Large ice sculpture automatic building robot

Abstract

The invention discloses an automatic building robot for a large ice sculpture. Relates to the field of ice landscape processing. The device comprises a steering wheel mechanism, a lifting mechanism, a portal frame longitudinal beam, a portal frame cross beam, a lifting cross beam, an ice block clamping jaw, a rail tractor, a clamping jaw longitudinal moving gear and rack mechanism, a pulley assembly and a spraying mechanism. Lifting mechanisms are installed between bottom steering wheel mechanisms of the portal frame longitudinal beams and the single-side portal frame longitudinal beams, a lifting cross beam moving in the direction of the portal frame longitudinal beams is installed between the portal frame longitudinal beams on the two sides, the top end of the lifting cross beam is connected with a pulley assembly, and a rail tractor is installed on the lifting cross beam. The bottom of the rail tractor is connected with the clamping jaw longitudinal moving gear and rack mechanism, the lower portion of the clamping jaw longitudinal moving gear and rack mechanism is connected with the ice block clamping jaw, the ice block clamping jaw grabs ice bricks on the lifting mechanism and then stacks the ice bricks in a building area below the portal frame body, and a set of ice bricks are fixed through the spraying mechanism. The method is applied to the field of automatic building of large ice art landscapes.

Description

Technical Field

[0001] This invention relates to the field of ice art landscape processing, specifically to a large-scale automated ice sculpture assembly robot. Background Technology

[0002] Currently, in the field of ice sculpture and large ice building construction, the industry generally relies on the traditional operation mode of combining manual labor with large cranes. This mode has many significant pain points and limitations in practical applications, and it is difficult to meet the needs of efficient, precise and safe construction.

[0003] In the current ice art landscape processing flow, natural ice blocks or prefabricated standard ice blocks must first be sorted and transported manually. Then, using the hooks of large cranes in conjunction with ropes, lifting equipment, and other simple tools, the ice blocks are hoisted one by one to the target height. Because the accuracy of crane operations is greatly affected by the operator's experience and there is a lack of specialized ice block stabilization and clamping mechanisms, the ice blocks are prone to swaying and shifting during the hoisting process. This not only makes it difficult to achieve precise construction but also poses a safety hazard of falling ice blocks, seriously threatening the personal safety of construction workers.

[0004] In terms of construction efficiency, the traditional method is limited by the single lifting capacity of the crane, usually only able to lift and place a single block of ice. Furthermore, the lifting process requires repeated manual calibration of the building position, resulting in a slow overall construction pace. This is especially true for large-area, high-height ice construction projects, which often require a significant investment of manpower and time, leading to long construction cycles and high labor costs. Simultaneously, there are numerous manual interventions involved, from preparing the ice blocks on the ground and securing them with hooks to adjusting them during high-altitude construction. All these processes require direct human intervention in the extremely cold working environment, and prolonged exposure can easily lead to occupational health problems such as frostbite, resulting in extremely poor work comfort and safety.

[0005] In addition, large cranes lack operational flexibility and are poorly adaptable to different structural forms such as single-sided continuous ice walls or double-sided symmetrical ice buildings, making it difficult to achieve multi-scenario and efficient construction operations, which further restricts the large-scale and standardized development of the ice sculpture and ice building industry. Summary of the Invention

[0006] In order to solve the problem that in the existing ice art landscape processing and construction process, the crane's single lifting capacity is limited, usually only a single block of ice can be lifted and placed, and the construction position needs to be repeatedly manually calibrated during the lifting process, resulting in a slow overall construction pace, this invention provides a large-scale automated ice sculpture construction robot.

[0007] The technical solution of this invention is:

[0008] A large-scale automated ice sculpture assembly robot includes a steering wheel mechanism, a lifting mechanism, a gantry longitudinal beam, a gantry cross beam, a lifting cross beam, ice block grippers, a track traction vehicle, a gripper longitudinal movement gear and rack mechanism, a pulley assembly, and a spraying mechanism.

[0009] The top of the gantry longitudinal beam is vertically connected to the gantry cross beam to form the main body of the gantry. A steering wheel mechanism is installed at the bottom of the gantry longitudinal beam. A lifting mechanism that moves vertically along the gantry longitudinal beam is installed between the gantry longitudinal beams on the same side. A lifting cross beam that moves vertically along the gantry longitudinal beam is installed between the gantry longitudinal beams on both sides. The top of the lifting cross beam is connected to a pulley assembly. At least two sets of track traction vehicles and spraying mechanisms that move along the length of the lifting cross beam are installed on the lifting cross beam. The track traction vehicle is vertically connected to the claw longitudinal moving gear rack mechanism. The lower part of the claw longitudinal moving gear rack mechanism is connected to the ice block gripper, so that the ice block gripper moves horizontally along the length of the claw longitudinal moving gear rack mechanism. The claw longitudinal moving gear rack mechanism moves horizontally along the length of the lifting cross beam through the track traction vehicle.

[0010] The lifting mechanism and ice block gripper work together in a high-altitude ice-retrieving mode. The lifting mechanism vertically lifts the ice blocks from the ground to a high altitude and then horizontally sends them under the ice block gripper. The ice block gripper, through the coordinated action of the rail traction vehicle, the longitudinal movement gear rack mechanism of the gripper, and the lifting beam, achieves the positioning of the ice block gripper in the X, Y, and Z axes and the rotation angle in space, and stacks the ice blocks in the construction area under the main body of the gantry.

[0011] Furthermore, the lifting mechanism includes a lifting mechanism winch, a lifting frame, and a lifting slide plate;

[0012] A hoisting mechanism winch is installed on the side of the longitudinal beam of the gantry frame. The hoisting mechanism winch is connected to a wire rope. The wire rope passes around the pulley under the crossbeam of the gantry frame and connects to the longitudinal beam of the hoisting frame. The hoisting mechanism winch drives the hoisting frame to move vertically up and down. The hoisting slide plate is vertically connected to the longitudinal beam of the hoisting frame. The hoisting slide plate uses the longitudinal beam of the gantry frame as a slide rail and moves vertically up and down along the longitudinal beam, which works with the hoisting frame to realize the high-altitude transportation of ice bricks.

[0013] Furthermore, the lifting mechanism also includes a motor, a gearbox, a T-shaped slide, pulleys, a tray, a ball screw, a guide block, and a tray base;

[0014] The motor is connected to the gearbox, the gear set of the gearbox is connected to the end of the ball screw, the ball screw is equipped with a bearing seat, the ball screw is connected to the guide block through a threaded structure, the guide block is fixedly connected to the bottom beam of the pallet, the pallet and the pallet base form a double-layer structure, and the pallet and the pallet base are arranged in parallel. The pallet base is installed on the horizontal plane of the lifting frame, and the upper end of the pallet base is equipped with a bearing seat and a T-shaped slide groove. The upper surface of the pallet is machined with anti-slip texture, and the bottom of the pallet is connected to the pulley. The pulley is set in the T-shaped slide groove, and the pulley drives the pallet to slide along the T-shaped slide groove.

[0015] The motor drives the ball screw to rotate through the gearbox, and the guide block at the bottom of the tray moves the tray horizontally along the T-shaped slide, sending the ice bricks on the tray to the gripping area of ​​the ice block claw, completing the horizontal feeding action of high-altitude ice transfer.

[0016] Furthermore, the gantry beam includes a support base, a coaxial double-drum winch, and upper beam stiffeners;

[0017] The upper crossbeam stiffener is vertically and fixedly connected to the front and rear gantry crossbeams. A support seat is fixedly installed in the middle of the two gantry crossbeams. A coaxial double drum winch is fixedly installed above the support seat. The coaxial double drum winch drives the lifting crossbeam to rise and fall along the longitudinal beam of the gantry through a wire rope and pulley assembly, providing power for the Z-axis positioning of the ice block gripper.

[0018] Furthermore, the lifting beam includes lifting beam stiffeners and a tractor-mounted moving platform;

[0019] A tractor moving platform is fixedly installed below the lifting beam along its length. A set of lifting beam stiffeners is vertically installed above the lifting beam. A rail tractor is installed on the tractor moving platform. The rail tractor drives the longitudinal movement of the chucks. The gear and rack mechanism moves horizontally along the length of the lifting beam, providing support for the X-axis positioning of the ice block grippers.

[0020] Furthermore, the ice block gripper includes a steering wheel, an adjusting nut, an adjusting screw, a clamping plate, and a gripper mounting base;

[0021] The adjusting screw is rotatably mounted on the jaw mounting base. The threaded sleeves of the two clamping plates are connected to the adjusting screw through a threaded structure. The adjusting nut is fixedly mounted in the middle position of the adjusting screw. When the adjusting nut drives the adjusting screw to rotate, it causes the two clamping plates on the adjusting screw to change the clamping distance.

[0022] The steering turntable is installed above the gripper mounting base, which can achieve ±180° rotation adjustment. The gripper mounting base moves horizontally along the direction of the longitudinal movement gear and rack mechanism of the gripper. In conjunction with the rail traction vehicle and the lifting beam, the Y-axis positioning and rotation angle adjustment of the ice block gripper are completed, realizing XYZ three-axis positioning and masonry.

[0023] Furthermore, the rail traction vehicle includes traction wheels, shock-absorbing springs, gear shafts, limiting plates, traction vehicle back plates, and power input shafts;

[0024] The traction wheels are connected to the power input shaft and roll above the traction vehicle's moving platform. The power input shaft and gear shaft are connected to the traction vehicle's back plate, and the bottom of the traction vehicle's back plate is connected to a limiting plate. The limiting plate is set below the traction vehicle's moving platform to limit the movement of the rail traction vehicle. The gear shaft is connected to the gear, so that the gear meshes with the rack of the traction vehicle's moving platform. Each gear shaft is equipped with a shock-absorbing spring to ensure the moving accuracy of the rail traction vehicle and provide stable transmission for X-axis positioning.

[0025] Furthermore, the longitudinal movement gear and rack mechanism of the chuck includes a longitudinal movement rack and a longitudinal gear shaft;

[0026] The longitudinal gear shaft is connected to the gear, which meshes with the longitudinal moving rack. The drive motor on the longitudinal gear shaft drives the gear to move horizontally along the direction of the longitudinal moving rack. When the gear on the longitudinal gear shaft moves on the longitudinal moving rack, it drives the ice block gripper to move horizontally along the direction of the longitudinal gear shaft, thus achieving Y-axis positioning.

[0027] Furthermore, the pulley assembly includes a fixed pulley for the gantry beam, a movable pulley for the lifting beam, a drum, and steel cables;

[0028] The upper crossbeam stiffeners on the gantry beam are equipped with fixed pulleys and drums, while the lifting beam stiffeners on the lifting beam are equipped with movable pulleys. One end of the steel cable is connected to a coaxial double-drum winch, and the other end passes through a set of fixed pulleys on the gantry beam and a set of movable pulleys on the lifting beam before connecting to the drum. Based on the lifting height of the lifting beam, the steel cable is wound and unwound by the coaxial double-drum winch and the drum to ensure the lifting and unwinding of the Z-axis positioning.

[0029] Furthermore, the spraying mechanism includes a robotic arm mounting base, a robotic arm, and a spray head;

[0030] The robotic arm mounting base is installed on the tractor's moving platform of the lifting beam. The robotic arm mounting base is connected to the robotic arm, and the end effector of the robotic arm is equipped with a spray head. The robotic arm mounting base is a combination mechanism of gear shaft and gear, which enables the spraying mechanism to move horizontally along the direction of the tractor's moving platform. It sprays clean water through the spray head, and coordinates with the high-altitude ice collection and XYZ three-axis positioning actions to realize the synchronous operation of masonry and curing.

[0031] Compared with the prior art, the present invention has the following advantages:

[0032] This invention significantly improves the efficiency of ice art landscape processing, achieving full automation. Compared to traditional ice sculpture construction, where the grippers need to descend from a height to the ground to retrieve ice and then rise back up to build it, resulting in a large amount of ineffective vertical back-and-forth travel, this invention uses a ground lifting and high-altitude handover mode. The lifting mechanism directly transports the ice blocks to the high-altitude gripper grabbing area, eliminating the need for the grippers to touch the ground throughout the process. This greatly reduces the ineffective movement distance of the grippers and significantly increases the speed of a single construction operation.

[0033] Meanwhile, the system employs four main modules: lifting, gripping, positioning, and spraying. These modules can achieve a high degree of coordination under program control. For example, during the process of spraying and solidifying the current ice block after it has been gripped by the gripper, the lifting mechanism can transport the next ice block, enabling overlapping processes and streamlined operations, which significantly improves the overall construction progress.

[0034] This invention replaces manual ice brick handling and installation at heights, avoiding health problems such as frostbite and hypothermia caused by prolonged exposure to low temperatures, and eliminating the safety hazard of falls from heights. It employs a gantry-type frame structure with omnidirectional drive wheels, ensuring a stable chassis and strong load-bearing capacity. During the lifting process, it ensures the stability of the ice bricks during high-altitude transport, preventing them from slipping and injuring equipment or personnel.

[0035] This invention employs a combined transmission system of lifting beam, rail traction vehicle, and longitudinal movement gear rack for the gripper, which enables precise adjustment of the gripper's X, Y, and Z axes and rotation angle in space, ensuring minimal positional error in the ice brick construction and resulting in a smooth ice wall surface and tight joints.

[0036] Traditional ice brick bonding often relies on manual watering, which is labor-intensive and difficult to control. Excessive water application can create irregular ice layers on the surface, affecting the overall aesthetics of the ice sculpture. This robot, equipped with an intelligent spraying system, automatically adjusts the atomization volume and frequency based on ambient temperature. In extremely cold environments, the atomized water freezes quickly and evenly at the joints. The steering wheel mechanism at the bottom of the gantry supports omnidirectional drive, enabling the robot to move flexibly and turn in place on complex icy and snowy surfaces, adapting to the construction needs of ice structures of different shapes and locations.

[0037] This invention can operate in both horizontal and vertical modes. For single-sided ice walls or symmetrical double-sided structures, efficient coverage can be achieved by adjusting the gantry's posture and working logic, eliminating the need to replace large equipment and improving equipment utilization.

[0038] The robot operates entirely based on a pre-set program, and parameters such as construction path, masonry sequence, and spraying volume can all be digitally set. This transforms ice sculpture construction from traditional experience-based manual operation to mechanized manufacturing.

[0039] This invention represents not only a technological leap forward in the field of ice and snow construction, but also a cross-disciplinary breakthrough in the development of special robots for extreme cold environments. It can be extended to strategic fields such as polar scientific research and high-altitude infrastructure construction, fully demonstrating the forward-looking layout and practical value of intelligent manufacturing in overcoming extreme environments. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the present invention;

[0041] Figure 2 This is the front view of the present invention;

[0042] Figure 3 This is a top view of the present invention;

[0043] Figure 4 This is a side view of the present invention;

[0044] Figure 5 This is a perspective view of the present invention;

[0045] Figure 6 This is a structural diagram of the lifting mechanism;

[0046] Figure 7 This is a schematic diagram showing the connection between the ice block gripper and the gear and rack mechanism;

[0047] Figure 8 This is a structural schematic diagram of a rail traction vehicle;

[0048] Figure 9 This is a schematic diagram showing the connection between the rail traction vehicle and the rack and pinion mechanism;

[0049] Figure 10 This is a schematic diagram of the connection of the gantry frame longitudinal beam and the gantry frame cross beam without installation of the present invention;

[0050] Figure 11 This is a structural schematic diagram of the pulley assembly;

[0051] Figure 12 yes Figure 11 The main view;

[0052] Figure 13 yes Figure 11 The left view;

[0053] Figure 14 This is a schematic diagram showing the connection between the rail traction vehicle and the rack and pinion mechanism;

[0054] Figure 15 This is a schematic diagram showing the connection between the ice block gripper and the spraying mechanism and the tractor's mobile platform.

[0055] Figure 16 This is a schematic diagram showing the connection between the longitudinal moving rack and the gear on the longitudinal gear shaft;

[0056] In the diagram: 1. Steering wheel mechanism, 2. Lifting mechanism, 3. Gantry longitudinal beam, 4. Gantry crossbeam, 5. Lifting crossbeam, 6. Ice block gripper, 7. Rail traction vehicle, 8. Gear and rack mechanism for longitudinal movement of gripper, 9. Pulley assembly, 10. Spraying mechanism.

[0057] 2-1. Lifting mechanism winch; 2-2. Lifting frame; 2-3. Lifting slide plate; 2-4. Motor; 2-5. Gearbox; 2-6. T-shaped slide rail; 2-7. Pulley; 2-8. Pallet; 2-9. Ball screw; 2-10. Guide block; 2-11. Pallet base.

[0058] 4-1. Support base; 4-2. Coaxial double drum winch; 4-3. Upper crossbeam stiffener;

[0059] 5-1. Lifting beam stiffening plate; 5-2. Tractor moving platform;

[0060] 6-1. Steering wheel; 6-2. Adjusting nut; 6-3. Adjusting screw; 6-4. Clamping plate; 6-5. Clamping jaw mounting base;

[0061] 7-1. Traction wheel; 7-2. Shock absorber spring; 7-3. Gear shaft; 7-4. Limiting plate; 7-5. Traction vehicle back plate; 7-6. Power input shaft.

[0062] 8-1. Longitudinal moving rack; 8-2. Longitudinal gear shaft;

[0063] 9-1. Fixed pulley of gantry beam; 9-2. Moving pulley of lifting beam; 9-3. Drum; 9-4. Steel cable;

[0064] 10-1. Robotic arm mounting base; 10-2. Robotic arm; 10-3. Spray head. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention. Specific implementation method one:

[0067] Combination Figure 1 — Figure 5 This embodiment describes a large-scale automated ice sculpture assembly robot, which includes a steering wheel mechanism 1, a lifting mechanism 2, a gantry longitudinal beam 3, a gantry crossbeam 4, a lifting crossbeam 5, an ice block gripper 6, a track traction vehicle 7, a gripper longitudinal movement gear and rack mechanism 8, a pulley assembly 9, and a spraying mechanism 10.

[0068] The top of the gantry longitudinal beam 3 and the gantry crossbeam 4 are vertically connected to form the main body of the gantry. A steering wheel mechanism 1 is installed at the bottom of the gantry longitudinal beam 3. A lifting mechanism 2 that moves along the direction of the gantry longitudinal beam 3 is installed between the gantry longitudinal beams 3. A lifting crossbeam 5 that moves along the direction of the gantry longitudinal beam 3 is installed between the gantry longitudinal beams 3 on both sides. The top of the lifting crossbeam 5 is connected to a pulley assembly 9. At least two sets of track traction vehicles 7 that move along the lifting crossbeam 5 are installed on the lifting crossbeam 5. The track traction vehicles 7 are vertically connected to the longitudinal movement gear and rack mechanism 8 of the chuck. The ice block gripper 6 is connected to the lower part of the moving gear rack mechanism 8, so that the ice block gripper 6 moves horizontally along the direction of the longitudinal moving gear rack mechanism 8. The longitudinal moving gear rack mechanism 8 moves along the direction of the lifting beam 5 through the rail traction vehicle 7. The lifting mechanism 2, the ice block gripper 6 and the spraying mechanism 10 cooperate with each other. The lifting mechanism 2 sends the ice blocks under the ice block gripper 6. The ice blocks are grabbed by the lifting mechanism 2 and stacked in the construction area under the main body of the gantry frame by the ice block gripper 6. The spraying mechanism 10 fixes a set of ice blocks.

[0069] The main structure of the gantry frame has four longitudinal beams 3, which are arranged in a rectangular shape. The top of each longitudinal beam 3 is vertically fixed to the gantry frame crossbeam 4 by high-strength bolts, forming a stable gantry truss main body and providing rigid support for the overall operation.

[0070] The bottom four corners of the gantry longitudinal beam 3 are equipped with steering wheel mechanisms 1. The steering wheel mechanism 1 adopts an omnidirectional drive mode, which can realize the robot's overall forward and backward, left and right movement and in-situ turning according to the preset construction path, and accurately position it to the starting position of the ice building construction.

[0071] Between the two gantry longitudinal beams 3 on the same side, lifting mechanisms 2 are symmetrically installed along their height direction. The lifting mechanisms 2 are slidably connected to the gantry longitudinal beams 3 via slide rails to ensure the stability of the lifting process.

[0072] A lifting crossbeam 5 is installed between the longitudinal beams 3 on both sides of the gantry frame. The two ends of the lifting crossbeam 5 are connected to the longitudinal beams 3 of the gantry frame through sliders, and can be lifted vertically along the longitudinal beams 3 of the gantry frame. The top of the lifting crossbeam 5 is lifted in conjunction with the pulley assembly 9, and the lifting power is transmitted through the pulley assembly 9.

[0073] A tractor moving platform 5-2 is laid on the lifting beam 5 along its length. The tractor moving platform 5-2 has a straight tooth structure. The tractor moving platform 5-2 is used in conjunction with the rail tractor 7. The bottom of the rail tractor 7 is connected to the longitudinal moving gear rack mechanism 8 of the chuck, and the two form a cross-shaped moving mechanism.

[0074] The lower part of the longitudinal moving gear rack mechanism 8 is fixed to the ice block gripper 6 via a flange, allowing the ice block gripper 6 to move horizontally along the length of the longitudinal moving gear rack mechanism 8, thus cooperating with the rail traction vehicle 7 to achieve two-dimensional movement in the horizontal plane. During operation, the lifting mechanism 2 transports the pre-treated standard ice blocks to directly below the ice block gripper 6. After the ice block gripper 6 accurately grabs the ice blocks, it is transferred to the construction area below the gantry frame body and stacked according to the preset masonry sequence. The spraying mechanism 10 is activated simultaneously, spraying clean water onto the top surface and joints of the ice blocks. The extremely cold environment causes the clean water to freeze quickly, bonding and fixing a set of ice blocks into an integral structure.

[0075] The side-standing operation mode is mainly adapted to single-sided continuous ice walls. By inputting the side-standing mode command through the control system, the steering wheel mechanism 1 at the bottom of the gantry longitudinal beam 3 starts omnidirectional drive, driving the robot to move to one side of the ice wall, so that the main body of the gantry stands on the outside of the ice wall construction area, ensuring that the lifting beam 5 covers the entire ice wall construction area.

[0076] Two sets of lifting mechanisms 2 on the same side work synchronously. After the lifting frame 2-2 rises vertically along the longitudinal beam 3 of the gantry frame to the preset height, the tray 2-8 is driven by the ball screw 2-9 to push the ice bricks horizontally to one side of the ice wall. The track traction vehicle 7 moves along the length of the lifting beam 5. The longitudinal movement gear rack mechanism 8 of the claw drives the ice block claw 6 to accurately grab the ice bricks. The ice bricks are built one by one from one end of the ice wall to the other. The spraying mechanism 10 follows the movement trajectory of the claw and sprays the joints of the completed ice bricks with atomized water to solidify them.

[0077] The traverse operation mode is mainly suitable for symmetrical ice structures on both sides. By inputting the traverse command through the control system, the steering wheel mechanism 1 drives the robot to move to the position above the middle channel of the symmetrical ice structure. The gantry longitudinal beams 3 are symmetrically distributed on both sides of the channel. The control system automatically adjusts the initial height of the lifting beam 5 and the travel distance of the rail traction vehicle 7, and sets the synchronization parameters of the symmetrical masonry (such as masonry speed, spacing, etc.).

[0078] The lifting mechanisms 2 on the longitudinal beams 3 of the two gantry frames start synchronously and transport ice bricks to the construction areas of the ice buildings on both sides respectively; the two sets of rail traction vehicles 7 move along the direction of the lifting beam 5, and each drives the ice block gripper 6 to complete the synchronous grabbing and construction of ice bricks on both sides; the turntable 6-1 automatically adjusts the ice brick construction angle (±180° symmetrical arrangement) according to the symmetrical angle requirements of the two buildings; the spraying mechanism 10 covers the construction areas on both sides respectively through the multi-degree-of-freedom adjustment of the robotic arm 10-2, so as to realize the synchronous curing operation.

[0079] The control system has a built-in dual-side synchronous control module that provides real-time feedback on the building height and positional deviation of the ice bricks on both sides. By adjusting the moving speed of the track traction vehicle 7 and the feeding process of the lifting mechanism 2, the symmetry accuracy of the building on both sides is ensured.

[0080] The control system consists of an industrial-grade touch screen, a PLC controller, a signal acquisition module (including position sensors and temperature sensors), and a drive module. It is installed on the side of the support base 4-1 of the gantry beam 4 and has low-temperature environment adaptability (operating temperature range -40℃ to 5℃).

[0081] Parameter setting interface: The following core parameters can be set via the touch screen:

[0082] Operating parameters: masonry speed (0.5 blocks / minute - 2 blocks / minute), lifting speed of the lifting beam 5 (0.1m / s - 0.3m / s), spray volume adjustment threshold (correspondence between temperature and spray volume);

[0083] Mode parameters: Horizontal / side-standing switching, dual-sided construction synchronization coefficient (0.8-1.2).

[0084] Ice delivery trigger of lifting mechanism: When the lifting frame 2-2 rises to the preset height, the position sensor sends a signal to the PLC, the PLC instructs the motor 2-4 to start, drives the tray 2-8 to push the ice block, and at the same time sends a grab signal to the ice block gripper 6, the gripper adjusts the clamping distance to prepare to grab.

[0085] Gripper gripping and building trigger: After the ice block gripper 6 grips the ice block, the pressure sensor sends a successful gripping signal. The PLC then links the coaxial double drum winch 4-2, the rail traction vehicle 7, and the longitudinal movement gear and rack mechanism 8 of the gripper to complete the XYZ three-axis positioning according to the preset path. After reaching the building position, a release signal is sent, and the gripper opens to place the ice block.

[0086] Spray curing trigger: After the ice bricks are placed, the position sensor sends a signal that the bricks have been laid in place. The PLC instructs the spray mechanism 10 to start. Based on the ambient temperature detected by the temperature sensor, the spray volume and spray time are automatically matched (spray time 5s-15s).

[0087] Fault linkage handling: When a module (such as the lifting mechanism or gripper) malfunctions, such as when the positioning deviation exceeds the threshold, the sensor sends a fault signal, the control system immediately instructs all modules to stop operating, and alarms are triggered through the touch screen. At the same time, the fault location and cause are recorded for easy maintenance. Specific Implementation Method Two:

[0089] Combination Figure 6 This embodiment describes a large-scale automated ice sculpture assembly robot. The lifting mechanism 2 includes a lifting mechanism winch 2-1, a lifting frame 2-2, and a lifting slide plate 2-3.

[0090] A hoisting mechanism winch 2-1 is installed on the side of the gantry longitudinal beam 3. The hoisting mechanism winch 2-1 is connected to a wire rope. The wire rope passes around the pulley under the gantry cross beam 4 and is connected to the longitudinal beam of the hoisting frame 2-2. The hoisting mechanism winch 2-1 drives the hoisting frame 2-2 to move vertically up and down. The hoisting slide plate 2-3 is vertically connected to the longitudinal beam of the hoisting frame 2-2. The hoisting slide plate 2-3 uses the gantry longitudinal beam 3 as a slide rail to move vertically up and down along the longitudinal beam.

[0091] The hoisting mechanism winch 2-1 is a frequency conversion winch, which is fixed to the side of the gantry frame longitudinal beam 3 near the middle position via a frame. The output shaft of the hoisting mechanism winch 2-1 is connected to the wire rope drum. The wire rope is made of cold-resistant high-strength steel cable to ensure tensile strength and flexibility in low-temperature environments.

[0092] One end of the wire rope is fixed to the winch drum through a wedge joint, and the other end passes around the guide roller pre-set below the gantry beam 4. The guide roller is installed at the bottom of the gantry beam 4 through a bearing seat, and its axis is parallel to the axis of the winch drum to reduce wear during the wire rope transmission process. The end of the wire rope is fixedly connected to the top lifting lug of the longitudinal beam of the lifting frame 2-2 through a shackle.

[0093] The lifting slide plate 2-3 is a rectangular steel plate, vertically fixed to the longitudinal beam of the lifting frame 2-2. The inner side of the lifting slide plate 2-3 is machined with a groove that matches the longitudinal beam 3 of the gantry frame. A guide boss is provided on the outer side of the longitudinal beam 3 of the gantry frame. The groove and the guide boss are fitted together with a clearance to form a sliding guide rail. When the hoist 2-1 of the lifting mechanism starts, it drives the lifting frame 2-2 to move vertically up and down by winding and unwinding the wire rope. The lifting slide plate 2-3 moves synchronously with the lifting frame 2-2. The fit between the guide boss and the groove ensures that there is no deviation or shaking during the lifting process. The lifting speed can be controlled by frequency conversion between 0.1-0.3 m / s to adapt to different height construction requirements. Specific implementation method three:

[0095] Combination Figure 6 This embodiment describes a large-scale automated ice sculpture assembly robot. The lifting mechanism 2 further includes a motor 2-4, a reduction gearbox 2-5, a T-shaped slide 2-6, a pulley 2-7, a tray 2-8, a ball screw 2-9, a guide block 2-10, and a tray base 2-11.

[0096] Motor 2-4 is connected to gearbox 2-5. Gear set of gearbox 2-5 is connected to end of ball screw 2-9. Bearing seat is installed on ball screw 2-9. Ball screw 2-9 is connected to guide block 2-10 through threaded structure. Guide block 2-10 is fixedly connected to bottom beam of tray 2-8. Tray 2-8 and tray base 2-11 form a double-layer structure and are arranged in parallel. Tray base 2-11 is installed on horizontal plane of lifting frame 2-2. Bearing seat and T-shaped slide groove 2-6 are installed on the upper end of tray base 2-11. Anti-slip texture is machined on the upper surface of tray 2-8. The bottom of tray 2-8 is connected to pulley 2-7. Pulley 2-7 is set in T-shaped slide groove 2-6. Pulley 2-7 drives tray 2-8 to slide along T-shaped slide groove 2-6.

[0097] Motor 2-4 drives ball screw 2-9 to rotate through gearbox 2-5. Guide block 2-10 at the bottom of tray 2-8 drives tray 2-8 to move horizontally along T-shaped slide 2-6, sending the ice bricks on tray 2-8 to the gripping area of ​​ice block gripper 6, completing the horizontal feeding action of high-altitude ice transfer.

[0098] Motor 2-4 is a servo motor, which is rigidly connected to the input end of gearbox 2-5 through a coupling. Gearbox 2-5 is a planetary gear reducer. The output end of gearbox 2-5 is fixed to one end of ball screw 2-9 through a key connection. The other end of ball screw 2-9 is mounted on a bearing seat through a deep groove ball bearing. The bearing seat is fixed on the lifting frame 2-2 to ensure the stable rotation of ball screw 2-9.

[0099] The ball screw 2-9 and the guide block 2-10 are engaged by a threaded pair. The bottom of the guide block 2-10 is fixedly connected to the bottom center beam of the tray 2-8 by bolts. The upper surface of the tray 2-8 is machined with anti-slip texture to prevent the ice bricks from sliding during the conveying process.

[0100] Each of the four corners of the bottom of pallet 2-8 is equipped with a pulley 2-7. The pulley 2-7 is made of polyurethane and has cold-resistant and wear-resistant properties.

[0101] A T-shaped groove 2-6 is fixedly installed on the upper surface of the tray base 2-11, and a pulley 2-7 is embedded in the T-shaped groove 2-6, which can roll smoothly along the direction of the T-shaped groove 2-6.

[0102] After the lifting frame 2-2 lifts the tray 2-8 to the target height, the motor 2-4 starts and drives the ball screw 2-9 to rotate through the reduction gearbox 2-5. The rotational motion of the ball screw 2-9 is converted into the horizontal linear motion of the guide block 2-10, which drives the tray 2-8 to move along the T-shaped slide 2-6 towards the ice block gripper 6. The movement stroke can be precisely controlled by the encoder of the servo motor, which smoothly delivers the ice blocks on the tray 2-8 to the gripping area. After the feeding is completed, the motor reverses and drives the tray 2-8 back to the initial position, waiting for the next lifting operation. Specific implementation method four:

[0104] Combination Figure 1 — Figure 5 This embodiment describes a large-scale automated ice sculpture assembly robot, in which the gantry beam 4 includes a support base 4-1, a coaxial double-drum winch 4-2, and an upper beam stiffener 4-3.

[0105] The upper crossbeam stiffener 4-3 is vertically and fixedly connected to the front and rear gantry crossbeams 4, and a support base 4-1 is fixedly installed in the middle of the two gantry crossbeams 4. A coaxial double drum winch 4-2 is fixedly installed above the support base 4-1. The coaxial double drum winch 4-2 drives the lifting crossbeam 5 to rise and fall along the longitudinal beam 3 of the gantry through the wire rope and pulley assembly 9.

[0106] The upper crossbeam stiffener 4-3 is cut from Q235 steel plate and welded to the front and rear gantry crossbeams respectively to enhance the bending and torsional resistance of the gantry crossbeam 4.

[0107] The support base 4-1 is fixed to the middle position of the two gantry beams 4 by pre-embedded bolts. The coaxial double drum winch 4-2 adopts a double output shaft structure. The two drums are arranged coaxially and rotate in opposite directions. They are fixed to the mounting plane of the support base 4-1 by bolts.

[0108] The two drums 9-3 of the coaxial double-drum winch 4-2 are each wound with a steel cable 9-4. One end of the steel cable 9-4 is fixed to the drum 9-3, and the other end passes over the pulley assembly 9, ultimately driving the lifting beam 5 to move up and down. When the coaxial double-drum winch 4-2 is started, the two drums 9-3 simultaneously wind up and unwind the steel cable 9-4. Through the labor-saving transmission of the pulley assembly 9, the lifting beam 5 is driven to rise and fall smoothly along the longitudinal beam 3 of the gantry frame. The lifting accuracy can reach ±0.5mm, meeting the requirements of high-precision masonry. Specific implementation method five:

[0110] Combination Figure 10 This embodiment describes a large-scale automated ice sculpture assembly robot, wherein the lifting beam 5 includes lifting beam stiffeners 5-1 and a tractor mobile platform 5-2.

[0111] A tractor moving platform 5-2 is fixedly installed below the lifting beam 5 along the direction of the lifting beam 5. A set of lifting beam stiffeners 5-1 is vertically installed above the lifting beam 5. A rail tractor 7 is installed on the tractor moving platform 5-2. The rail tractor 7 drives the longitudinal movement of the chucks and the gear rack mechanism 8 to move horizontally along the direction of the lifting beam 5.

[0112] The lifting beam 5 is a box-section steel beam, welded from steel plates and filled with reinforcing ribs to ensure stability when bearing the weight of ice bricks. Both ends of the lifting beam 5 are machined with slider grooves that are compatible with the guide rails of the gantry longitudinal beam 3.

[0113] The lifting beam stiffener 5-1 is a rectangular steel plate, evenly distributed along the width of the lifting beam 5, and vertically welded to the upper surface of the lifting beam 5 to enhance the longitudinal stiffness and load-bearing capacity of the lifting beam 5.

[0114] The tractor moving platform 5-2 is fixed below the lifting beam 5 and laid along the length of the lifting beam 5. The upper surface of the tractor moving platform 5-2 is machined with two parallel guide rail grooves, which are adapted to the wheels of the rail tractor 7.

[0115] The drive gear of the rail traction vehicle 7 meshes with the rack and pinion preset on the traction vehicle moving platform 5-2, driving the rail traction vehicle 7 to move smoothly along the guide rail groove. The rail traction vehicle 7 and the longitudinal moving gear and rack mechanism 8 of the chuck move together, driving the mechanism to move horizontally in sync along the direction of the lifting beam 5 during the movement, so as to achieve precise adjustment of the lateral position. Specific implementation method six:

[0117] Combination Figure 7 This embodiment describes a large-scale automated ice sculpture assembly robot. The ice block gripper 6 includes a steering turntable 6-1, an adjusting nut 6-2, an adjusting screw 6-3, a clamping plate 6-4, and a gripper mounting base 6-5.

[0118] The adjusting screw 6-3 is rotatably mounted on the jaw mounting base 6-5, and the threaded sleeves of the two clamping plates 6-4 are connected to the adjusting screw 6-3 through a threaded structure. The adjusting nut 6-2 is fixedly mounted in the middle position of the adjusting screw 6-3. When the adjusting nut 6-2 drives the adjusting screw 6-3 to rotate, it causes the two clamping plates 6-4 on the adjusting screw 6-3 to change the clamping distance. The steering turntable 6-1 is mounted above the jaw mounting base 6-5, and the jaw mounting base 6-5 moves horizontally along the direction of the longitudinal moving gear and rack mechanism 8 of the jaw.

[0119] The gripper mounting base 6-5 has an internal mounting cavity, and its top is fixedly connected to the moving block of the gripper longitudinal moving gear rack mechanism 8 via a flange. The gripper mounting base 6-5 also has a rotating shaft hole for mounting the steering turntable 6-1.

[0120] The steering wheel 6-1 is connected to the gripper mounting seat 6-5 by a thrust ball bearing. The inner ring of the bearing is interference-fitted with the shaft of the steering wheel 6-1, and the outer ring is fixed in the shaft hole of the gripper mounting seat 6-5.

[0121] The bottom of the steering turntable 6-1 is fixed to the mounting bracket of the adjusting screw 6-3. The steering turntable 6-1 is driven to rotate by a servo motor, which can realize the angle adjustment of the ice block gripper 6 from 0-360° in the horizontal plane to adapt to different masonry angle requirements.

[0122] The adjusting screw 6-3 is a bidirectional screw, fixedly connected to the adjusting nut 6-2 at its middle position via a flat key. Both ends of the adjusting screw 6-3 are mounted in the mounting cavities of the jaw mounting base 6-5 via bearings. Threaded sleeves are welded to the backs of the two clamping plates 6-4, engaging with the threaded pairs at both ends of the adjusting screw 6-3, with the threads turning in opposite directions. Rotating the adjusting nut 6-2 drives the adjusting screw 6-3 to rotate, causing the two clamping plates 6-4 to move relative to or in opposite directions, thus adapting to different sizes of standard ice blocks.

[0123] The clamping surfaces of the clamping plates 6-4 are fitted with cold-resistant rubber pads. The rubber pads have anti-slip patterns to increase friction with the ice block surface and prevent excessive clamping force from damaging the ice block. Specific implementation method seven:

[0125] Combination Figure 8 and Figure 9 This embodiment describes a large-scale automated ice sculpture construction robot. The track traction vehicle 7 includes traction wheels 7-1, shock-absorbing springs 7-2, gear shafts 7-3, limiting plates 7-4, traction vehicle back plates 7-5, and power input shafts 7-6.

[0126] The traction wheel 7-1 is connected to the power input shaft 7-6. The traction wheel 7-1 rolls above the traction vehicle moving platform 5-2. The power input shaft 7-6 and the gear shaft 7-3 are respectively connected to the traction vehicle back plate 7-5. The bottom of the traction vehicle back plate 7-5 is connected to the limiting plate 7-4. The limiting plate 7-4 is set below the traction vehicle moving platform 5-2 to limit the rail traction vehicle 7. The gear shaft 7-3 is connected to the gear, so that the gear meshes with the rack of the traction vehicle moving platform 5-2. Each gear shaft 7-3 is equipped with a shock-absorbing spring 7-2.

[0127] The traction wheel 7-1 is made of solid rubber and has the characteristics of cold resistance, wear resistance and shock absorption. The traction wheel 7-1 is installed on the back plate 7-5 of the traction vehicle. The wheel axle of the traction wheel 7-1 is connected to the power input shaft 7-6 through a coupling. The power input shaft 7-6 is driven by a servo motor and the speed is adjusted by a reducer to achieve uniform movement of the rail traction vehicle 7.

[0128] One end of the power input shaft 7-6 is connected to the traction wheel 7-1. The gear shaft 7-3 is equipped with a drive gear, which meshes with the rack on the traction vehicle moving platform 5-2. The meshing clearance is controlled at 0.1-0.2mm to ensure transmission accuracy. Each gear shaft 7-3 is fitted with a shock-absorbing spring 7-2 at its top. The upper end of the shock-absorbing spring 7-2 abuts against the traction vehicle back plate 7-5, and the lower end abuts against the shoulder of the gear shaft 7-3. This can buffer the impact force during meshing and reduce the impact of vibration on positioning accuracy.

[0129] Two limiting plates 7-4 are welded to the bottom of the back plate 7-5 of the tractor vehicle to prevent the rail tractor vehicle 7 from shifting laterally or derailing during movement, and to ensure the straightness of the movement trajectory. Detailed implementation method eight:

[0131] Combination Figure 7 and Figure 9 This embodiment describes a large-scale automated ice sculpture assembly robot. The gripper longitudinal movement gear rack mechanism 8 includes a longitudinal movement rack 8-1 and a longitudinal gear shaft 8-2.

[0132] The longitudinal gear shaft 8-2 is connected to the gear, and the gear meshes with the longitudinal moving rack 8-1. The drive motor on the longitudinal gear shaft 8-2 drives the gear to move horizontally along the direction of the longitudinal moving rack 8-1. When the gear on the longitudinal gear shaft 8-2 moves along the longitudinal moving rack 8-1, it drives the ice block gripper 6 to move horizontally along the direction of the longitudinal gear shaft 8-2.

[0133] The longitudinal moving rack 8-1 is a straight rack, which is fixed to the mounting plate below the rail traction vehicle 7 by bolts and is arranged in the vertical direction of the movement of the rail traction vehicle 7.

[0134] The longitudinal gear shaft 8-2 is equipped with a drive gear. The drive motor drives the drive gear to move the longitudinal moving rack 8-1 through the longitudinal gear shaft 8-2, ensuring smooth transmission.

[0135] The encoder of the drive motor is connected to the control system, which can provide real-time feedback to the longitudinal gear shaft 8-2, thereby accurately controlling the longitudinal movement distance of the ice block gripper 6. When the drive motor on the longitudinal gear shaft 8-2 starts, the gear rolls along the longitudinal moving rack 8-1, driving the ice block gripper 6 to move horizontally along the direction of the longitudinal moving rack 8-1. In conjunction with the lateral movement of the rail traction vehicle 7, the ice block gripper 6 is accurately positioned in two dimensions in the horizontal plane. Specific implementation method nine:

[0137] Combination Figure 10 — Figure 13This embodiment describes a large-scale automated ice sculpture assembly robot. The pulley assembly 9 includes a gantry beam fixed pulley 9-1, a lifting beam movable pulley 9-2, a drum 9-3, and a steel cable 9-4.

[0138] The upper crossbeam stiffener 4-3 of the gantry beam 4 is equipped with a fixed pulley 9-1 and a drum 9-3. The lifting beam stiffener 5-1 of the lifting beam 5 is equipped with a movable pulley 9-2. One end of the steel cable 9-4 is connected to the coaxial double drum winch 4-2, and the other end passes through a set of fixed pulleys 9-1 and a set of movable pulleys 9-2 before being connected to the drum 9-3. The steel cable 9-4 is wound up and down by the coaxial double drum winch 4-2 and the drum 9-3 according to the height of the lifting beam 5.

[0139] The fixed pulley 9-1 of the gantry beam is made of cast steel, and there are four in total. They are installed on both sides of the upper beam stiffener 4-3 through bearing seats. The axis of the pulley is horizontal and parallel to the gantry beam 4. The movable pulley 9-2 of the lifting beam is symmetrically installed on the top of the lifting beam stiffener 5-1. The axis of the pulley is parallel to the axis of the fixed pulley 9-1 of the gantry beam, forming a symmetrical pulley group structure.

[0140] The drum 9-3 is installed on the upper crossbeam stiffener 4-3. One end of the steel cable 9-4 is fixed to the drum of the coaxial double drum winch 4-2 by a pressure block, and the other end passes through the fixed pulley 9-1 of the gantry crossbeam and the moving pulley 9-2 of the lifting crossbeam in sequence, and is finally fixed to the drum 9-3 by a joint.

[0141] When the coaxial double-drum winch 4-2 starts, the drum rotates to wind up the steel cable 9-4. Through the labor-saving effect of the pulley block, it drives the lifting beam 5 to move upward along the longitudinal beam 3 of the gantry frame. When the coaxial double-drum winch 4-2 reverses, the drum releases the steel cable 9-4. The lifting beam 5 descends smoothly under its own weight and the load weight. The drum 9-3 rotates synchronously to coordinate with the winding and unwinding of the steel cable 9-4, ensuring that the steel cable 9-4 is always in a taut state, avoiding slackness that causes swaying during lifting and lowering, and effectively reducing power loss. Specific Implementation Method Ten:

[0143] Combination Figure 1 — Figure 16 This embodiment describes a large-scale automated ice sculpture construction robot. The spraying mechanism 10 includes a robotic arm mounting base 10-1, a robotic arm 10-2, and a spray head 10-3.

[0144] The robotic arm mounting base 10-1 is installed on the tractor moving platform 5-2 of the lifting beam 5. The robotic arm mounting base 10-1 is connected to the robotic arm 10-2. The end effector of the robotic arm 10-2 is equipped with a spray head 10-3. The robotic arm mounting base 10-1 is a combination mechanism of gear shaft 7-3 and gear, which makes the spraying mechanism 10 move horizontally along the direction of the tractor moving platform 5-2 and spray clean water through the spray head 10-3.

[0145] The robotic arm mounting base 10-1 is a combination mechanism of gear shaft and gear. The gear meshes with the rack on the tractor moving platform 5-2. The gear is driven to rotate by a servo motor, which drives the robotic arm mounting base 10-1 to move horizontally along the guide rail of the tractor moving platform 5-2. The spraying position can be adjusted according to the construction progress. The robotic arm mounting base 10-1 is bolted to the tractor moving platform 5-2 of the lifting beam 5. The installation position is adjacent to the rail tractor 7 to ensure that the spraying range covers the masonry area.

[0146] The robotic arm 10-2 is a multi-degree-of-freedom electric robotic arm, which is fixedly connected to the robotic arm mounting base 10-1 via a flange. Each joint of the robotic arm 10-2 is driven by a servo motor, which can achieve arbitrary angle adjustment. The end effector is fixed to the spray head 10-3 via a thread, which can drive the spray head 10-3 to move flexibly in three-dimensional space and accurately align with the surface of the ice brick and the joints of adjacent ice bricks.

[0147] Spray head 10-3 is an atomizing spray head with a nozzle orifice diameter of 0.5-1mm, which can atomize clean water into fine water droplets and spray them evenly on the joints. The water inlet of spray head 10-3 is connected to the water supply system through a low-temperature resistant hose, which has cold-resistant and crack-resistant properties. During operation, the spraying mechanism 10 automatically starts according to the masonry progress. The robotic arm 10-2 adjusts the angle and distance of the spray head 10-3 to ensure that the water droplets evenly cover the ice brick joints. The water supply system can automatically adjust the spray volume according to the ambient temperature. When the temperature is below -10℃, the spray volume is reduced, and when the temperature is between -5℃ and -10℃, the spray volume is increased. At the same time, the spraying frequency is controlled by the control system to coordinate with the rhythm of ice brick masonry, preventing the displacement of unfixed ice bricks and ensuring the bonding effect.

[0148] Spray volume adjustment threshold:

[0149] Ambient temperature ≤-10℃: spray volume 80mL / cm²—100mL / cm², spray frequency 1 time / 2s;

[0150] -10℃<Ambient temperature≤-5℃: Spraying volume 60mL / cm²—80mL / cm², spraying frequency 1 time / 3s;

[0151] -5℃<Ambient temperature≤0℃:Spraying volume 40mL / cm²—60mL / cm²,Spraying frequency 1 time / 5s;

[0152] The water supply system uses insulated water storage tanks (capacity 50L-100L) and is equipped with electric heating devices (power 500W-1000W) to prevent the water in the tank from freezing. The water supply pipelines are wrapped with polyurethane insulation layer with an outer diameter of 25mm and an inner diameter of 15mm.

[0153] Working principle:

[0154] (I) Preliminary preparations:

[0155] (1) The ice blocks are processed into standard ice bricks of uniform specifications by manual labor or processing equipment, and surface impurities and excess frost are removed to ensure stability when clamping.

[0156] By inputting the construction path and parameters into the control system, the steering wheel mechanism 1 at the bottom of the gantry longitudinal beam 3 starts the omnidirectional drive mode, driving the robot to move forward and backward, left and right, or turn in place, and accurately stop at the starting position of the ice building construction, completing the pre-operation positioning.

[0157] The operation mode is switched according to the construction needs. For a single-sided continuous ice wall, a side-standing type is used, and the robot works across one side of the building. For a double-sided symmetrical ice building, a cross-type type is used, and the robot is located in the passage between the two buildings. The robot achieves synchronous construction on both sides through the lateral extension mechanism.

[0158] (ii) Improving the ice delivery service:

[0159] (1) The pre-treated standard ice bricks are placed stably on the tray 2-8 of the lifting mechanism 2 by hand. The anti-slip texture on the upper surface of the tray increases the friction and prevents the ice bricks from sliding and shifting during the conveying process. The bottom pulley 2-7 of the tray is set in the T-shaped groove 2-6 of the lifting frame 2-2.

[0160] The lifting mechanism 2 rises vertically, activating the hoist 2-1. Its output shaft drives the wire rope drum to wind up the steel cable. The cable passes over the guide rollers below the gantry beam 4, pulling the lifting frame 2-2 vertically upward along the gantry longitudinal beam 3. At this time, the lifting slide plate 2-3, which is vertically fixed to the lifting frame 2-2, forms a stable sliding guide rail through the gap fit between its inner sliding groove and the guide boss of the gantry longitudinal beam 3, ensuring that the lifting frame 2-2 is without deviation or swaying, adapting to different erection height requirements.

[0161] When the ice structure is erected to a certain height, the control system instructs the hoisting mechanism winch 2-1 to continuously wind up the steel cable, driving the lifting frame 2-2 to rise to a preset position that matches the current erection height. This eliminates the need for the ice block clamps 6 to descend to the ground to retrieve the materials, thus shortening the round trip.

[0162] After the lifting frame 2-2 reaches the target height, the motor 2-4 starts, driving the ball screw 2-9 to rotate via the planetary gear reducer 2-5. The ball screw 2-9 meshes with the guide block 2-10 through a threaded screw pair, converting the rotational motion into the horizontal linear motion of the guide block 2-10. This, in turn, drives the tray 2-8, which is fixedly connected to the guide block, to smoothly push the tray 2-8 along the T-shaped slide 2-6. The pushing stroke is precisely controlled by a servo motor encoder, ensuring that the ice brick is delivered precisely to the gripper's grasping range. After pushing is complete, the motor reverses, resetting the tray 2-8 to its initial position, ready for the next loading.

[0163] (III) Three-dimensional positioning of the gripper and ice brick laying:

[0164] (1) The ice block gripper 6 rotates the bidirectional adjusting screw 6-3 according to the preset ice block specifications through the adjusting nut 6-2. Since the threads at both ends of the adjusting screw 6-3 rotate in opposite directions, the clamping plates 6-4 on both sides move synchronously relative to each other, adjusting the clamping distance to match the size of the ice block. The cold-resistant rubber pads pasted on the clamping surface of the clamping plate 6-4 increase the friction with the ice block and prevent excessive clamping force from damaging the ice block. Then, the turntable 6-1 rotates ±180° in the horizontal plane according to the required masonry angle to ensure the clamping angle between the gripper and the ice block is accurate. After everything is ready, the clamping plate 6-4 closes and smoothly clamps the ice block pushed by the tray 2-8.

[0165] The coaxial double-drum winch 4-2 starts, and its two coaxial drums simultaneously wind up and unwind the steel cable 9-4. The steel cable is transmitted through the fixed pulley 9-1 of the gantry beam and the moving pulley 9-2 of the lifting beam of the pulley assembly 9, driving the lifting beam 5 to rise and fall vertically along the longitudinal beam 3 of the gantry, adjusting it to the current masonry height. Subsequently, the power input shaft 7-6 of the rail traction vehicle 7 operates under the drive of the servo motor, driving the drive gear on the gear shaft 7-3 to mesh with the rack of the traction vehicle moving platform 5-2. The rail traction vehicle 7 slides smoothly along the guide rail groove of the traction vehicle moving platform 5-2, driving the longitudinal movement of the claw gear rack mechanism 8 and the ice block claw 6 connected below, realizing precise lateral position adjustment. The limiting plate 7-4 at the bottom of the traction vehicle back plate 7-5 prevents lateral deviation or derailment during movement, and the shock-absorbing spring 7-2 at the top of the gear shaft 7-3 buffers the meshing impact force to ensure positioning accuracy.

[0166] The drive motor of the longitudinal moving gear and rack mechanism 8 is activated, causing the drive gear on the longitudinal gear shaft 8-2 to mesh and rotate with the longitudinal moving rack 8-1, thereby causing the ice block gripper 6 to move horizontally along the direction of the longitudinal moving rack 8-1. Combined with the lateral movement of the track traction vehicle 7, the ice block gripper 6 achieves precise two-dimensional positioning in the horizontal plane. Furthermore, with the vertical lifting of the lifting beam 5, precise alignment of the masonry point in three-dimensional space is achieved.

[0167] Once the ice block gripper 6 carries the ice block to the preset laying position, the turntable 6-1 makes a fine adjustment to ensure that the ice block laying angle meets the requirements. Then, the clamping plate 6-4 slowly opens and places the ice block stably in the building area, completing the laying of a single ice block.

[0168] (iv) Curing by the spraying mechanism:

[0169] (1) After the ice bricks are placed, the spraying mechanism 10 starts synchronously. The robotic arm mounting base 10-1 meshes with the rack of the tractor moving platform 5-2 through gears, and moves horizontally along the guide rail under the drive of the servo motor. It is adjusted to be above the masonry area. The multi-degree-of-freedom electric robotic arm 10-2 flexibly adjusts the joint angle, driving the atomizing spray head 10-3 at the end to accurately align the top surface of the ice bricks and the joints of adjacent ice bricks in three-dimensional space.

[0170] The 10-3 spray head atomizes water into fine droplets, evenly spraying them onto the joints. The control system automatically adjusts the spray volume and frequency based on the ambient temperature. Below -10℃, the spray volume is reduced to prevent excessive water from freezing and affecting the bonding effect. Between -5℃ and -10℃, the spray volume is increased to ensure the joints are fully moistened. In extremely cold environments, the atomized water quickly solidifies, bonding adjacent ice bricks into a unified structure, enhancing the ice structure's resistance to pressure and wind. The spraying process is synchronized with the masonry rhythm to prevent water flow from washing away unfixed ice bricks and causing displacement.

[0171] Repeating the above process of ice delivery by the lifting mechanism, three-dimensional positioning and construction by the grippers, and spray curing, the control system stacks ice bricks sequentially according to the preset construction order. The track traction vehicle 7 and the longitudinal movement gear and rack mechanism 8 of the grippers continuously coordinate to adjust the position of the grippers. The lifting beam 5 gradually rises according to the construction height, and the lifting mechanism 2 cyclically completes the ground material retrieval and high-altitude pushing of ice bricks. The entire process is automated until the construction of the entire ice sculpture or ice building is completed.

[0172] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A large-scale automated ice sculpture assembly robot, characterized in that, It includes a steering wheel mechanism (1), a lifting mechanism (2), a gantry longitudinal beam (3), a gantry crossbeam (4), a lifting crossbeam (5), an ice block gripper (6), a rail traction vehicle (7), a gripper longitudinal movement gear and rack mechanism (8), a pulley assembly (9), and a spraying mechanism (10). The top of the gantry longitudinal beam (3) is vertically connected to the gantry crossbeam (4) to form the main body of the gantry. A steering wheel mechanism (1) is installed at the bottom of the gantry longitudinal beam (3). A lifting mechanism (2) that moves vertically along the gantry longitudinal beam (3) is installed between the two gantry longitudinal beams (3) on the same side. A lifting crossbeam (5) that moves vertically along the gantry longitudinal beam (3) is installed between the two gantry longitudinal beams (3). The top of the lifting crossbeam (5) is connected to the pulley assembly (9). A lifting crossbeam (5) is installed on the lifting crossbeam (5). Two sets of track traction vehicles (7) and spraying mechanisms (10) that move along the length of the lifting beam (5) are missing. The track traction vehicle (7) is vertically connected to the longitudinal moving gear rack mechanism (8) of the claw. The lower part of the longitudinal moving gear rack mechanism (8) of the claw is connected to the ice block claw (6), so that the ice block claw (6) moves along the length of the longitudinal moving gear rack mechanism (8). The longitudinal moving gear rack mechanism (8) of the claw moves horizontally along the length of the lifting beam (5) through the track traction vehicle (7). The lifting mechanism (2) and the ice block gripper (6) work together in a high-altitude ice-retrieving mode. The lifting mechanism (2) lifts the ice blocks vertically to the high altitude and then sends them horizontally under the ice block gripper (6). The ice block gripper (6) achieves positioning of the ice block gripper (6) in the three axes of X, Y, and Z and rotation angle in space through the coordinated action of the track traction vehicle (7), the longitudinal movement gear rack mechanism (8) of the gripper and the lifting beam (5), and stacks the ice blocks in the construction area under the main body of the gantry.

2. The large-scale automated ice sculpture assembly robot according to claim 1, characterized in that, The lifting mechanism (2) includes a lifting mechanism winch (2-1), a lifting frame (2-2), and a lifting slide plate (2-3). A hoisting mechanism winch (2-1) is installed on the side of the gantry longitudinal beam (3). The hoisting mechanism winch (2-1) is connected to a wire rope. The wire rope passes around the pulley under the gantry cross beam (4) and is connected to the longitudinal beam of the hoisting frame (2-2). The hoisting mechanism winch (2-1) drives the hoisting frame (2-2) to move vertically up and down. The hoisting slide plate (2-3) is vertically connected to the longitudinal beam of the hoisting frame (2-2). The hoisting slide plate (2-3) uses the gantry longitudinal beam (3) as a slide rail and moves vertically up and down along the longitudinal beam to cooperate with the hoisting frame (2-2) to realize the high-altitude transport of ice bricks.

3. The large-scale automated ice sculpture assembly robot according to claim 2, characterized in that, The lifting mechanism (2) also includes a motor (2-4), a gearbox (2-5), a T-shaped slide (2-6), a pulley (2-7), a tray (2-8), a ball screw (2-9), a guide block (2-10), and a tray base (2-11). The motor (2-4) is connected to the gearbox (2-5). The gear set of the gearbox (2-5) is connected to the end of the ball screw (2-9). A bearing seat is installed on the ball screw (2-9). The ball screw (2-9) is connected to the guide block (2-10) by a threaded structure. The guide block (2-10) is fixedly connected to the bottom center beam of the tray (2-8). The tray (2-8) and the tray base (2-11) form a double-layer structure. The tray (2-8) and the tray base (2-11) are also connected. 11) Parallel arrangement, wherein the pallet base (2-11) is installed on the horizontal plane of the lifting frame (2-2), the upper end of the pallet base (2-11) is respectively equipped with a bearing seat and a T-shaped slide groove (2-6), the upper surface of the pallet (2-8) is machined with anti-slip texture, the bottom of the pallet (2-8) is connected to the pulley (2-7), the pulley (2-7) is set in the T-shaped slide groove (2-6), and the pulley (2-7) drives the pallet (2-8) to slide along the T-shaped slide groove (2-6); The motor (2-4) drives the ball screw (2-9) to rotate through the gearbox (2-5). The guide block (2-10) at the bottom of the tray (2-8) drives the tray (2-8) to move horizontally along the T-shaped chute (2-6), sending the ice bricks on the tray (2-8) to the gripping area of ​​the ice block claw (6), thus completing the horizontal feeding action of high-altitude ice transfer.

4. The large-scale automated ice sculpture assembly robot according to claim 1, characterized in that, The gantry beam (4) includes a support base (4-1), a coaxial double-drum winch (4-2), and an upper beam stiffener (4-3). The upper crossbeam stiffener (4-3) is vertically and fixedly connected to the front and rear gantry crossbeams (4). A support seat (4-1) is fixedly installed in the middle of the two gantry crossbeams (4). A coaxial double drum winch (4-2) is fixedly installed above the support seat (4-1). The coaxial double drum winch (4-2) drives the lifting crossbeam (5) to rise and fall along the longitudinal beam (3) of the gantry through the wire rope and pulley assembly (9), providing power for the Z-axis positioning of the ice block gripper (6).

5. The large-scale automated ice sculpture assembly robot according to claim 1, characterized in that, The lifting beam (5) includes lifting beam stiffeners (5-1) and tractor moving platform (5-2); A tractor moving platform (5-2) is fixedly installed below the lifting beam (5) along the length direction of the lifting beam (5). A set of lifting beam stiffeners (5-1) is vertically installed above the lifting beam (5). A rail tractor (7) is installed on the tractor moving platform (5-2). The rail tractor (7) drives the longitudinal moving gear rack mechanism (8) of the chuck to move horizontally along the length direction of the lifting beam (5), providing support for the X-axis positioning of the ice block gripper (6).

6. The large-scale automated ice sculpture assembly robot according to claim 1, characterized in that, The ice block gripper (6) includes a steering turntable (6-1), an adjusting nut (6-2), an adjusting screw (6-3), a clamping plate (6-4), and a gripper mounting base (6-5). The adjusting screw (6-3) is rotatably mounted on the jaw mounting base (6-5). The threaded sleeves of the two clamping plates (6-4) are connected to the adjusting screw (6-3) through the threaded structure. The adjusting nut (6-2) is fixedly mounted in the middle position of the adjusting screw (6-3). When the adjusting nut (6-2) drives the adjusting screw (6-3) to rotate, the clamping distance of the two clamping plates (6-4) on the adjusting screw (6-3) changes. The steering turntable (6-1) is installed above the gripper mounting base (6-5) and can achieve ±180° rotation adjustment. The gripper mounting base (6-5) moves horizontally along the direction of the longitudinal moving gear rack mechanism (8) of the gripper. In conjunction with the rail traction vehicle (7) and the lifting beam (5), the Y-axis positioning and rotation angle adjustment of the ice block gripper (6) are completed, realizing XYZ three-axis positioning and masonry.

7. The large-scale automated ice sculpture assembly robot according to claim 5, characterized in that, The rail traction vehicle (7) includes traction wheels (7-1), shock-absorbing springs (7-2), gear shafts (7-3), limiting plates (7-4), traction vehicle back plates (7-5), and power input shafts (7-6). The traction wheel (7-1) is connected to the power input shaft (7-6). The traction wheel (7-1) rolls above the traction vehicle moving platform (5-2). The power input shaft (7-6) and the gear shaft (7-3) are respectively connected to the traction vehicle back plate (7-5). The bottom of the traction vehicle back plate (7-5) is connected to the limiting plate (7-4). The limiting plate (7-4) is set below the traction vehicle moving platform (5-2) to limit the rail traction vehicle (7). The gear shaft (7-3) is connected to the gear, so that the gear meshes with the rack of the traction vehicle moving platform (5-2). Each gear shaft (7-3) is equipped with a shock-absorbing spring (7-2) to ensure the movement accuracy of the rail traction vehicle (7) and provide stable transmission for X-axis positioning.

8. The large-scale automated ice sculpture assembly robot according to claim 1, characterized in that, The longitudinal moving gear and rack mechanism (8) includes a longitudinal moving rack (8-1) and a longitudinal gear shaft (8-2). The longitudinal gear shaft (8-2) is connected to the gear, and the gear meshes with the longitudinal moving rack (8-1). The drive motor on the longitudinal gear shaft (8-2) drives the gear to move horizontally along the longitudinal moving rack (8-1) through the longitudinal gear shaft (8-2). When the gear on the longitudinal gear shaft (8-2) moves on the longitudinal moving rack (8-1), it drives the ice block gripper (6) to move horizontally along the longitudinal gear shaft (8-2) to achieve Y-axis positioning.

9. The large-scale automated ice sculpture assembly robot according to claim 4 or 5, characterized in that, The pulley assembly (9) includes a fixed pulley (9-1) for the gantry beam, a movable pulley (9-2) for the lifting beam, a drum (9-3) and a steel cable (9-4). The upper crossbeam stiffener plate (4-3) of the gantry beam (4) is equipped with a gantry beam fixed pulley (9-1) and a drum (9-3) respectively. The lifting beam stiffener plate (5-1) of the lifting beam (5) is equipped with a lifting beam movable pulley (9-2). One end of the steel cable (9-4) is connected to the coaxial double drum winch (4-2), and the other end passes through a set of gantry beam fixed pulleys (9-1) and a set of lifting beam movable pulleys (9-2) respectively and is connected to the drum (9-3). According to the lifting height of the lifting beam (5), the steel cable (9-4) is wound and released by the coaxial double drum winch (4-2) and the drum (9-3) to ensure the lifting of the Z-axis positioning.

10. The large-scale ice sculpture automated assembly robot according to claim 1, characterized in that, The spraying mechanism (10) includes a robotic arm mounting base (10-1), a robotic arm (10-2), and a spray head (10-3). The robotic arm mounting base (10-1) is installed on the tractor moving platform (5-2) of the lifting beam (5). The robotic arm mounting base (10-1) is connected to the robotic arm (10-2). The end effector of the robotic arm (10-2) is equipped with a spray head (10-3). The robotic arm mounting base (10-1) is a combination mechanism of gear shaft (7-3) and gear, which makes the spraying mechanism (10) move horizontally along the direction of the tractor moving platform (5-2) and spray clean water through the spray head (10-3). It works in conjunction with the high-altitude ice collection and XYZ three-axis positioning action to realize the synchronous operation of masonry and curing.

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