electro-permanent magnet chuck (1006b) are provided with a rectangular opening of the same size. Inside the rectangular opening is a primary electric push rod (1006d) extending outward. The primary electric push rod (1006d) is fixed inside the storage frame (1002) of the primary connection unit, and its output shaft is fixedly connected to an electric gripper.

3. The multi-scenario multi-modality construction robot docking system of claim 2, wherein, The robot connection unit (2100) is composed of an L-shaped magnetic chuck (2104) as the main body. The magnetic chuck (2104) has a rectangular opening in the middle of its vertical outer surface that corresponds to the middle of the primary electro-permanent magnet chuck (1006b). A gripping seat (2105) is provided in the rectangular opening. 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-form construction robot docking system according to claim 6, characterized in that, 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 performing planar robot docking construction, if the robot is directly lowered through the primary docking section (2000), the robot is mounted on a robot connecting unit (2100). This robot connecting unit (2100) is magnetically attracted to a primary docking unit (1006), and its gripper (2105) is clamped by the electric gripper of the primary electric push rod (1006d). The primary electro-permanent magnet chuck (1006b) of the corresponding primary docking unit (1006) is then disconnected. Subsequently, the primary electric push rod (1006d) is pushed out of the robot connecting unit (2100) to a suitable distance, releasing the electric gripper. The two primary servo winches (1007) connected to the robot connecting unit (2100) are then controlled to lower the pull ropes. The extension length of the two pull ropes is controlled according to the plane tilt angle, so that... There is a length difference, which causes the robot to change from a vertical state to a state with a certain tilt angle when it approaches the ground, so that it can better dock with the ground. When the robot is in complete contact with the ground, the winch rope is released, allowing the robot to move autonomously over a large area of ​​the construction area. Alternatively, the connecting electric gripper (2101) connected to the lifting ring (2102) of the robot connecting unit (2100) can be released, allowing the robot to completely detach from the docking system for autonomous construction. After the construction is completed, the connecting electric gripper (2101) is reconnected, and then the robot is retrieved into the docking system in the opposite way. If the construction is to be carried out directly through the secondary docking section (3000), the robot connecting unit (2100) with the robot needs to be transferred from the primary docking section (2000) to the secondary docking section (3000) first.When the required robot type changes, different types of robots are connected to the secondary docking section (3000) for storage, and then transferred to the primary docking section (2000) for storage. Unnecessary robot types in the secondary docking section (3000) are then removed, making the entire docking system more portable for updates. When a transfer between the primary and secondary docking sections is required, a set of secondary docking units (3100) is controlled to move to the vicinity of the corresponding primary docking unit (1006), i.e., its back side. The magnetic connection between the robot connection unit (2100) and the primary docking unit (1006) is released in the same manner as described above. Then, two primary servo winches (1007) lower the robot connection unit (2100) to near the horizontal plane of the secondary docking unit (3100). At this time, the secondary electro-permanent magnet chuck (3103) of the secondary docking unit (3100) is activated to form a... A suction force pushes out the secondary electric push rod (3104) and controls its electric gripper to clamp the gripper seat (2105). At this time, the electric gripper (2101) at the end of the pull rope of the inner primary servo winch (1007) is released. While pulling back the secondary electric push rod (3104), the electric gripper at the end of the pull rope of the inner secondary servo winch (3105) is controlled to clamp the released lifting ring. Then the electric gripper of the other primary servo winch (1007) is released, and the lifting ring is clamped by the electric gripper 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 docking unit (1006) to the secondary docking unit (3100). The robot is then lowered in the same way as the primary docking unit. At the same time, the secondary docking unit (3100) moves and rotates on the secondary docking track (1005) to the lowering location. S2. When performing robot docking construction on the facade, the specific lowering method is the same as in step S1. However, when lowering, there is no need to adjust the height difference of the pull ropes of the two primary and secondary servo winches, nor is there a need to adjust the robot's shape. Just keep it vertical. You only need to control the docking system to come near the building facade so that the robot can contact the facade to start construction. At this time, the pull ropes are not completely relaxed as in step S1. They still provide a supporting lifting force for the robot, but do not create resistance for the robot to crawl on the facade. The robot used here is usually a lightweight wall construction robot that crawls autonomously on the building facade. S3. When moving construction on the secondary connecting track (1005), the robot and its robot connection unit (2100) to be used are transferred to the secondary connecting part (3000) in the same way as in step S1. However, unlike steps S1 and S2, it does not require lowering the winch rope, and the secondary electro-permanent magnet chuck (3103) remains firmly attached. The robot connection unit (2100) is always fixed on the secondary connecting unit (3100). The electric trolley and rotary motor on the secondary connecting unit (3100) are controlled to move and rotate on the secondary connecting track (1005) so that it faces the construction area. Then, the robot is controlled to carry out construction directly. During the construction process, the laser radar scanner, three-dimensional ultrasonic anemometer, and dual-axis photovoltaic array tilt meter in the connecting system are used to monitor the high-altitude environmental parameters in real time. The attitude adjustment unit (2200) is used to adjust the direction and tilt of the connecting system to guide the construction. S4. When carrying out long-distance mobile construction on the secondary connecting track (1005), unlike the direct lowering construction of the facade in step S2, a set of robot connection units (2100) with attitude adjustment units (2200) are prepared in advance and combined with the robot connection unit (2100) with the robot. The two robot connection units (2100) are fixedly connected to the lock groove through electromagnetic locking tongue. Then, the robot is used for construction during the lowering process. At the same time, the attitude of the robot is adjusted through the attitude adjustment unit (2200). The air source distributor (2204), the jet solenoid valve (2205), the attitude adjustment servo motor (2206), and the nozzle (2207) work together to spray high-pressure gas to adjust the attitude of the robot and counteract the tilt caused by strong winds, thereby stabilizing the construction.

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