Multifunctional construction robot integrating chiseling, flushing and plastering

Abstract

The invention relates to the technical field of building construction equipment, and particularly discloses a multifunctional construction robot integrating chiseling, flushing and plastering. Comprising a movable base, a multi-axis mechanical arm mounted on the movable base, a storage part arranged on the base and rotationally matched with the movable base, a hair flushing assembly, a plastering assembly and a hair chiseling assembly with a dust collection function, wherein the hair flushing assembly and the plastering assembly are stored on the storage part; the connecting assembly is arranged on the multi-axis mechanical arm and connected with the chiseling assembly or the flushing assembly or the plastering assembly, and the material box is arranged on the movable base and connected with the connecting assembly. The construction efficiency can be effectively improved, the labor intensity is reduced, the construction environment is improved, and the construction quality is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building construction equipment, more particularly to a multifunctional construction robot integrating chiseling, flushing and plastering. BACKGROUND

[0002] In the field of building construction, the treatment of concrete surfaces is a crucial step, especially when operations such as chiseling, flushing and plastering are required. These operations not only directly affect the structural strength and appearance quality of the building, but also place high demands on construction efficiency and construction environment. Traditional concrete surface treatment mainly relies on manual operation, which has certain flexibility, but also has many problems, such as high labor intensity, low construction efficiency, difficult to guarantee construction quality, and poor construction environment. In particular, in large-scale construction projects or complex construction environments, the limitations of manual operation are more obvious.

[0003] With the rapid development of the construction industry, construction mechanization and automation have gradually become the trend of industry development. In order to improve construction efficiency, reduce labor intensity and improve construction environment, more and more construction equipment has been introduced to the construction site. However, the existing construction equipment mostly has single function and cannot meet the multiple construction requirements such as chiseling, flushing and plastering. For example, the existing chiseling equipment can only perform single chiseling operation and cannot perform flushing or plastering treatment immediately after chiseling, resulting in the need to frequently change equipment during construction, which not only increases construction time but also reduces construction efficiency. In addition, the existing flushing equipment and plastering equipment also have similar problems and cannot realize integrated operation of multiple functions.

[0004] In order to solve the above problems, in recent years, some research and development attempts have been made on multifunctional construction equipment. For example, some equipment attempts to integrate chiseling and flushing functions, but due to unreasonable structure design or inflexible function switching, the equipment does not work well in actual use. In addition, the existing multifunctional equipment often needs manual intervention when switching functions and cannot realize automatic operation, which limits the application range of the equipment to some extent. In particular, in complex construction sites, the flexibility of function switching and operation of the equipment is particularly important.

[0005] In addition, the existing construction equipment also has certain limitations in material transmission and power transmission. For example, the dust and debris generated during chiseling cannot be cleaned in time, resulting in deterioration of the construction environment; the material transmission required during flushing and plastering is often not stable, affecting the construction quality. Therefore, how to realize stable transmission of materials and power while ensuring clean construction environment has become an important issue in the research and development of multifunctional construction equipment.

[0006] In summary, existing concrete surface treatment equipment still has many shortcomings in terms of functional integration, automated operation, material transfer, and construction environment control. Summary of the Invention

[0007] The technical problem to be solved by this invention is to provide a multi-functional construction robot that integrates roughening, screeding, and plastering, which can effectively improve construction efficiency, reduce labor intensity, improve the construction environment, and ensure construction quality; The solution adopted by this invention to solve the technical problem is: A multi-functional construction robot integrating chiseling, roughening, and plastering is used to perform chiseling, roughening, and plastering on concrete surfaces. It includes a movable base, a multi-axis robotic arm mounted on the movable base, a storage component mounted on the base and rotating with the movable base, a roughening component, a plastering component, and a chiseling component with dust collection function stored on the storage component, a connecting component mounted on the multi-axis robotic arm and connected to the chiseling component, the roughening component, or the plastering component, and a material bin mounted on the movable base and connected to the connecting component.

[0008] In some possible implementations, the storage component includes a fixed base mounted on a movable base, a rotating base rotatably mounted on the fixed base and provided with a storage slot, a reversing component mounted in the fixed base and used to control the rotation of the rotating base, a positioning component mounted on the rotating base and used to fix the chiseling component, roughening component, or plastering component stored in the storage slot, and a drive component that is driven in conjunction with the positioning component and the reversing component respectively.

[0009] In some possible implementations, the connecting assembly includes a mounting base mounted on the free end of the multi-axis robotic arm, a splined shaft coaxially arranged with the mounting base and rotatably mounted on the side of the mounting base away from the multi-axis robotic arm, a working motor disposed within the mounting base and coaxially connected to one end of the splined shaft, a material interface disposed on the mounting base and with its axis coaxial with the splined shaft, and a locking member for locking the mounting base to the chiseling assembly, the punching assembly, or the plastering assembly; one end of the material interface is connected to the chiseling assembly, the punching assembly, or the plastering assembly; the other end of the material interface is connected to a material box.

[0010] In some possible implementations, the chiseling assembly includes a first connecting base plate installed in a storage tank, a first assembly transmission assembly installed on the first connecting base plate and connected to the connecting assembly, a dust collection hood installed at the bottom of the first connecting base plate, and a chisel installed inside the dust collection hood; the chisel is in transmission engagement with the first assembly transmission assembly; the dust collection hood is connected to a material interface through a first material pipe.

[0011] In some possible implementations, the punching assembly includes a second connecting base plate installed in a storage tank, a second assembly transmission assembly installed on the second connecting base plate and connected to the connecting assembly, a nozzle assembly installed at the bottom of the second connecting base plate and hinged to the second connecting base plate, and a telescopic cylinder with one end hinged to the nozzle assembly and the other end hinged to the second assembly transmission assembly; the nozzle assembly is connected to the material interface through the second material pipe.

[0012] In some possible implementations, the plastering assembly includes a roughening assembly and a scraper mounted on the bottom of the connecting base plate two and positioned away from the outlet of the nozzle assembly.

[0013] In some possible implementations, the assembly transmission assembly one and the assembly transmission assembly two have the same structure, including an assembly table fixedly mounted on the connecting base plate one, and a transmission seat mounted in the assembly table and rotatably engaged with the connecting base plate one; the bottom of the transmission seat passes through the connecting base plate one or the connecting base plate two; a locking groove for cooperating with a locking member is provided on the assembly table; and a through hole is provided on the assembly table for one end of the material pipe one or the material pipe two to pass through and connect to the material interface.

[0014] In some possible implementations, the chiseling component includes a rotating roller mounted inside the dust collection hood and rotatably engaged, a roller fitted outside the rotating roller and provided with chiseling teeth, a worm gear I fitted outside the rotating roller, and a worm gear drive component that is in transmission engagement with the worm gear I and the assembly transmission component I, respectively; one end of the worm gear drive component passes through the dust collection hood and is in transmission engagement with the assembly transmission component I.

[0015] In some possible implementations, the nozzle assembly includes a support rod mounted on the bottom of the connecting base plate two, a nozzle component hinged to the support rod and connected to the material pipe; one end of the telescopic cylinder is hinged to the nozzle component and the other end is hinged to the assembly transmission assembly two. The nozzle assembly includes a bracket connected to a support rod and a telescopic cylinder, and several sets of nozzles mounted on the bracket and connected to the material inlet pipe respectively.

[0016] In some possible implementations, the drive assembly includes a drive motor mounted in a fixed base, a drive shaft coaxially connected to the output shaft of the drive motor, a ratchet mechanism A mounted on the outside of the drive shaft and connected to the reversing assembly, and a ratchet mechanism B mounted on the outside of the drive shaft and connected to the positioning assembly. The ratchet mechanism A and ratchet mechanism B have the same structure but are arranged in opposite directions.

[0017] In some possible implementations, the ratchet mechanism A includes pawls evenly arranged around the drive shaft and an inner ratchet fitted on the outside of the drive shaft and used in conjunction with the pawls.

[0018] In some possible implementations, the reversing assembly includes a connecting column mounted on the bottom of the rotating base and coaxially arranged, a transmission bevel gear A coaxially arranged at the bottom of the connecting column, and a drive bevel gear A fitted on the outside of the drive shaft and connected to the inner ratchet in the ratchet mechanism A, wherein the transmission bevel gear A and the drive bevel gear A are in transmission engagement.

[0019] In some possible implementations, the positioning component includes a positioning element mounted on the bottom of the rotating base and extending into the storage slot, and a transmission element disposed on the bottom of the rotating base and connected to the drive component for transmission.

[0020] In some possible implementations, the positioning element is configured to correspond one-to-one with the storage slot, including an adjustment base plate disposed at the bottom of the rotating base and slidingly engaged with the rotating base, and multiple sets of positioning rods mounted on the adjustment base plate with one end extending through the rotating base and into the storage slot; the free end of the positioning rod is inserted into the roughening assembly, the punching assembly, or the plastering assembly.

[0021] In some possible implementations, the transmission component includes a lead screw vertically disposed within a fixed base and located below a rotating base; a transmission bevel gear B disposed at the bottom of the lead screw; a drive bevel gear B fitted on the outside of a drive shaft and connected to an inner ratchet in a ratchet mechanism B; a guide rail disposed parallel to the lead screw; a lifting bracket fitted on the outside of the guide rail and screwed to the lead screw; and an assembly space disposed within the fixed base for mounting the guide rail and the lead screw. The lifting bracket has a Z-shaped structure, with one end near the adjusting base plate located directly above the adjusting base plate. The distance from the end of the lifting bracket near the adjusting base to the bottom of the fixed base is greater than the distance from the other end to the bottom of the fixed base.

[0022] In some possible implementations, the positioning rod includes an extension rod vertically mounted on the adjusting base plate, a connecting rod hinged to one end of the extension rod away from the adjusting base plate, a pin hinged to the other end of the connecting rod, and an elastic element fitted on the outside of the pin; a mounting hole is provided in the rotating base plate for the positioning rod to pass through and connect to the storage slot; one end of the pin passes through the mounting hole and is located in the storage slot.

[0023] In some possible implementations, a pin hole for inserting a pin is provided on the outer side of the first or second connecting substrate; two sets of positioning plates for supporting and positioning the first or second connecting substrate are symmetrically arranged in the storage slot; and the mounting hole is located on the side near the positioning plate.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention effectively achieves roughening, screeding, and plastering operations on the work surface through the cooperation of a multi-axis robotic arm, connecting components, and functional parts. During use, only different functional parts need to be changed according to different work procedures to complete the operation. Compared with the prior art, there is no need to frequently change equipment during construction, which significantly reduces construction time and improves construction efficiency. In this invention, the connecting component effectively connects the functional components to the multi-axis robotic arm. At the same time, the connecting component can also control the operation of each functional component, enabling the invention to flexibly meet construction needs at different angles and heights, thus expanding the applicability of the equipment. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the storage component of the present invention; Figure 3 This is a schematic diagram showing the connection relationship between the rotating base, the positioning component, and the driving component in this invention; Figure 4 This is a schematic diagram of the driving component in this invention; Figure 5 This is a schematic diagram of the positioning component in this invention; Figure 6 This is a schematic diagram of the assembly base in this invention; Figure 7 This is a schematic diagram of the structure of the chiseling component in this invention; Figure 8 This is a schematic diagram showing the connection relationship between the chisel and the transmission seat in this invention; Figure 9 This is a schematic diagram of the structure of the brushing assembly in this invention; Figure 10 This is a schematic diagram of the punching assembly from another angle in this invention; Figure 11 This is a schematic diagram of the plastering component in this invention; Figure 12 This is a schematic diagram of the plastering component from another angle in this invention; in: 1. Portable base; 2. Multi-axis robotic arm; 3. Storage components; 31. Fixed base; 32. Rotating base; 320. Positioning plate; 321. Storage slot; 33. Commutation assembly; 331. Connecting column; 332. Transmission bevel gear A; 333. Drive bevel gear A; 34. Positioning components; 341. Positioning components; 3411, Adjusting base plate; 34111, Wing plate; 3412, Positioning rod; 34121, Extension rod; 34122, Connecting rod; 34123, Pin; 34124, Elastic element; 342. Transmission components; 3421. Lead screw; 3422. Transmission bevel gear B; 3423. Drive bevel gear B; 3424. Guide rail; 3425. Lifting bracket; 35. Driver components; 351. Drive motor; 352. Drive shaft; 353. Ratchet Mechanism A; 3531. Pawl; 3532. Internal ratchet; 3533. Spring; 354. Ratchet Mechanism B; 4. Scrubbing assembly; 41. Connecting base plate two; 42. Assembling transmission component two; 43. Nozzle assembly; 431. Support rod; 432. Bracket; 433. Nozzle; 44. Telescopic cylinder; 45. Material receiving and handling unit 2; 46. ​​Universal joint; 5. Plastering components; 51. Scraper; 6. Chiseling components; 61. Connecting substrate one; 611. Pin hole; 62. Assemble transmission component one; 621, Assembly table; 6211, Lock groove; 6222, Through hole; 622. Transmission seat; 6221. Keyway 63. Integrated cover; 64. Chiseled parts; 641. Rotating roller; 642. Drum; 643. Chisel tooth; 644. Worm gear one; 645. Worm one; 646. Transmission bevel gear C; 647. Drive bevel gear C; 65. Material receiving unit 1; 7. Connecting components; 71. Assembly base; 72. Splined shaft; 73. Material interface; 74. Locking component. Detailed Implementation

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the existence of at least one. In the implementation of this application, "and / or" describes the association relationship of related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. For example, multiple positioning posts refer to two or more positioning posts. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] The present invention will now be described in detail.

[0028] like Figures 1-12 As shown: A multi-functional construction robot integrating chiseling, roughening, and plastering is used to perform chiseling, roughening, and plastering on concrete surfaces; it includes a mobile base 1, a multi-axis robotic arm 2 mounted on the mobile base 1, a storage component 3 set on the base and rotatably engaged with the mobile base 1, a roughening component 4, a plastering component 5, and a chiseling component 6 with dust collection function stored on the storage component 3, a connecting component 7 set on the multi-axis robotic arm 2 and connected to the chiseling component 6, the roughening component 4, or the plastering component 5, and a material box set on the mobile base 1 and connected to the connecting component 7. Storage component 3 is used to store the roughening component 4, plastering component 5 and chiseling component 6. The multi-axis robotic arm 2 is connected to the roughening component 4, plastering component 5 or chiseling component 6 required for construction operations through the connecting component 7, so as to realize the chiseling, roughening and plastering operations on a certain area of ​​concrete surface in one go according to the construction procedure. The material bin will store different materials during different processes; During construction, the entire device is moved to the designated position by moving the base 1, and then the multi-axis robotic arm 2 is connected to the chiseling assembly 6 through the connecting assembly 7 to realize the chiseling operation. After the chiseling operation is completed, the multi-axis robotic arm 2 puts the chiseling component 6 back into the corresponding storage slot 321, and then connects the connecting component 7 to the punching component 4 to perform a punching operation on the working surface after the chiseling operation. After the roughening operation is completed, the roughening component 4 is returned to the corresponding storage tank 321 using the multi-axis robotic arm 2. Then, the connecting component 7 is connected to the plastering component 5 to perform plastering work on the roughened surface. For example, during the roughening process, it is used to collect the dust generated during roughening; during the sizing operation, the material box will store water to supply water for the sizing component 4; during the plastering operation, the material box will store slurry to supply slurry for the plastering component 5. Compared with the existing system, the roughening, sizing and plastering functions are integrated into one, and the automatic switching of functional components is achieved through the cooperation of the multi-axis connecting arm, connecting component 7 and storage component 3. During the construction process, there is no need to frequently change equipment, which significantly reduces the construction time and improves the construction efficiency.

[0029] In some possible implementations, in order to effectively store the roughening component 4, plastering component 5, and chiseling component 6, and to enable them to be well connected with the connecting component 7, the storage component 3 includes a fixed base 31 mounted on the movable base 1, a rotating base 32 rotatably mounted on the fixed base 31 and provided with a storage slot 321, a reversing component 33 mounted in the fixed base 31 and used to control the rotation of the rotating base 32, a positioning component mounted on the rotating base 32 and used to fix the chiseling component 6, roughening component 4, or plastering component 5 stored in the storage slot 321, and a driving component 35 that respectively drives the positioning component and the reversing component 33. Preferably, the storage slots 321 are in three sets and are evenly arranged on the rotating base 32 around its axis. The three sets of storage slots 321 are used to store the chiseling component 6, the roughening component 4, and the plastering component 5, respectively. In use, the multi-axis robotic arm 2 controls the connecting component 7 to rotate to the side close to the fixed base 31. At the same time, the rotating base 32 is driven by the drive component 35 and the reversing component 33 controls the rotating base 32 to rotate. Then, the positioning component, under the drive component 35, no longer fixes the chiseling component 6, roughening component 4, or plastering component 5 that needs to be assembled and connected by the connecting component 7, thus unlocking it. The connecting component 7 is then assembled with the unlocked chiseling component 6, roughening component 4, or plastering component 5. Then, it is taken out from the storage slot 321. Chiseling, roughening, or plastering operations can then be performed on the specified concrete surface. After the roughening operation is completed, the multi-axis robotic arm 2 puts the roughening component 6 back into the storage slot 321; then the base 32 is rotated to unlock the fixing of the blasting component 4, and then the connecting component 7 is connected to the blasting component 4 to perform the blasting operation; after the blasting operation is completed, the multi-axis robotic arm 2 puts the blasting component 4 back into the corresponding storage slot 321; then the base 32 is rotated to unlock the fixing of the plastering component 5, and then the connecting component 7 is connected to the plastering component 5 to perform the plastering operation.

[0030] In some possible implementations, in order to effectively connect the multi-axis robotic arm 2 with each functional component (scraping component 6, punching component 4, plastering component 5) through the connecting assembly 7, and to realize the control operation of the functional components through the connecting assembly 7, the connecting assembly 7 includes an assembly base 71 installed at the free end of the multi-axis robotic arm 2, a spline shaft 72 coaxially arranged with the assembly base 71 and rotatably installed on the side of the assembly base 71 away from the multi-axis robotic arm 2, a working motor arranged in the assembly base 71 and coaxially connected to one end of the spline shaft 72, a material interface 73 arranged on the assembly base 71 and with its axis coaxial with the spline shaft 72, and a locking member 74 for locking the assembly base 71 with the scraping component 6, punching component 4, or plastering component 5; one end of the material interface 73 is connected to the scraping component 6, punching component 4, or plastering component 5; the other end of the material interface 73 is connected to the material box through a connecting hose. Preferably, the locking brackets are in multiple sets and are evenly arranged around the circumference of the mounting base 71, thereby making the connection between the mounting base 71 and each functional component more stable and reliable.

[0031] In some possible implementations, the chiseling assembly 6 includes a connecting base plate 61 installed in the storage tank 321, an assembly transmission assembly 62 installed on the connecting base plate 61 and connected to the connecting assembly 7, a dust collection hood 63 installed at the bottom of the connecting base plate 61, and a chisel 64 installed in the dust collection hood 63; the chisel 64 is in a transmission engagement with the assembly transmission assembly 62; the dust collection hood 63 is connected to the material interface 73 through a material pipe 65. Specifically, the assembly transmission component 62 is assembled and connected with the connecting component 7, and the connecting component 7 controls the chiseling component 6 to apply force to the working surface to achieve chiseling of the working surface. The dust generated during chiseling will be blocked by the dust collection hood 63 and recycled into the material box through the material pipe 65. Specifically, multiple sets of suction pipes connected to material inlet pipe 65 are provided on the dust collection hood 63.

[0032] In some possible implementations, the punching assembly 4 includes a second connecting base plate 41 installed in the storage tank 321, a second assembly transmission assembly 42 installed on the second connecting base plate 41 and connected to the connecting assembly 7, a nozzle assembly 43 installed at the bottom of the second connecting base plate 41 and hinged to the second connecting base plate 41, and a telescopic cylinder 44 with one end hinged to the nozzle assembly 43 and the other end hinged to the second assembly transmission assembly 42; the nozzle assembly 43 is connected to the material interface 73 through a second material pipe 45. Specifically, during the roughening operation, the second assembly transmission component 42 is connected to the connecting component 7, and the second material pipe 45 is connected to the material box containing water; the multi-axis robotic arm 2 moves the roughening component 4 to the working surface, and the nozzle component 43 sprays high-pressure water to roughen the working surface.

[0033] In some possible implementations, the plastering assembly 5 includes a roughening assembly 4 and a scraper 51 mounted on the bottom of the connecting base plate 2 41 and disposed on the side away from the output port of the nozzle assembly 43. By setting a scraper 51 on the sizing assembly 4 and connecting the nozzle assembly 43 of the sizing assembly 4 to the slurry storage bin, the slurry is sprayed onto the working surface through the sizing assembly 4, and then the multi-axis robotic arm 2 controls the scraper 51 to smooth the slurry.

[0034] In some possible implementations, the assembly transmission assembly 62 and the assembly transmission assembly 42 have the same structure, including an assembly platform 621 fixedly mounted on the connecting base plate 61 and a transmission seat 622 mounted in the assembly platform 621 and rotatably engaged with the connecting base plate 61; the bottom of the transmission seat 622 passes through the connecting base plate 61 or the connecting base plate 41 and is connected to the punching assembly 4, the plastering assembly 5 or the chiseling assembly 6; the assembly platform 621 is provided with a locking groove 6211 for cooperating with the locking member 74; the assembly platform 621 is provided with a through hole 6212 for one end of the material pipe 65 or the material pipe 45 to pass through and connect to the material interface 73; the transmission seat 622 is provided with a keyway 6221 for mounting the spline shaft 72. Specifically, the locking component 74 includes a positioning lock installed on the end of the assembly base 71 away from the multi-axis robotic arm 2 and moving towards or away from the spline shaft 72, and a cylinder for driving the positioning lock to slide. When the assembly base 71 is circular, the positioning lock will slide radially along the assembly base 71. During assembly, one end of the positioning lock will be inserted into the large opening of the locking groove 6211, and then slide towards the spline shaft 72 to enter the small opening for locking. The positioning lock includes a locking rod that slides with the assembly base 71, and a locking tongue connected to the end face of the locking rod and located at the free end of the locking rod. The locking groove 6211 includes a groove for engaging with the locking tongue, and a slot with a large opening and a small opening located above the groove. During assembly, the locking tongue enters the groove through the large opening, and then slides into the small opening to achieve locking. The small opening is located between the large opening and the keyway 6221 for installing the spline shaft 72. After assembly, the material interface 73 will be coaxially connected with the through hole 6212.

[0035] In some possible embodiments, the chiseling component 64 includes a rotating roller 641 mounted inside the dust collection hood 63 and rotatably engaged, a roller 642 fitted outside the rotating roller 641 and provided with chiseling teeth 643, a worm gear 644 fitted outside the rotating roller 641, and a worm gear drive 342 that is driven in conjunction with the worm gear 644 and the assembly transmission assembly 62 respectively; one end of the worm gear drive 342 passes through the dust collection hood 63 and is driven in conjunction with the assembly transmission assembly 62.

[0036] The worm gear transmission component 342 includes a worm gear 645 that is driven and cooperates with the worm wheel 644 and one end of which passes through the dust collection cover 63; a transmission bevel gear C646 disposed at the end of the worm gear 645 that passes through the dust collection cover 63; and a drive bevel gear C647 that is coaxially connected to the transmission seat 622 through the end of the connecting base plate 61 and is driven and cooperates with the transmission bevel gear C646. During the roughening process, the multi-axis robotic arm 2 controls the roughening assembly 6 to move above the working surface; then the working motor drives the spline shaft 72 to rotate, which in turn drives the transmission seat 622 to rotate. Due to the rotation of the transmission seat 622, the drive bevel gear C647 rotates, which drives the worm gear 645 to rotate, and finally drives the rotating roller 641 to rotate around its axis, so that the roller 642 with roughening teeth 643 rotates, thereby roughening the working surface; during the roughening process, the resulting mortar seams will enter the material box through the material pipe 65 for collection.

[0037] In some possible implementations, the nozzle assembly 43 includes a support rod 431 mounted on the bottom of the connecting base plate 2 41, and a nozzle component hinged to the support rod 431 and connected to the material pipe; one end of the telescopic cylinder 44 is hinged to the nozzle component and the other end is hinged to the transmission seat 622 in the assembly transmission assembly 2 42 via a universal joint 46. The nozzle assembly includes a bracket 432 connected to a support rod 431 and a telescopic cylinder 44, and several sets of nozzles 433 mounted on the bracket 432 and respectively connected to the material pipe. Specifically, the support rods 431 are in two sets and are installed in parallel at the bottom of the connecting base plate, with the other end of each rod hinged to the nozzle component; one end of the telescopic cylinder 44 is hinged to the transmission seat 622 and the other end is hinged to the nozzle component. When the rotating seat is controlled to rotate by the working motor, the telescopic cylinder 44 will extend and retract, thereby driving the nozzle component to rotate around the hinge point between it and the support rod 431, thereby adjusting the angle of the nozzle 433 and achieving uniform roughening of the working surface. It should be noted that the nozzle 433 in the scabbing assembly 4 can be selected and installed with different nozzles 433 in the prior art, depending on whether it is used for scabbing or plastering operations.

[0038] In some possible implementations, to effectively control the rotation of the rotating base 32 and unlock the corresponding functional components (scraping assembly 6, punching assembly 4, plastering assembly 5) via the drive assembly 35, the drive assembly 35 includes a drive motor 351 installed in the fixed base 31, a drive shaft 352 coaxially connected to the output shaft of the drive motor 351, a ratchet mechanism A353 mounted on the outside of the drive shaft 352 and connected to the reversing assembly 33, and a ratchet mechanism B354 mounted on the outside of the drive shaft 352 and connected to the positioning assembly. 53 has the same structure as ratchet mechanism B354 but is arranged in the opposite direction; the ratchet mechanism A353 includes pawls 3531 evenly arranged around the drive shaft 352, an inner ratchet 3532 fitted on the outside of the drive shaft 352 and used in conjunction with the pawls 3531, and springs 3533 arranged on the drive shaft 352 and corresponding to the pawls 3531; the springs 3533 are assembled between the pawls 3531 and the drive shaft 352 to apply an outward expanding force to the corresponding pawls 3531, and the ratchet teeth provided on the inner side of the inner ratchet 3532 are engaged with the pawls 3531.

[0039] Since the two sets of ratchet mechanisms (ratchet mechanism A353 and ratchet mechanism B354) are set in opposite directions, when the drive motor drives the drive shaft 352 to rotate in the forward and reverse directions, the power of the drive shaft 352 can only be transmitted to the corresponding inner ratchet 3532 through the pawl 3531 in one of the ratchet mechanisms (ratchet mechanism A353 or ratchet mechanism B354), so that the corresponding inner ratchet 3532 can operate stably, thereby realizing the power split transmission of the drive motor to drive the inner ratchet 3532 in the two sets of ratchet mechanisms to run independently.

[0040] In some possible implementations, the reversing assembly 33 includes a connecting column mounted on the bottom of the rotating base 32 and coaxially arranged, a transmission bevel gear A coaxially arranged on the bottom of the connecting column, and a drive bevel gear A fitted on the outside of the drive shaft 352 and connected to the inner ratchet 3532 in the ratchet mechanism A353, wherein the transmission bevel gear A and the drive bevel gear A are in transmission engagement.

[0041] Specifically, ratchet mechanism B354 is located between ratchet mechanism A353 and the working drive motor. When the working drive motor controls the drive shaft 352 to rotate in the forward direction, it drives the inner ratchet 3532 in ratchet mechanism A353 to rotate. At this time, the inner ratchet 3532 in ratchet mechanism B354 will not rotate. The inner ratchet 3532 in ratchet mechanism A353 causes the drive bevel gear A to rotate, thereby realizing the rotation of the transmission bevel gear A, and then realizing the rotation of the control rotating base 32, so that the functional component stored in the storage slot 321 rotates to the designated position. When the drive motor 351 drives the ratchet mechanism A353 to operate via the drive shaft 352, the operating inner ratchet 3532 can drive the transmission bevel gear A to operate stably via the drive bevel gear A, thereby driving the connecting column and the rotating base 32 to operate stably, so as to move the storage slot 321 or the stored functional components on the rotating base 32 to the direction of the connecting component 7.

[0042] In some possible implementations, the positioning assembly includes a positioning member 341 mounted on the bottom of the rotating base 32 and extending into the storage slot 321, and a transmission member 342 disposed on the bottom of the rotating base 32 and connected to the drive assembly 35. The positioning member 341 is configured one-to-one with the storage slot 321, and includes an adjusting base plate 3411 disposed on the bottom of the rotating base 32 and slidingly engaged with the rotating base 32, and multiple sets of 3412 mounted on the adjusting base plate 3411 with one end extending through the rotating base 32 and into the storage slot 321. The free end of the 3412 is inserted into the connecting base plate in the roughening assembly 6, the punching assembly 4, or the plastering assembly 5.

[0043] Specifically, the positioning component 341 is used to lock and fix the functional component placed in the storage slot 321; after the rotating base 32 rotates to the designated position, when the functional component needs to be removed, the drive component 342 will control the positioning component 341 to unlock from the functional component. In use, the drive assembly 35 drives the transmission component 342 to move away from the rotating base 32, causing the transmission component 342 to drive the adjusting base plate 3411 to move downward, thereby causing the drive end to move downward in conjunction with the side of the connecting substrate 3412, so that the connecting substrate is separated from the positioning component 341, thus unlocking.

[0044] In some possible embodiments, the transmission component 342 includes a lead screw 3421 vertically disposed within the fixed base 31 and located below the rotating base 32; a transmission bevel gear B3422 disposed at the bottom of the lead screw 3421; a drive bevel gear B3423 fitted on the outside of the drive shaft 352 and connected to the inner ratchet 3532 in the ratchet mechanism B354; a guide rail 3424 disposed parallel to the lead screw 3421; a lifting bracket 3425 fitted on the outside of the guide rail 3424 and screwed to the lead screw 3421; and an assembly space disposed within the fixed base 31 for mounting the guide rail 3424 and the lead screw 3421. The lifting bracket 3425 has a Z-shaped structure, with one end near the adjusting base plate 3411 located directly above the adjusting base plate 3411. The distance from the end of the lifting bracket 3425 near the adjusting base to the bottom of the fixed base 31 is greater than the distance from the other end to the bottom of the fixed base 31. Specifically, a wing plate 34111 is provided on the side of the adjusting base plate 3411 near the upgrading bracket 432, and the end of the lifting bracket 3425 near the adjusting base plate 3411 is located above the wing plate 34111; when the two are separated, the positioning member 341 will lock and fix the connecting base plate; when the lifting bracket 3425 moves downward and drives the wing plate 34111 to move downward, the connecting base plate will be positioned. After the functional component rotates to the designated position, the working drive motor will control the drive shaft 352 to rotate in the opposite direction. At this time, the inner ratchet 3532 in the ratchet mechanism B354 will rotate. At this time, the inner ratchet 3532 in the ratchet mechanism A353 will not rotate. The inner ratchet 3532 in the ratchet mechanism B354 will cause the drive bevel gear B3423 to rotate, thereby realizing the rotation of the lead screw 3421. The lifting bracket 3425 will then move away from the rotating base 32, controlling the adjusting base plate 3411 to move downward, so that 3412 is separated from the connecting base plate (connecting base plate one 61 or connecting base plate two 41), and the connecting base insertion is no longer unlocked. In some possible embodiments, 3412 includes an extension rod 34121 vertically mounted on an adjusting base plate 3411, a connecting rod 34122 hinged to one end of the extension rod 34121 away from the adjusting base plate 3411, a pin 34123 hinged to the other end of the connecting rod 34122, and an elastic element 34124 fitted on the outside of the pin 34123; a mounting hole is provided in the rotating base 32 for 3412 to pass through and connect to the storage slot 321; one end of the pin 34123 passes through the mounting hole and is located in the storage slot 321; a pin hole 611 is provided on the outside of the first connecting base plate 61 or the second connecting base plate 41 for inserting and engaging the pin 34123; two sets of positioning plates 320 are symmetrically arranged in the storage slot 321 for supporting and positioning the first connecting base plate 61 or the second connecting base plate 41; the mounting hole is located on the side close to the positioning plate 320. The pin 34123 is horizontally arranged inside the rotating base 32, and the extension rod 34121 is vertically arranged; Specifically, when the lifting bracket 3425 moves downward, it drives the adjusting base plate 3411 to move downward. Since the pin 34123 is hinged through the connecting rod extension rod 34121, the pin 34123 moves away from the connecting base plate 61, and the pin 34123 is pulled out from the pin hole 611 provided on the connecting base plate, thus unlocking. During the unlocking process, the spring will be in a compressed state. In the initial state, the elastic element 34124 will drive the pin 34123 to move towards the corresponding pin hole 611 without external force, so as to lock the connecting base plate at the corresponding position. In this state, the adjusting base plate 3411 and the extension rod 34121 are at the top of their own stroke under the action of the connecting rod 34122.

[0045] When the functional component is placed after use, the lead screw 3421 rotates in the opposite direction under the control of the drive assembly 35, causing it to move towards the side of the lifting bracket 3425 closer to the rotating base 32. The lifting bracket 3425 no longer applies force to the adjusting base plate 3411, and the elastic element 34124 returns from the compressed state to the initial state, driving the adjusting base plate 3411 and the extension rod 34121 to move upward synchronously, thereby causing the pin 34123 to re-extend into the pin hole 611 of the corresponding connecting substrate.

[0046] Preferably, the mobile base 1 of the present invention includes a frame and tracked travel modules mounted on the frame. The tracked travel modules are respectively located at the front, rear, left, and right sides of the frame to achieve stable support for the frame. The tracked travel modules can improve the stability and passability of the walking components during the walking process. Each set of tracked travel modules is driven by an independent motor. When the motors in each tracked travel module run independently, the tracked travel modules can achieve forward, reverse, and differential operation, thereby controlling the walking components to achieve forward, backward, turning, and U-turn actions, improving the stability and reliability of the construction robot in complex construction sites.

[0047] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A multifunctional construction robot integrating chiseling, punching and plastering, characterized in that, The device comprises a mobile base, a multi-axis mechanical arm installed on the mobile base, a storage component installed on the base and rotationally matched with the mobile base, a chiseling assembly, a troweling assembly and a chiseling assembly with dust collection function stored on the storage component respectively, a connecting assembly installed on the multi-axis mechanical arm and connected with the chiseling assembly or the troweling assembly or the chiseling assembly, and a material box installed on the mobile base and connected with the connecting assembly.

2. The multifunctional construction robot integrating gouging, punching and plastering according to claim 1, characterized in that, The storage component comprises a fixed base installed on the mobile base, a rotating base installed on the fixed base and provided with a storage slot, a reversing assembly installed in the fixed base and used for controlling the rotation of the rotating base, a positioning assembly installed on the rotating base and used for fixing the chiseling assembly or the troweling assembly or the chiseling assembly stored in the storage slot, and a driving assembly transmissionally matched with the positioning assembly and the reversing assembly.

3. The multifunctional construction robot integrating gouging, punching and plastering according to claim 2, characterized in that, The connecting assembly comprises a mounting seat installed on the free end of the multi-axis mechanical arm, a spline shaft coaxially arranged with the mounting seat and rotationally installed on the side of the mounting seat away from the multi-axis mechanical arm, a working motor installed in the mounting seat and coaxially connected with one end of the spline shaft, a material interface coaxially arranged with the spline shaft and installed on the mounting seat, and a locking member used for locking the mounting seat and the chiseling assembly or the troweling assembly or the chiseling assembly; one end of the material interface is communicated with the chiseling assembly or the troweling assembly or the chiseling assembly; the other end of the material interface is connected with the material box.

4. The multifunctional construction robot integrating gouging, punching and plastering according to claim 3, characterized in that, The chiseling assembly comprises a connecting base plate one installed in the storage slot, an assembly driving assembly one installed on the connecting base plate one and connected with the connecting assembly, a dust collection cover installed on the bottom of the connecting base plate one, and a chiseling member installed in the dust collection cover; the chiseling member is transmissionally matched with the assembly driving assembly one; the dust collection cover is communicated with the material interface through a material interface pipe one.

5. The multifunctional construction robot integrating gouging, punching and plastering according to claim 3, characterized in that, The troweling assembly comprises a connecting base plate two installed in the storage slot, an assembly driving assembly two installed on the connecting base plate two and connected with the connecting assembly, a spray head assembly hingedly connected with the connecting base plate two and installed on the bottom of the connecting base plate two, and an extension cylinder hingedly connected with the spray head assembly at one end and connected with the assembly driving assembly two at the other end; the spray head assembly is communicated with the material interface through a material interface pipe two.

6. The multifunctional construction robot integrating gouging, punching and plastering according to claim 4, characterized in that, The troweling assembly comprises the troweling assembly, and a scraper installed on the bottom of the connecting base plate two and arranged away from the output port of the spray head assembly.

7. The multifunctional construction robot integrating gouging, punching and plastering according to claim 6, characterized in that, The assembly driving assembly one and the assembly driving assembly two are the same in structure and comprise an assembly table fixedly installed on the connecting base plate one, and a transmission seat installed in the assembly table and rotationally matched with the connecting base plate one; the bottom of the transmission seat penetrates through the connecting base plate one or the connecting base plate two; a locking groove matched with the locking member is arranged on the assembly table; a through hole through which one end of the material interface pipe one or the material interface pipe two penetrates and connected with the material interface is arranged on the assembly table.

8. The multi-functional construction robot of claim 4, wherein, The chiseling member comprises a rotating roller installed in the dust collection cover and rotationally matched, a roller provided with chiseling teeth and sleeved on the outside of the rotating roller, a worm gear one sleeved on the outside of the rotating roller, and a worm transmission member transmissionally matched with the worm gear one and the assembly driving assembly one respectively; one end of the worm transmission member penetrates through the dust collection cover and is transmissionally matched with the assembly driving assembly one.

9. The multi-functional construction robot of claim 5, wherein, The spray head assembly comprises a support rod mounted on the bottom of the connecting base plate, a spray head member hinged to the support rod and connected to the material connecting pipe, and a telescopic cylinder. The spray head member comprises a support connected to the support rod and the telescopic cylinder, and a plurality of groups of nozzles mounted on the support and respectively connected to the material connecting pipe.

10. The multi-functional construction robot of claim 7, wherein, The driving assembly comprises a driving operation motor mounted in the fixed base, a driving shaft coaxially connected to the output shaft of the driving operation motor, a ratchet mechanism A sleeved outside the driving shaft and in transmission connection with the reversing assembly, and a ratchet mechanism B sleeved outside the driving shaft and in transmission connection with the positioning assembly.

11. The multifunctional construction robot of claim 10, wherein, The ratchet mechanism A comprises pawls uniformly arranged around the driving shaft, and an inner ratchet sleeved outside the driving shaft and matched with the pawls.

12. The multi-functional construction robot of chiseling, punching and plastering integrated according to claim 11, characterized in that, The reversing assembly comprises a connecting column coaxially arranged on the bottom of the rotating base, a transmission bevel gear A coaxially arranged on the bottom of the connecting column, and a driving bevel gear A sleeved outside the driving shaft and connected to the inner ratchet in the ratchet mechanism A.

13. The multi-functional construction robot of claim 10, wherein, The positioning assembly comprises a positioning member mounted on the bottom of the rotating base and extending into the storage groove, and a transmission member arranged on the bottom of the rotating base and in transmission connection with the driving assembly.

14. The multi-functional construction robot of claim 13, wherein, The positioning member is arranged in one-to-one correspondence with the storage groove, and comprises an adjusting bottom plate arranged on the bottom of the rotating base and in sliding connection with the rotating base, and a plurality of groups of positioning rods mounted on the adjusting bottom plate and having one end extending into the storage groove through the rotating base.

15. The multi-functional construction robot of claim 14, wherein, The transmission member comprises a lead screw arranged in the fixed base in the vertical direction and below the rotating base, a transmission bevel gear B arranged on the bottom of the lead screw, a driving bevel gear B sleeved outside the driving shaft and connected to the inner ratchet in the ratchet mechanism B, a guide rail arranged in parallel with the lead screw, a lifting bracket sleeved outside the guide rail and in screw connection with the lead screw, and an assembly arranged in the fixed base and used for mounting the guide rail and the lead screw.

16. The multi-functional construction robot of chiseling, punching and plastering integrated according to claim 15, characterized in that, The positioning rod comprises an extension rod vertically mounted on the adjusting bottom plate, a connecting rod hinged to one end of the extension rod away from the adjusting bottom plate, a pin rod hinged to the other end of the connecting rod, and an elastic member sleeved outside the pin rod.

17. The multi-functional construction robot of chiseling, punching and plastering integrated according to claim 16, characterized in that, A mounting hole is arranged in the rotating base and connected to the storage groove, and one end of the pin rod extends into the storage groove through the mounting hole. A pin hole in plug connection with the pin rod is arranged on the outside of the connecting base plate or the connecting base plate two. Two groups of positioning plates for supporting and positioning the connecting base plate one or the connecting base plate two are symmetrically arranged in the storage groove.

Images