High and cold high altitude area gate pier concrete heat preservation polystyrene board intelligent covering equipment and construction method

Abstract

The invention belongs to the technical field of gate pier concrete temperature control anti-cracking and intelligent construction, and particularly relates to intelligent covering equipment for a gate pier concrete heat preservation polystyrene board in a high-cold and high-altitude area and a construction method. Comprising a feeding platform module, a polystyrene board automatic popping and automatic gluing device, a multi-degree-of-freedom mechanical arm polystyrene board grabbing and pasting device and a control system. The feeding platform module is a placing platform for a thermal insulation polystyrene board and a coating adhesive material, and comprises a lifting rod I and a lifting rod II which are symmetrically arranged and are respectively driven by a servo motor I and a servo motor II which are symmetrically arranged; the high-altitude falling and frostbite risks of personnel are greatly reduced, and the construction efficiency and the heat preservation quality are improved. Precise and automatic laying of the polystyrene boards in the high-cold and high-altitude area is achieved, meanwhile, the polystyrene boards are placed in the air to be grabbed by the mechanical arm and automatically sprayed and coated with glue, shutdown is not needed, labor dependence is reduced while the operation efficiency is improved, and the problem that intelligent covering of the heat preservation polystyrene boards in the high-cold and high-altitude area is difficult to construct is solved.

Description

Technical Field

[0001] This invention belongs to the field of temperature control and crack prevention technology for gate pier concrete and intelligent construction technology, specifically involving an intelligent covering equipment and construction method for thermal insulation polystyrene board on gate pier concrete in high-altitude and cold regions. Background Technology

[0002] When constructing large-volume concrete structures such as gate piers in high-altitude and cold regions, the construction faces harsh climatic conditions such as extreme low temperatures, strong winds, strong radiation, and drastic temperature differences between day and night. After the concrete is poured, the surface temperature is prone to drop sharply, resulting in a temperature gradient, which leads to temperature stress concentration, causes early cracks, and seriously affects the durability of the structure and the safety of the project.

[0003] To effectively address frost damage, frost heave, and freeze-thaw cycles caused by frigid environments, proactive temperature control is crucial for ensuring project quality. Laying insulating polystyrene boards on the concrete surface of the gate piers provides active insulation and protection, not only preventing cracking but also serving as an indispensable technical barrier to ensure durability and structural safety.

[0004] Currently, thermal insulation construction largely relies on manual laying of insulation blankets or polystyrene boards, secured with wire. This method is not only labor-intensive and inefficient, but also poses serious safety hazards, especially during windy or snowy weather when timely, thorough, and uniform coverage is difficult to achieve, compromising insulation quality. While some mechanized concrete curing equipment exists, automated polystyrene board laying equipment for gate pier facades or complex structures remains a gap in the market.

[0005] Meanwhile, when applying adhesive to fix polystyrene boards, transportation is often paused before applying the adhesive, and then transportation is resumed after the adhesive is applied. This is inefficient and requires additional manual labor, which is not conducive to manual labor in high-altitude and cold regions. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an intelligent covering equipment and construction method for insulating polystyrene boards on gate piers in high-altitude and frigid regions. This invention enables the intelligent covering equipment to automatically lay insulation boards, replacing manual rope-suspended operations at high altitudes in these areas. This significantly reduces the risk of falls and frostbite, while improving construction efficiency and insulation quality. The invention features a multi-degree-of-freedom robotic arm suspended inverted below a manual platform to automatically adjust the laying angle and position of the insulation boards. This not only achieves precise and automatic laying of polystyrene boards in high-altitude and frigid regions but also includes a lifting platform next to the manual platform housing an automatic board ejection device and an automatic adhesive application device. This allows the polystyrene boards to be placed high in the air for the robotic arm to grasp and automatically spray adhesive onto them, reducing reliance on manual labor and solving the problem of difficult intelligent covering construction of insulating polystyrene boards in high-altitude and frigid regions.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A smart covering equipment for concrete insulation polystyrene board on gate piers in high-altitude and cold regions includes: a material supply platform module, an automatic polystyrene board pop-out and automatic glue application device, a multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device, and a control system. The material feeding platform module is a platform for placing thermal insulation polystyrene boards and adhesive coatings. It includes two symmetrically arranged lifting rods, one and two, which are driven by symmetrical servo motors, one and two, respectively. The overall outer frame is fixed. The lifting platform of the material feeding platform module is fixed together with lifting rods one and two. The lifting rods are driven by motors to move the lifting platform vertically. The automatic pop-up and automatic glue spraying device for polystyrene boards includes a servo electric cylinder, a drive push rod, a stacked polystyrene board spring pressing storage compartment, a fixed plate, an automatic spray nozzle device, and an automatic roller spreading device; the push rod pushes out a single polystyrene board to the fixed plate at the position where the robotic arm grabs the polystyrene board, and the entire automatic glue spraying device is installed on the lifting platform; The multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device includes a sliding track, Z-axis electric telescopic rod one, Z-axis electric telescopic rod two, X-axis electric telescopic rod three, and a pneumatic suction cup; servo motor three drives the pulley to slide on the sliding track; Z-axis electric telescopic rod two has a vertical groove slide inside, and servo electric cylinder two with gears on the back drives X-axis electric telescopic rod three to move vertically; The control system includes: 1. A controller for controlling the lifting platform; 2. A controller for controlling the sliding of the pulleys on the sliding track; and 3. A controller for controlling the air pressure of the pneumatic suction cup when it picks up the polystyrene board.

[0008] Furthermore, the material supply platform module is erected and fixed to the side of the manual platform, including an outer frame. When servo motor one and servo motor two drive lifting rod one and lifting rod two to rise and fall inside the outer frame, the lifting platform is raised and lowered to the designated position to realize the transfer of polystyrene boards required for construction.

[0009] Furthermore, the automatic pop-out and automatic glue application device for polystyrene boards is fixed on the lifting platform. A servo electric cylinder fixed on the lifting platform is connected to the rear end of the push rod. The front end of the push rod is used to push the cuboid of the polystyrene board into the stacked polystyrene board spring-pressing storage compartment. The automatic transport of a single polystyrene board is achieved by pushing the servo electric cylinder. The stacked polystyrene board spring-pressing storage compartment is fixed on the lifting platform, and multiple polystyrene boards are placed inside the stacked polystyrene board spring-pressing storage compartment. The stacked polystyrene board spring-pressing storage compartment is fixed in place by four irregularly shaped plates, and the height of the polystyrene board is limited by the spring-pressing component at the top of the stacked polystyrene board spring-pressing storage compartment, so as to realize the storage of multiple polystyrene boards. The three fixed plates are fixedly connected to the polystyrene board pop-out point of the stacked polystyrene board spring-pressing storage compartment, so that a single polystyrene board is limited after being pushed out.

[0010] Furthermore, the automatic glue spraying device is located on the same axis as the servo electric cylinder and the stacked polystyrene plate spring pressing storage compartment; and the automatic glue spraying device is also fixed on the lifting platform.

[0011] Furthermore, the multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device includes a sliding track, which is suspended below the manual platform. A servo motor three drives the pulley to move on the side wall of the pulley bracket. The upper end of the pulley is slidably connected to the sliding track. The upper end of the Z-axis electric telescopic rod one is rotatably connected to the pulley bracket and rotates in the XY plane. The Z-axis electric telescopic rod two is located inside the telescopic rod one and extends vertically along the Z-axis, enabling the robotic arm to grip the polystyrene board in a designated direction. The Z-axis electric telescopic rod two has a vertical groove slide and is vertically slidably connected to the back gear of the servo cylinder two. The back gear meshes with the vertical groove slide, allowing the servo cylinder two to slide vertically along the Z-axis. The X-axis electric telescopic rod three has a hole at its end that is connected to a pneumatic suction cup via a motor rotation, causing the pneumatic suction cup to rotate and pick up the polystyrene board and steer it to conform to the direction of the concrete.

[0012] This invention also claims a method for construction using the above-mentioned intelligent covering equipment for concrete insulation polystyrene boards on gate piers in high-altitude and cold regions, the method comprising the following steps: Step 1: Manually move multiple polystyrene boards to the stacked polystyrene board spring pressing storage compartment on the lifting platform. After closing the spring pressing plate, start the lifting controller one, and the lifting platform will be driven to the preset specified height by servo motor one and servo motor two. Step 2: Driven by the servo electric cylinder, the push rod moves forward. Under the synergistic effect of the spring pressure, the output process is stable; a single polystyrene board is accurately pushed to the limit position of the fixed plate and remains stationary, completing the positioning. Step 3: Under the command of the robotic arm controller 2, the servo motor 3 drives the pulley to run along the track, positioning the transfer mechanism in the working area of ​​the feeding platform module; then, the Z-axis telescopic rod 1 and the Z-axis electric telescopic rod 2 adjust the height and vertical direction, and the X-axis electric telescopic rod 3 adjusts the horizontal extension amount, so that the end pneumatic suction cup is precisely and vertically positioned above the preset gripping point of the polystyrene board on the fixed plate. Step 4: Servo electric cylinder 2 drives the X-axis electric telescopic rod 3 connected to it to descend along the vertical track inside the Z-axis electric telescopic rod 2, so that the end pneumatic suction cup descends to contact the surface of the polystyrene board; then, controller 3 is activated, and a vacuum is formed inside the suction cup by pumping air, so as to reliably adsorb and pick up the polystyrene board; Step 5: After the pneumatic suction cup grabs the polystyrene board, when the polystyrene board is conveyed and precisely positioned above the automatic spray head spraying device, the device starts and sprays the adhesive onto the set area of ​​the polystyrene board. When it moves, the adhesive is automatically spread evenly by the automatic roller spreading device. Step 6: Under the control of the robotic arm, the position of the polystyrene board is first adjusted by the Z-axis telescopic rod one and the Z-axis electric telescopic rod two, and then the motor of the end pneumatic suction cup rotates to align the adhesive surface of the polystyrene board with the concrete surface of the gate pier; finally, the X-axis electric telescopic rod three extends to push the polystyrene board to complete the tight adhesion with the concrete surface. Step 7: Once the polystyrene board is firmly attached to the concrete surface, the pneumatic suction cup will release its grip and reset; subsequently, the entire system will automatically return to the material preparation state and begin the next work cycle, repeating steps 2 to 6. Step 8: After the polystyrene board laying and pasting work in all concrete areas is completed, the system will reset the equipment: the material supply platform module will descend back to the initial low position, and at the same time, the multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device will also retract the robotic arm and move to the origin or safe parking position set in the program.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention belongs to the field of concrete insulation polystyrene board construction for gate piers. This invention provides intelligent covering equipment and construction method for concrete insulation polystyrene boards for gate piers in high-altitude and cold regions. The material supply platform module is used to carry the insulation polystyrene boards and adhesive storage. The polystyrene boards are replenished manually in batches, and then the platform automatically descends to the optimal gripping height of the robotic arm, realizing efficient material supply through human-machine collaboration. The automatic pop-up and automatic spraying and gluing device for polystyrene boards includes a stacked polystyrene board storage bin, which can realize the sequential automatic pop-up of individual insulation polystyrene boards through mechanical push-pull rods. Then, during the process of gripping the polystyrene boards by the pneumatic suction cup at the end of the robotic arm, the surface of the polystyrene board is automatically and evenly sprayed and coated with special adhesive. No machine stoppage is required. While improving work efficiency, it reduces manual dependence and solves the problem of difficult construction of intelligent covering of insulation polystyrene boards in high-altitude and cold regions. The multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device adopts a multi-axis linkage robotic arm system. The end is equipped with a rotatable pneumatic suction cup, which can flexibly pick up individual polystyrene boards and then accurately transfer them to the concrete surface of the gate pier for pasting through the multi-axis cooperation of the robotic arm. The entire process of supplying, applying adhesive, grabbing, and pasting polystyrene insulation boards for gate pier concrete is automated and closed-loop controlled, replacing manual rope-suspension work at high altitudes and cold regions. This significantly reduces the risk of falls and frostbite, and improves construction efficiency and insulation quality.

[0014] (2) This invention combines an automatic polystyrene board placement and ejection device, an automatic spraying and gluing device, and a multi-degree-of-freedom robotic arm. It integrates the multi-directional degrees of freedom of the robotic arm's rotating top, which not only enables precise and automatic laying of polystyrene boards in high-altitude and cold regions, but also sets up an automatic ejection device and an automatic gluing device on a lifting platform, allowing the polystyrene boards to be placed in the air for the robotic arm to grab and automatically spray and glu the polystyrene boards, reducing reliance on manual labor and solving the problem of difficult construction of intelligent covering of thermal insulation polystyrene boards in high-altitude and cold regions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a side view of the overall three-dimensional structure of the mechanical arm's sliding track and the gate pier concrete structure of the present invention; Figure 3 This is a top view of the three-dimensional structure of the feeding platform module of the present invention; Figure 4 This is a top view of the three-dimensional structure of the automatic pop-out and automatic glue application device for polystyrene boards of the present invention; Figure 5 This is a top view of the three-dimensional structure of the multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device of the present invention; Figure 6 This is a three-dimensional structural diagram of the polystyrene panel ejection and automatic spraying control system of the present invention; Figure 7 This is a front view schematic diagram of the three-dimensional structure of the robotic arm control system of the present invention; Figure 8 This is a front view schematic diagram of the three-dimensional structure of the pneumatic suction cup control system of the present invention.

[0016] The attached figures are labeled as follows: 1. Material feeding platform module; 2. Automatic polystyrene board ejection and automatic glue application device; 3. Multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device; 4. Control system; 1-1. Lifting rod one; 1-2. Lifting rod two; 1-3. Servo motor one; 1-4. Servo motor two; 1-5. Outer frame; 1-6. Lifting platform; 2-1. Servo electric cylinder one; 2-2. Drive push rod; 2-3. Stacked polystyrene board spring pressing storage compartment; 2-4. Fixing plate; 2- 5. Automatic spray nozzle for applying adhesive; 2-6. Automatic roller spreading device; 3-1. Sliding track; 3-2. Servo motor three; 3-3. Drive pulley; 3-4. Z-axis electric telescopic rod one; 3-5. Z-axis electric telescopic rod two; 3-6. Servo electric cylinder two; 3-7. X-axis electric telescopic rod three; 3-8. End pneumatic suction cup; 4-1. Lifting platform controller one; 4-2. Robotic arm controller two; 4-3. Suction cup air pressure controller three. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] Although the steps in this invention are arranged by reference numerals, this is not intended to limit the order of the steps. Unless the order of the steps is explicitly stated or the execution of a step requires other steps as a basis, the relative order of the steps can be adjusted. It is understood that the term "and / or" as used herein refers to and covers any and all possible combinations of one or more of the associated listed items.

[0019] Example 1 like Figures 1-8 As shown, a smart covering equipment for concrete insulation polystyrene board for gate piers in high-altitude and cold regions includes: a material supply platform module 1, an automatic polystyrene board pop-up and automatic glue application device 2, a multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device 3, and a control system 4. The feeding platform module 1 is a platform for placing the thermal insulation polystyrene board and the adhesive coating. It includes symmetrically arranged lifting rods 1-1 and 1-2, which are driven by symmetrical servo motors 1-3 and 1-4, respectively. The overall outer frame 1-5 is fixed. The feeding platform module lifting platform 1-6 is fixed at the same time as the lifting rods 1-1 and 1-2. The motor drives the lifting rods to move the lifting platform 1-6 vertically. The automatic polystyrene board ejection and automatic glue spraying device 2 includes a servo electric cylinder 2-1, a drive push rod 2-2, a stacked polystyrene board spring pressing storage compartment 2-3, a fixed plate 2-4, an automatic spray nozzle device 2-5, and an automatic roller spreading device 2-6; the push rod 2-2 pushes out a single polystyrene board to the fixed plate 2-4 at the position where the robotic arm grabs the polystyrene board, and the automatic glue spraying device 2 is installed on the lifting platform 1-6; The multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device 3 includes a sliding track 3-1, a Z-axis electric telescopic rod 1 3-4, a Z-axis electric telescopic rod 2 3-5, an X-axis electric telescopic rod 3-7, and a pneumatic suction cup 3-8; a servo motor 3-2 drives the pulley 3-3 to slide on the sliding track 3-1; the Z-axis electric telescopic rod 2 3-5 has a vertical groove slide inside, and a servo electric cylinder 2 3-6 with a gear on the back drives the X-axis electric telescopic rod 3-7 to move vertically; The control system 4 includes a lifting platform controller 1 (4-1) that controls the lifting plate 1, a robotic arm controller 2 (4-2) that controls the pulleys 3-3 to slide on the sliding track 3-1, and a controller 3 (4-3) that controls the air pressure of the pneumatic suction cup 3-8 when it picks up the polystyrene plate.

[0020] It is worth noting that the power equipment of this invention is powered by an external power source; and the controller of this application can be a PLC controller structure, which is a mature existing technology and will not be described in detail here.

[0021] Furthermore, the material supply platform module 1 is erected and fixed to the side of the manual platform, including an outer frame 1-5. When the servo motor 1-3 and servo motor 2-4 inside the outer frame 1-5 drive the lifting rod 1-1 and lifting rod 2-2 to rise and fall respectively, the lifting platform 1-6 is driven to rise and fall to the designated position, so as to realize the transfer of polystyrene boards required for construction.

[0022] Furthermore, the automatic pop-out and automatic glue application device 2 for polystyrene boards is fixed on the lifting platform 1-6. The servo electric cylinder 2-1 fixed on the lifting platform 1-6 is connected to the rear end of the push rod 2-2. The front end of the push rod 2-2 is used to push the cuboid of the polystyrene board into the stacked polystyrene board spring-pressing storage compartment 2-3. The servo electric cylinder 2-1 pushes the automatic transport of a single polystyrene board. The stacked polystyrene board spring-pressing storage compartment 2-3 is fixed on the lifting platform 1-6, and multiple polystyrene boards are placed inside the stacked polystyrene board spring-pressing storage compartment 2-3. The stacked polystyrene board spring-pressing storage compartment 2-3 is fixed in the plane position of the polystyrene board by four irregularly shaped plates, and the spring pressing component at the top of the stacked polystyrene board spring-pressing storage compartment 2-3 limits the height of the polystyrene board, realizing the storage of multiple polystyrene boards. The three fixed plates 2-4 are fixedly connected to the pop-out point of the stacked polystyrene board spring-pressing storage compartment 2-3, so that a single polystyrene board is limited after being pushed out.

[0023] Furthermore, the automatic glue spraying device 2-5 is located on the same axis as the servo electric cylinder 2-1 and the stacked polystyrene plate spring pressing storage compartment 2-3; and the automatic glue spraying device 2-5 is also fixed on the lifting platform 1-6.

[0024] Furthermore, the multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device 3 includes a sliding rail 3-1, which is suspended below the manual platform. A servo motor 3-2 is mounted on the side wall of the support of pulley 3-3 to drive pulley 3-3 to move. The upper end of pulley 3-3 is slidably connected to the sliding rail 3-1. The upper end of Z-axis electric telescopic rod 1 3-4 is rotatably connected to the support of pulley 3-3 and rotates in the XY plane. Z-axis electric telescopic rod 2 3-5 is located inside telescopic rod 1 3-4 and extends vertically along the Z-axis, enabling the robotic arm to grip the polystyrene board in the specified direction. Z-axis electric telescopic rod 2 3-5 has a vertical groove slide and is vertically slidably connected to the back gear of servo cylinder 2 3-6. The back gear meshes with the vertical groove slide, allowing servo cylinder 2 3-6 to slide vertically along the Z-axis. The end hole of X-axis electric telescopic rod 3 3-7 is connected to a pneumatic suction cup 3-8 through a motor rotation, causing the pneumatic suction cup 3-8 to rotate, thereby picking up the polystyrene board and turning it to conform to the direction of the concrete.

[0025] This invention provides intelligent covering equipment and construction method for insulating polystyrene boards on gate piers in high-altitude and cold regions. It includes a material supply platform module 1 for holding and storing insulating polystyrene boards and adhesive, allowing for manual batch replenishment of boards. The platform then automatically lowers to the optimal gripping height of a robotic arm, achieving efficient material supply through human-machine collaboration. An automatic board ejection and adhesive spraying device 2 includes a stacked polystyrene board storage bin 2-3, which automatically ejects individual insulating polystyrene boards sequentially via a mechanical push-pull rod 2-2. During the gripping process by the pneumatic suction cup 3-8 at the end of the robotic arm, a special adhesive is automatically and evenly sprayed onto the surface of the polystyrene board. This eliminates the need for machine downtime, improving operational efficiency while reducing manual labor, thus solving the problem of difficult intelligent covering of insulating polystyrene boards in high-altitude and cold regions. A multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device 3 employs a multi-axis linkage robotic arm system, with a rotatable pneumatic suction cup 3-8 at the end, capable of flexibly lifting individual polystyrene boards and then precisely transferring them to the concrete surface of the gate pier for pasting via multi-axis robotic arm coordination. The entire process of supplying, applying adhesive, grabbing, and pasting polystyrene insulation boards for gate pier concrete is automated and closed-loop controlled, replacing manual rope-suspension work at high altitudes and cold regions. This significantly reduces the risk of falls and frostbite, and improves construction efficiency and insulation quality.

[0026] It is worth noting that the way the upper end of the Z-axis electric telescopic rod 3-4 of the present invention is rotatably connected to the bracket of the pulley 3-3 can be controlled by a stepper motor. The rotation method is a conventional and mature technology, such as the way the motor gear meshes with the outside of the rotating shaft, which will not be described in detail here.

[0027] Example 2 A method for constructing gate piers using the aforementioned intelligent covering equipment for insulating polystyrene boards on concrete in high-altitude and cold regions includes the following steps: Step 1: Manually move multiple polystyrene boards to the stacked polystyrene board spring pressing storage compartment 2-3 on the lifting platform 1-6. After closing the spring pressing plate, start the lifting controller 4-1, and the servo motor 1-3 and servo motor 2-4 drive the lifting platform 1-6 to the preset specified height. Step 2: Driven by the servo cylinder 2-1, the push rod 2-2 moves forward. Under the synergistic effect of the spring pressure, the output process is stable; a single polystyrene board is accurately pushed to the limit position of the fixed plate 2-4 and remains stationary, completing the positioning. Step 3: Under the command of the robotic arm controller 2 4-2, the servo motor 3-2 drives the pulley 3-3 to run along the track 3-1, positioning the transfer mechanism in the working area of ​​the feeding platform module 1; then, the Z-axis telescopic rod 1 3-4 and the Z-axis electric telescopic rod 2 3-5 adjust the height and vertical direction, and the X-axis electric telescopic rod 3-7 adjusts the horizontal extension amount, so that the end pneumatic suction cup 3-8 is precisely and vertically positioned above the preset gripping point of the polystyrene board on the fixed plate 2-4; Step 4: Servo electric cylinder 2 3-6 drives the X-axis electric telescopic rod 3-7 connected to it to descend along the vertical track inside the Z-axis electric telescopic rod 2 3-5, so that the end pneumatic suction cup 3-8 descends to contact the surface of the polystyrene board; then, controller 3 4-3 is activated, and a vacuum is formed inside the suction cup by pumping air, so as to reliably adsorb and pick up the polystyrene board. Step 5: After the pneumatic suction cup 3-8 grabs the polystyrene board, when the polystyrene board is conveyed and precisely positioned above the automatic spray head spraying device 2-5, the device starts and sprays the adhesive onto the set area of ​​the polystyrene board. When it moves, the adhesive is automatically spread evenly by the automatic roller spreading device 2-6. Step 6: Under the control of robotic arm 3, the position of the polystyrene board is first adjusted by Z-axis telescopic rod 3-4 and Z-axis electric telescopic rod 3-5 to transport the polystyrene board to the target area; then, the motor of the end pneumatic suction cup 3-8 rotates to align the adhesive surface of the polystyrene board with the concrete surface of the gate pier; finally, X-axis electric telescopic rod 3-7 extends to push the polystyrene board to the concrete surface to achieve a tight fit. Step 7: Once the polystyrene board is firmly attached to the concrete surface, the pneumatic suction cups 3-8 will release the suction and reset; subsequently, the entire system will automatically return to the material preparation state and begin the next work cycle, repeating steps 2-6. Step 8: After the polystyrene board laying and pasting work in all concrete areas is completed, the system will reset the equipment: the material supply platform module 1 will descend back to the initial low position, and at the same time, the multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device 3 will also retract the robotic arm and move to the origin or safe parking position set in the program.

[0028] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the inventive concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A smart covering equipment for concrete insulation polystyrene board on gate piers in high-altitude and cold regions, comprising: The material supply platform module (1), the automatic pop-up and automatic glue application device for polystyrene boards (2), the multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device (3), and the control system (4) are characterized by: The material supply platform module (1) is a platform for placing thermal insulation polystyrene board and adhesive coating, including symmetrically arranged lifting rod one (1-1) and lifting rod two (1-2), which are driven by symmetrical servo motor one (1-3) and servo motor two (1-4) respectively; the overall outer frame (1-5) is fixed; the material supply platform module lifting platform (1-6) is fixed at the same time as lifting rod one (1-1) and lifting rod two (1-2); the lifting rod is driven by the motor to drive the lifting platform (1-6) to lift in the vertical direction; The automatic pop-up and automatic spraying and gluing device (2) for polystyrene boards includes a servo electric cylinder (2-1), a drive push rod (2-2), a stacked polystyrene board spring pressing storage compartment (2-3), a fixed plate (2-4), an automatic spray nozzle device (2-5), and an automatic roller spreading device (2-6); the push rod (2-2) pushes out a single polystyrene board to the fixed plate (2-4) at the position where the robotic arm grabs the polystyrene board, and the automatic spraying and gluing device (2) is installed on the lifting platform (1-6); The multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device (3) includes a sliding rail (3-1), a Z-axis electric telescopic rod one (3-4), a Z-axis electric telescopic rod two (3-5), an X-axis electric telescopic rod three (3-7), and a pneumatic suction cup (3-8); the servo motor three (3-2) drives the pulley (3-3) to slide on the sliding rail (3-1); the Z-axis electric telescopic rod two (3-5) has a vertical groove slide inside, and the servo electric cylinder two (3-6) with gear on the back drives the X-axis electric telescopic rod three (3-7) to move vertically; The control system (4) includes a lifting platform controller (4-1) that controls the lifting plate (1), a robotic arm controller (4-2) that controls the pulley (3-3) to slide on the sliding track (3-1), and a controller (4-3) that controls the air pressure of the pneumatic suction cup (3-8) when it picks up the benzene plate.

2. The intelligent covering equipment for concrete insulation polystyrene board on gate piers in high-altitude and cold regions according to claim 1, characterized in that: The material supply platform module (1) is erected and fixed on the side of the manual platform. It includes an outer frame (1-5). When the servo motor one (1-3) and servo motor two (1-4) inside the outer frame (1-5) drive the lifting rod one (1-1) and lifting rod two (1-2) to rise and fall, the lifting platform (1-6) is lifted and lowered to the designated position to realize the transfer of polystyrene boards required for construction.

3. The intelligent covering equipment for concrete insulation polystyrene board on gate piers in high-altitude and cold regions according to claim 1, characterized in that: The automatic pop-out and automatic glue application device (2) for polystyrene boards is fixed on the lifting platform (1-6). The servo cylinder 1 (2-1) fixed on the lifting platform (1-6) is connected to the rear end of the push rod (2-2). The front end of the push rod (2-2) is used to push the cuboid of the polystyrene board located in the stacked polystyrene board spring pressing storage compartment (2-3). The automatic pushing of a single polystyrene board is achieved by the servo cylinder 1 (2-1). The stacked polystyrene board spring pressing storage compartment (2-3) is fixed on the lifting platform (1-6). 6) Multiple benzene boards are placed inside the stacked benzene board spring-pressed storage compartment (2-3); the stacked benzene board spring-pressed storage compartment (2-3) is fixed in the plane position of the benzene boards by four irregularly shaped plates, and the height of the benzene boards is limited by the spring pressing component at the top of the stacked benzene board spring-pressed storage compartment (2-3) to realize the storage of multiple benzene boards; the benzene board ejection point of the stacked benzene board spring-pressed storage compartment (2-3) is fixedly connected by three fixed plates (2-4) to realize that a single benzene board is limited after being pushed out.

4. The intelligent covering equipment for concrete insulation polystyrene board on gate piers in high-altitude and cold regions according to claim 1, characterized in that: The automatic spraying and gluing device (2-5) is located on the same axis as the servo electric cylinder (2-1) and the stacked polystyrene plate spring pressing storage compartment (2-3); and the automatic spraying and gluing device (2-5) is also fixed on the lifting platform (1-6).

5. The intelligent covering equipment for concrete insulation polystyrene board on gate piers in high-altitude and cold regions according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device (3) includes a sliding rail (3-1), which is suspended below the manual platform. A servo motor (3-2) is installed on the side wall of the pulley (3-3) bracket to drive the pulley (3-3) to move. The upper end of the pulley (3-3) is slidably connected to the sliding rail (3-1). The upper end of the Z-axis electric telescopic rod (3-4) is rotatably connected to the bracket of the pulley (3-3) and rotates in the XY plane. The Z-axis electric telescopic rod (3-5) is located at the telescopic rod (3-1). 3-4) The internal vertical Z-axis telescopic mechanism enables the robotic arm to grasp the polystyrene board in a specified direction; the Z-axis electric telescopic rod two (3-5) has a vertical groove slide inside and is vertically connected to the back gear of the servo electric cylinder two (3-6); the back gear meshes with the vertical groove slide, allowing the servo electric cylinder two (3-6) to slide vertically along the Z-axis; the X-axis electric telescopic rod three (3-7) has a hole at the end that is connected to a pneumatic suction cup (3-8) by a motor rotation, which makes the pneumatic suction cup (3-8) rotate, thus picking up the polystyrene board and turning it to fit the direction of the concrete.

6. A method for construction using the intelligent covering equipment for concrete insulation polystyrene board on gate piers in high-altitude and cold regions as described in any one of claims 1 to 5, characterized in that, The method includes the following steps: Step 1: Manually move multiple polystyrene boards to the stacked polystyrene board spring pressing storage compartment (2-3) on the lifting platform (1-6). After closing the spring pressing plate, start the lifting controller (4-1), and the lifting platform (1-6) will be driven to the preset specified height by the servo motor (1-3) and the servo motor (1-4). Step 2: Driven by the servo electric cylinder (2-1), the push rod (2-2) moves forward. Under the synergistic effect of the spring pressure, the output process is stable; a single polystyrene board is accurately pushed to the limit position of the fixed plate (2-4) and remains stationary, completing the positioning. Step 3: Under the command of the robotic arm controller 2 (4-2), the servo motor 3 (3-2) drives the pulley (3-3) to run along the track (3-1) to position the transfer mechanism to the working area of ​​the feeding platform module (1); then, the Z-axis telescopic rod 1 (3-4) and the Z-axis electric telescopic rod 2 (3-5) adjust the height and vertical direction, and the X-axis electric telescopic rod 3 (3-7) adjusts the horizontal extension amount, so that the end pneumatic suction cup (3-8) is precisely vertically positioned above the preset gripping point of the polystyrene board on the fixed plate (2-4); Step 4: Servo electric cylinder two (3-6) drives the X-axis electric telescopic rod three (3-7) connected to it to descend along the vertical track inside the Z-axis electric telescopic rod two (3-5), so that the end pneumatic suction cup (3-8) descends to contact the surface of the polystyrene board; then, controller three (4-3) is activated, and a vacuum is formed inside the suction cup by pumping air, so as to reliably adsorb and pick up the polystyrene board; Step 5: After the pneumatic suction cup (3-8) grabs the polystyrene board, when the polystyrene board is conveyed and precisely positioned above the automatic spray head spraying device (2-5), the device is activated to spray the adhesive onto the set area of ​​the polystyrene board. When it moves, the adhesive is automatically spread evenly by the automatic roller spreading device (2-6). Step 6: Under the control of the robotic arm (3), the position of the polystyrene board is first adjusted by the Z-axis telescopic rod one (3-4) and the Z-axis electric telescopic rod two (3-5) to transport the polystyrene board to the target area; then, the motor of the end pneumatic suction cup (3-8) rotates to make the adhesive surface of the polystyrene board aligned with the concrete surface of the gate pier; finally, the X-axis electric telescopic rod three (3-7) extends to push the polystyrene board to complete the tight bonding with the concrete surface; Step 7: Once the polystyrene board is firmly attached to the concrete surface, the pneumatic suction cup (3-8) will release the suction and reset; subsequently, the entire system will automatically return to the material preparation state and begin the next work cycle, repeating steps 2-6. Step 8: After the polystyrene board laying and pasting work in all concrete areas is completed, the system will reset the equipment: the material supply platform module (1) will descend back to the initial low position, and at the same time, the multi-degree-of-freedom robotic arm polystyrene board gripping and pasting device (3) will also retract the robotic arm and move to the origin or safe parking position set in the program.

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