A quality inspection robot for a modular integrated building and a quality inspection method for a side wall plate

Abstract

The present application relates to the technical fields of modular integrated building, and especially relates to a quality inspection robot for modular integrated building and a quality inspection method for side wall plates, each detection device comprising a seventh-axis ground rail robot, a vertical lifting mechanism, a distance measuring mechanism, a rotating mechanism and a line-scan camera; the distance measuring mechanism can measure multiple distance values on one side wall plate of a concrete module, the rotating mechanism is adjusted, and the line-scan camera is frontally photographed on one side wall plate of the concrete module. Its beneficial effects are that the seventh-axis ground rail robot drives the vertical lifting mechanism to move in the left-right direction, cooperates with the up-down driving of the vertical lifting mechanism, so that the distance measuring mechanism can realize multi-point distance measurement on the side wall plate and obtain comprehensive data of the side wall plate. The rotating mechanism is adjusted based on the measured distance values, the angle of the line-scan camera can be corrected, the line-scan camera is ensured to be relatively parallel to the side wall plate, imaging distortion caused by angle deviation is effectively avoided, and the image acquisition accuracy is improved.

Description

Technical Field

[0001] This invention relates to the field of modular integrated building technology, and in particular to a quality inspection robot and a quality inspection method for side wall panels of modular integrated buildings. Background Technology

[0002] Modular integrated construction represents the cutting edge of industrialized building development. Its core principle lies in the scientific breakdown of a building into multiple functional modular units. The majority of the work—including structural construction, interior decoration, and equipment and pipeline installation—is completed in a factory. The finished concrete modules are then transported to the construction site for rapid assembly. This new "factory manufacturing, on-site assembly" construction model fundamentally changes the traditional construction process. Concrete modules reside on formwork platforms that circulate along the production line. Before leaving the factory, the concrete modules undergo quality inspection to prevent defects from being brought to the construction site and incurring high rework costs.

[0003] Currently, in the field of modular integrated buildings, the quality inspection of concrete modules mainly relies on traditional manual inspection methods. However, concrete module production lines are characterized by highly rhythmic and assembly-line operations. The dwell time of a single concrete module at each production station is relatively limited, making manual inspection slow and often requiring multiple quality inspectors to work together to complete the inspection. This makes the inspection process a significant bottleneck restricting the maximization of factory capacity. Furthermore, manual inspection heavily relies on the individual experience and sense of responsibility of quality inspectors. It is difficult to generate objective and accurate quantitative data records for core quality indicators such as key dimensional deviations, surface flatness, and crack width. Inspection results are mostly presented as qualitative conclusions like "qualified / unqualified," failing to build a precise data stream that can guide the optimization and improvement of production processes, which contradicts the data-driven core concept advocated by Industry 4.0.

[0004] Therefore, there is an urgent need for a quality inspection robot and a quality inspection method for side wall panels in modular integrated buildings, which can replace manual quality inspection and improve quality inspection efficiency. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a quality inspection robot for modular integrated buildings and a quality inspection method for side wall panels, which solves the technical problems of the prior art requiring manual quality inspection and having low quality inspection efficiency.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, embodiments of the present invention provide a quality inspection robot for modular integrated buildings, comprising two inspection devices adapted to be symmetrically arranged in front of and behind a mold platform. Each inspection device includes a seventh-axis ground-rail robot, a vertical lifting mechanism, a ranging mechanism, a bracket, a rotating mechanism, and a line-scanning camera. The vertical lifting mechanism is located above and connected to the seventh-axis ground-rail robot, the bracket is located on the vertical lifting mechanism adapted to face one side of the mold platform and connected to it, the ranging mechanism and the rotating mechanism are fixedly connected to the bracket, and the line-scanning camera is connected to the rotating mechanism. The seventh-axis ground-rail robot is adapted to move back and forth along one side of the mold platform, and the vertical lifting mechanism drives the bracket to move in the up and down direction, so that the ranging mechanism can measure multiple distance values ​​on one side wall of the concrete module. The rotating mechanism is adjusted according to the multiple measured distance values ​​so that the line-scanning camera can capture a frontal view of one side wall of the concrete module.

[0010] Optionally, the ranging mechanism includes a drive mechanism, a moving component, multiple buffer rods, and multiple contact sensors; the drive mechanism is driven to move the moving component in the forward and backward direction; multiple buffer rods are fixed to one end of the moving component near the side wall of the concrete module, and the contact sensors are sandwiched between the buffer rods and the moving component. The number of buffer rods is even and they are arranged in rows and columns. The two probes of one contact sensor are located on two adjacent buffer rods respectively; the drive mechanism drives the moving component to move the buffer rods toward the side wall of the concrete module and press against the side wall. When the pressure value measured by the contact sensor reaches a preset value, the stroke of the moving component driven by the drive mechanism is the distance value measured by the ranging mechanism.

[0011] Optionally, the ranging mechanism further includes two limiting components; the driving mechanism includes a second motor, a lead screw, and a first mounting bracket; the moving mechanism includes a second mounting bracket and a third mounting bracket; the first mounting bracket is embedded in the bracket, the second motor is fixed to the front end of the first mounting bracket, and the output shaft of the second motor is driven by the lead screw, the lead screw is threadedly connected to the front end of the second mounting bracket, the second mounting bracket is embedded in the first mounting bracket, the third mounting bracket is embedded in the second mounting bracket, the two limiting components are respectively installed on the left and right sides of the second mounting bracket, the first mounting bracket is slidably connected to one side of the limiting components in the front-back direction, and the third mounting bracket is fixed to the other side of the limiting components.

[0012] Optionally, the limiting component includes two pulleys rotatably connected to both ends of the second mounting bracket and a belt surrounding the two pulleys; a first connecting block is fixedly provided on the inner side of the first mounting bracket and a second connecting block is fixedly provided on the outer side of the third mounting bracket. The first connecting block is slidably connected to one side of the belt in the front-back direction, and the second connecting block is fixedly connected to the other side of the belt. The first connecting block and the second connecting block stop on the two pulleys.

[0013] Optionally, the quality inspection robot for modular integrated buildings also includes a control unit; the buffer rod includes a buffer sleeve, a buffer spring, a connecting rod, and a polyurethane buffer block; the buffer spring is embedded in the buffer sleeve, and both ends of the buffer spring are respectively connected to the connecting rod and the third mounting bracket; the connecting rod is fixedly connected to the polyurethane buffer block, and the connecting rod can be inserted into the buffer sleeve along its length; a contact sensor is clamped between the buffer spring and the third mounting bracket, and the polyurethane buffer block is adapted to press against the side wall of the concrete module, thereby squeezing the buffer spring; the buffer spring squeezes the probe of the contact sensor, and the contact sensor transmits the measured pressure value to the control unit; the control unit determines whether the pressure value is greater than or equal to a preset value; if so, the control unit controls the second motor to self-lock; if not, the control unit controls the second motor to rotate, and the second motor is adapted to drive the lead screw to move towards the side wall of the concrete module, so that the polyurethane buffer block is adapted to press against the side wall of the concrete module, increasing the pressure value received by the contact sensor.

[0014] Optionally, the rotating mechanism includes an L-shaped connecting plate, a connecting bend, a limiting flange, a third motor, and a fourth motor. The third motor is fixed to the bracket, and its output shaft passes upward through the bracket and is driven to the bottom of the L-shaped connecting plate. The fourth motor is fixed to the inner side of the vertically extending portion of the L-shaped connecting plate, and its output shaft is fixedly connected to one end of the connecting bend. The other end of the connecting bend is fixedly connected to the limiting flange, which is fixed to the periphery of the line scan camera. The ranging mechanism is adapted to measure the distance values ​​of multiple points on the side wall of the concrete module. The control unit calculates the rotation angle required for the rotating mechanism to achieve the frontal shooting state of the side wall in the horizontal and vertical directions, and controls the operation of the third and fourth motors.

[0015] Optionally, the vertical lifting mechanism includes a driver, a sliding assembly, a sliding frame, a lifting frame, a first gear, a second gear, a conveyor belt, and a vertical lifting component; the seventh-axis ground-rail robot drives the sliding frame to move in the left-right direction, the driver, the first gear, and the lifting frame are all fixed on the sliding frame, the lifting frame extends vertically and is located above the first gear, the driver is driven and connected to the first gear, the second gear is rotatably connected to the top of the lifting frame, the conveyor belt is driven and connected to the first gear and the second gear, the vertical lifting component is located below the sliding assembly and connected to the conveyor belt, the sliding assembly and the lifting frame are slidably connected in the up-down direction, and the sliding assembly abuts against the vertical lifting component; the driver drives the conveyor belt to rotate, causing the vertical lifting component to move in the up-down direction, and the vertical lifting component drives the sliding assembly to slide in the up-down direction.

[0016] Optionally, the sliding frame includes a slide table, a protective cover, a support flange, and a support base; the slide table moves in the left and right direction driven by the seventh-axis ground-rail robot, the protective cover is fixed above one end of the slide table and encloses the driver in the protective space formed by the protective cover and the slide table, the support flange is fixed on the slide table and supports the driver on the slide table, the support base is fixed above the other end of the slide table, and the lifting frame is fixedly connected above the support base and corresponds to the first gear.

[0017] Optionally, the sliding assembly includes multiple pulleys, two support plates, a first connecting plate, and a second connecting plate; the lifting frame includes multiple vertically extending slide rails disposed on the front and rear sides; the multiple pulleys are rotatably disposed around the support plates, the two support plates are respectively located on the left and right sides of the lifting frame, the first connecting plate and the second connecting plate are respectively located on the front and rear sides of the lifting frame, and both are fixedly connected to the two support plates, and the second connecting plate abuts against the vertical lifting component.

[0018] Secondly, embodiments of the present invention provide a quality inspection method for side wall panels of a modular integrated building, employing a quality inspection robot for modular integrated buildings, and further including the following steps:

[0019] S1. The seventh-axis ground-rail robot moves left and right, and the vertical lifting mechanism moves up and down, so that the distance measuring mechanism can detect the distance values ​​of multiple different points in the horizontal and vertical directions of the side wall panel of the concrete module.

[0020] S2. Based on the distance values ​​detected at multiple points, calculate the offset angles in the vertical and horizontal directions. The rotating mechanism rotates by the corresponding angles in the horizontal and vertical directions, so that the line scanning camera can capture the side wall panel of the concrete module from the front, forming a front image of the side wall panel.

[0021] S3. Based on the front image of the side wall panel, determine whether the actual structural features of the concrete module conform to the preset structural features.

[0022] (III) Beneficial Effects

[0023] The beneficial effects of this invention are:

[0024] On one hand, this invention proposes a quality inspection robot for modular integrated buildings, including two inspection devices symmetrically arranged with the mold platform. Each inspection device includes a seventh-axis ground-rail robot, a vertical lifting mechanism, a ranging mechanism, a rotating mechanism, and a line-scanning camera. The seventh-axis ground-rail robot moves back and forth along one side of the mold platform, and the vertical lifting mechanism drives a bracket to move vertically, enabling the ranging mechanism to measure multiple distance values ​​on one side wall of the concrete module. Based on the measured distance values, the rotating mechanism is adjusted so that the line-scanning camera can capture a frontal view of one side wall of the concrete module. Compared to existing technologies, the two inspection devices symmetrically arranged on both sides of the mold platform allow for simultaneous inspection of both side walls of the concrete module, significantly improving inspection efficiency and avoiding the time-consuming reciprocating motion of single-sided inspection. The seventh-axis ground-rail robot drives the vertical lifting mechanism to move horizontally, and in conjunction with the vertical drive of the vertical lifting mechanism, the ranging mechanism can perform multi-point distance measurements on the side wall, acquiring comprehensive data of the side wall. The rotation mechanism, adjusted based on measured distance values, can correct the angle of the line scan camera, ensuring that the line scan camera is relatively parallel to the side wall panel, effectively avoiding imaging distortion caused by angle deviation and improving image acquisition accuracy.

[0025] On the other hand, this invention proposes a quality inspection method for side wall panels of modular integrated buildings. By averaging distance measurements from multiple points and calculating angles, a rotating mechanism is driven to adjust the posture of the line-scanning camera in both horizontal and vertical directions, ensuring that the line-scanning camera is parallel to the side wall panel of the concrete module, thus improving the accuracy of the scanning data from the source. A seventh-axis ground-rail robot works in conjunction with a vertical lifting mechanism to achieve full-area coverage scanning of the side wall panel, avoiding missed inspections. By quickly matching the module number with the drawings, the method automatically compares the scanned data with the design parameters, replacing manual verification and significantly improving quality inspection efficiency. Simultaneously, it clearly defines the qualification status of key indicators such as output dimensions, holes, and reinforcing bars, providing a quantitative basis for quality judgment, reducing subjective errors, and ensuring the reliability of quality inspection. Attached Figure Description

[0026] Figure 1 This is a front view of the quality inspection robot for the modular integrated building in Example 1;

[0027] Figure 2 for Figure 1 A top view of a quality inspection robot in a modular integrated building is shown.

[0028] Figure 3 for Figure 1 A side view of a quality inspection robot in a modular integrated building is shown.

[0029] Figure 4 for Figure 1 A schematic diagram of the inspection device in a quality inspection robot of a modular integrated building is shown.

[0030] Figure 5 for Figure 1 A top view of the inspection device in a quality inspection robot of a modular integrated building;

[0031] Figure 6 for Figure 1 A partial structural diagram of the actuator in a quality inspection robot of a modular integrated building is shown.

[0032] Figure 7 for Figure 1 A schematic diagram of the ranging mechanism in a quality inspection robot for modular integrated buildings is shown.

[0033] Figure 8 for Figure 1 A partial structural diagram of the buffer bar in a quality inspection robot of a modular integrated building is shown.

[0034] Figure 9 for Figure 1 A front view of the rotating mechanism in a quality inspection robot of a modular integrated building, shown.

[0035] Figure 10 for Figure 1 A schematic diagram of the rotating mechanism in a quality inspection robot of a modular integrated building is shown.

[0036] Figure 11 for Figure 1 A schematic diagram of the vertical lifting mechanism in the quality inspection robot of the modular integrated building is shown.

[0037] Figure 12 for Figure 1 A partial rear view of the vertical lifting mechanism in a quality inspection robot of a modular integrated building is shown.

[0038] Figure 13 for Figure 1 A partial front view of the vertical lifting mechanism in a quality inspection robot of a modular integrated building is shown.

[0039] Explanation of reference numerals in the attached figures

[0040] 1: Mold table; 2: Seventh-axis ground-rail robot;

[0041] 3: Vertical lifting mechanism; 31: Driver; 32: Sliding assembly; 321: Pulley; 322: Support plate; 323: First connecting plate; 324: Second connecting plate; 33: Sliding frame; 331: Sliding table; 332: Protective cover; 333: Support flange; 334: Support base; 34: Lifting frame; 341: Slide rail; 35: First gear; 36: Second gear; 37: Conveyor belt; 38: Vertical lifting component;

[0042] 4: Distance measuring mechanism; 41: Second motor; 42: Lead screw; 43: First mounting bracket; 44: Limiting assembly; 441: Pulley; 442: Belt; 443: First connecting block; 444: Second connecting block; 45: Second mounting bracket; 46: Third mounting bracket; 47: Buffer rod; 471: Buffer sleeve; 472: Buffer spring; 473: Connecting rod; 474: Polyurethane buffer block; 48: Contact sensor;

[0043] 5: Bracket; 6: Rotating mechanism; 61: L-shaped connecting plate; 62: Connecting bend; 63: Limiting flange; 64: Third motor; 65: Fourth motor; 7: Line scan camera. Detailed Implementation

[0044] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," "left," "right," "front," and "rear" are used interchangeably. Figure 1 and Figure 2 The orientation is used as a reference. Among them, "up" refers to the direction away from the mold table 1, "down" refers to the direction closer to the mold table 1, "front" refers to the direction closer to one of the detection devices, "back" refers to the direction closer to the other detection device, and "left" and "right" refer to the directions perpendicular to the plane containing the front-back direction and the up-down direction, that is, the movement direction of the seventh-axis ground track robot 2.

[0045] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0046] In modular integrated buildings, concrete modules are typically produced in factories, and the side wall panels of these modules are also manufactured in the factory using metal formwork. As a result, the side wall panels of the manufactured concrete modules are relatively flat. Therefore, the quality inspection of concrete modules involves inspecting the assembly of the side wall panels of multiple concrete modules. The concrete modules that need to be inspected include the dimensions of the side wall panels (length and width), the holes in the side wall panels (location, diameter, and number), and the exposed reinforcing bars (length and spacing).

[0047] Example 1:

[0048] Reference Figures 1 to 13This embodiment proposes a quality inspection robot for modular integrated buildings, used for quality inspection of concrete modules. Specifically, the quality inspection robot for modular integrated buildings in this embodiment includes two inspection devices symmetrically arranged before and after the module platform 1. Each inspection device includes a seventh-axis ground-rail robot 2, a vertical lifting mechanism 3, a ranging mechanism 4, a bracket 5, a rotating mechanism 6, and a line-scanning camera 7, as detailed below.

[0049] In this embodiment, the mold platform 1 moves along the production line for processing concrete modules to the quality inspection station. Two inspection devices are symmetrically positioned on either side of the mold platform 1. The seventh-axis ground-rail robot 2 is a mature product of existing technology; it is a device that uses guide rails and a drive system to drive an industrial robot to achieve linear or arc-shaped movement, essentially providing the robot with a "movable base." Therefore, further details are omitted here. The vertical lifting mechanism 3 is located above the seventh-axis ground-rail robot 2, and the seventh-axis ground-rail robot 2 drives the vertical lifting mechanism 3 to move in the left-right direction. The line scan camera 7 is a mature product of existing technology; it is a highly efficient image acquisition device widely used in industrial inspection and machine vision fields, capable of achieving high-precision and high-speed image processing. Therefore, further details are omitted here. The bracket 5 is connected to the side of the vertical lifting mechanism 3 facing the mold platform 1 by welding, snap-fitting, or screwing, and moves synchronously with the movement of the vertical lifting mechanism 3.

[0050] The ranging mechanism 4 and the rotating mechanism 6 are both fixedly connected to the bracket 5 by welding, screwing, or snap-fitting. They are arranged side by side and their positions are relatively fixed to ensure the coordination of the ranging mechanism 4's ranging and the rotating mechanism 6's angle adjustment. The line scan camera 7 is connected to the rotating mechanism 6, and the shooting angle is adjusted by the rotation mechanism 6 to adapt to the side wall panels of the concrete modules with different postures.

[0051] During the quality inspection operation, the seventh-axis ground rail robot 2 drives the vertical lifting mechanism 3 to move back and forth along the length direction of the corresponding side of the mold table 1. At the same time, the vertical lifting mechanism 3 drives the bracket 5 to move up and down. Through the combined movement of the seventh-axis ground rail robot 2 and the vertical lifting mechanism 3, the distance measuring mechanism 4 can perform multi-point distance measurement on the side wall panels of the concrete module.

[0052] Based on the analysis and processing of multiple distance values ​​collected by the ranging mechanism 4, the required adjustment angle for the line scan camera 7 to face the side wall panel is calculated. The rotating mechanism 6 adjusts the corresponding angle, causing the line scan camera 7 to adjust its posture, ultimately enabling the line scan camera 7 to capture a frontal image of the side wall panel of the concrete module. Frontal imaging means that the shooting plane (the plane where the lens is located) of the line scan camera 7 is parallel to the surface of the side wall panel of the concrete module, and the central axis of the lens is perpendicular to the surface of the side wall panel of the concrete module. The shooting direction is directly facing the side wall panel of the concrete module, ensuring that the image of the side wall panel of the concrete module captured by the lens is free from perspective distortion and scale distortion.

[0053] In summary, the two detection devices are symmetrically arranged on both sides of the mold platform 1, enabling simultaneous detection of the side wall panels of the concrete module, significantly improving detection efficiency and avoiding the time-consuming reciprocating process of single-sided detection. The seventh-axis ground-rail robot 2 drives the vertical lifting mechanism 3 to move in the left-right direction. Combined with the up-down drive of the vertical lifting mechanism 3, the ranging mechanism 4 can perform multi-point distance measurements on the side wall panels, acquiring comprehensive data. Based on the measured distance values, the rotating mechanism 6 adjusts the angle of the line scan camera 7, ensuring that the line scan camera 7 is relatively parallel to the side wall panels, effectively avoiding imaging distortion caused by angular deviations and improving image acquisition accuracy.

[0054] Furthermore, the control unit includes a programmable controller and a control device. The programmable controller and the control device are communicatively connected to achieve bidirectional interaction between command issuance and data feedback. The programmable controller establishes stable signal transmission channels with the seventh-axis ground-rail robot 2, the vertical lifting mechanism 3, the ranging mechanism 4, the rotating mechanism 6, and the line scan camera 7 through dedicated cables, forming a centralized control architecture to ensure the synchronization and consistency of the action responses of each actuator.

[0055] The programmable controller receives data from the control device, which then processes the data and outputs corresponding instructions to the programmable controller to control various actions of the seventh-axis ground-rail robot 2, the vertical lifting mechanism 3, the ranging mechanism 4, the rotating mechanism 6, and the line scanning camera 7.

[0056] Furthermore, the ranging mechanism 4 includes a drive mechanism, a moving component, multiple buffer rods 47, and multiple contact sensors 48. The drive mechanism is connected to the moving component to provide power support for the linear movement of the moving component. The number of buffer rods 47 is even, and they are evenly arranged in rows and columns and fixed to one end of the moving component near the side wall of the concrete module by welding, screwing, or snap-fitting. The contact sensors 48 are sandwiched between the buffer rods 47 and the moving component. The two probes of the contact sensors 48 are respectively installed on two adjacent buffer rods 47 to ensure that the force state of the buffer rods 47 can be sensed. The contact sensors 48 are existing technologies and require direct physical contact with the object being measured. They are mainly used to detect contact between objects, therefore, they will not be described in detail here.

[0057] During quality inspection, the control unit issues commands to drive the seventh-axis ground-rail robot 2 to move back and forth along the length of the corresponding side of the mold platform 1. At the same time, it controls the vertical lifting mechanism 3 to drive the bracket 5 and the distance measuring mechanism 4 and the rotating mechanism 6 mounted on it to move in the vertical direction. Through the combined movement of the two, the distance measuring mechanism 4 can perform distance measurements at multiple points on the side wall panels of the concrete module.

[0058] During the distance measurement process, the drive mechanism drives the moving component to move towards the side wall of the concrete module in the front-back direction, causing the buffer rod 47 to simultaneously approach the side wall of the concrete module. When the buffer rod 47 contacts the side wall of the concrete module, as the moving component continues to advance, the buffer rod 47 experiences a reaction force from the side wall of the concrete module and transmits the force to the contact sensor 48. When the pressure value measured by the contact sensor 48 is greater than or equal to a preset value, the drive mechanism locks itself. At this time, the stroke of the moving component driven by the drive mechanism is the distance value measured by the distance measuring mechanism 4. The preset value is a value given by professional technicians, taking into account the side wall of the concrete module and actual working conditions. In this embodiment, the preset value is within the range of 10N-20N. When the pressure value measured by the contact sensor 48 is less than the preset value, the drive mechanism continues to drive the moving component to move, causing the lead screw to move towards the side wall of the concrete module. The polyurethane buffer block presses against the side wall of the concrete module, gradually increasing the pressure value received by the contact sensor, causing the pressure value to gradually approach the preset value.

[0059] The various points are arranged horizontally and vertically, and after the distance values ​​of each point are measured, the ranging mechanism 4 transmits the collected distance values ​​to the control unit in real time. The control unit analyzes and processes the multiple sets of distance values, calculates the adjustment angle required for the line scan camera 7 to face the side wall of the concrete module, and sends the corresponding control command to the rotating mechanism 6. The rotating mechanism 6 executes the angle adjustment action according to the command, driving the line scan camera 7 to adjust its posture, ultimately enabling the line scan camera 7 to capture a frontal image of the side wall of the concrete module.

[0060] The ranging mechanism 4 also includes two limiting components 44; the driving mechanism includes a second motor 41, a lead screw 42, and a first mounting bracket 43; the moving mechanism includes a second mounting bracket 45 and a third mounting bracket 46. The second motor 41 is fixed to the front end of the first mounting bracket 43 by welding, screwing, or snap-fitting, and the output shaft of the second motor 41 is driven by the lead screw 42 through a coaxial drive. The rear end of the lead screw 42 is threadedly connected to the front end of the second mounting bracket 45, and when the lead screw 42 rotates, it can be converted into linear motion of the second mounting bracket 45.

[0061] The second mounting bracket 45 is embedded in the internal cavity of the first mounting bracket 43, and the third mounting bracket 46 is further embedded in the second mounting bracket 45, forming a hierarchical arrangement. Two limiting components 44 are symmetrically connected to the left and right sides of the second mounting bracket 45, respectively. The first mounting bracket 43 cooperates with the limiting components 44 to achieve a sliding connection in the front-back direction. The third mounting bracket 46 is fixed to the other side of the limiting components 44 by welding, screwing, or snap-fitting, so that the third mounting bracket 46 and the second mounting bracket 45 form a linkage relationship.

[0062] Multiple buffer rods 47 are evenly distributed in rows and columns. One end of each buffer rod 47 is fixedly connected to the end of the third mounting bracket 46 near the side wall panel of the concrete module by welding, threading, or snap-fitting. This allows the multiple buffer rods 47 to perform contact detection on the side wall panel of the concrete module. Contact sensors 48 are installed corresponding to the layout of the buffer rods 47. Each contact sensor 48 is fixed at the connection point between two adjacent buffer rods 47 and the third mounting bracket 46, ensuring that the contact sensors 48 can detect contact between the buffer rods 47 and the side wall panel of the concrete module in a timely manner.

[0063] During the ranging operation, the second motor 41 starts and drives the lead screw 42 to rotate. Through the threaded engagement between the lead screw 42 and the second mounting bracket 45, the rotational motion is converted into linear movement of the second mounting bracket 45 in the front-to-back direction. The second mounting bracket 45 drives the third mounting bracket 46 to move synchronously through the limiting component 44, thereby pushing the front buffer rod 47 closer to the side wall plate of the concrete module.

[0064] When the buffer rod 47 comes into contact with the side wall of the concrete module, the operating status of the second motor 41 is monitored in real time. The number of rotations of the lead screw 42 driven by the second motor 41 is transmitted to the control device via a signal. The control device, in conjunction with preset parameters such as the pitch of the lead screw 42, calculates the actual moving distance of the lead screw 42. This distance corresponds to the distance between the ranging mechanism 4 and the side wall of the concrete module, thus completing one ranging action.

[0065] Furthermore, the limiting assembly 44 includes two pulleys 441 and a belt 442. The two pulleys 441 are rotatably connected to the front and rear ends of the second mounting bracket 45 via a rotating shaft, ensuring that the pulleys 441 can rotate stably around the rotating shaft. The belt 442 is wrapped around the outside of the two pulleys 441, forming a closed transmission structure. Power transmission and motion synchronization are achieved through the friction between the pulleys 441 and the belt 442.

[0066] The first connecting block 443 is fixed to one side of the first mounting bracket 43 by welding, screwing, or snap-fitting. The first connecting block 443 has a sliding hole, which is fitted onto one side of the belt 442 to form a sliding connection in the front-to-back direction. This connection does not affect the operation of the belt 442 and can slide synchronously with the movement of the belt 442. The second connecting block 444 is fixed to the side of the third mounting bracket 46 by welding, screwing, or snap-fitting. The second connecting block 444 is located on the other side of the belt 442 and is fixedly connected to the other side of the belt 442 by snap-fitting, screwing, or bonding, so that the third mounting bracket 46 can form a rigid linkage with the belt 442 through the second connecting block 444.

[0067] To prevent overtravel, the first connecting block 443 and the second connecting block 444 can form a stop engagement with the pulley 441. When the third mounting bracket 46 moves to the stop position in the front-back direction, the connecting blocks 443 and 444 will contact and abut against the end face of the pulley 441, restricting its continued movement and preventing the belt 442 from falling off the pulley 441 or causing collisions or interference between components.

[0068] When the second mounting bracket 45 moves in the front-to-back direction under the drive of the lead screw 42, the pulleys 441 at both ends of the second mounting bracket 45 move synchronously, driving the belt 442 to rotate in a cycle. During the operation of the belt 442, one side of the belt 442 slides to allow the second mounting bracket 45 to move relative to the first mounting bracket 43, while the other side of the belt 442 drives the second connecting block 444 and the third mounting bracket 46 to move synchronously through a fixed connection. At the same time, the movement stroke is limited by the stop structure of the first connecting block 443, the second connecting block 444 and the pulleys 441, thereby guiding and limiting the first mounting bracket 43 and the third mounting bracket 46, ensuring the stability and safety of the overall movement of the ranging mechanism 4.

[0069] Furthermore, the buffer rod 47 includes a buffer sleeve 471, a buffer spring 472, a connecting rod 473, and a polyurethane buffer block 474. One end of the buffer sleeve 471 is fixed to the end of the third mounting bracket 46 near the side wall plate of the concrete module by welding, snap-fitting, or screwing. The buffer spring 472 is embedded in the internal cavity of the buffer sleeve 471 in a naturally extended state. One end of the buffer spring 472 abuts against the end of the third mounting bracket 46 near the side wall plate of the concrete module, and the other end of the buffer spring 472 abuts against the end of the connecting rod 473 away from the side wall plate of the concrete module, so that the buffer spring 472 forms a retractable elastic support structure inside the buffer sleeve 471. The polyurethane buffer block 474 is a multifunctional material widely used in automobiles, electronics, and industrial equipment, and has excellent shock absorption, wear resistance, and impact resistance.

[0070] The connecting rod 473 is adapted to the inner diameter of the buffer sleeve 471 and can be smoothly inserted into its internal cavity along the length direction of the buffer sleeve 471 to achieve a sliding fit with the buffer sleeve 471; one end of the connecting rod 473 is fixedly connected to the polyurethane buffer block 474 by means of bonding, screwing or snapping, etc. The end face of the polyurethane buffer block 474 near the side wall plate of the concrete module has multiple contact points, which facilitates stable contact with the side wall plate of the concrete module.

[0071] The contact sensor 48 is installed in the gap between the buffer spring 472 and the third mounting bracket 46. The buffer spring 472 and the third mounting bracket 46 clamp the contact sensor 48, which can provide real-time feedback of pressure detection data and display it on the contact sensor 48.

[0072] During the ranging triggering process, the buffer rod 47 moves closer to the side wall of the concrete module along with the third mounting bracket 46 until the front end of the polyurethane buffer block 474 makes surface contact with the side wall of the concrete module. As the third mounting bracket 46 continues to move forward, the polyurethane buffer block 474 is pushed backward by the reaction force of the wall, pushing the connecting rod 473 to slide backward, thereby squeezing the buffer spring 472 inside the buffer sleeve 471, causing the buffer spring 472 to undergo compression deformation.

[0073] During the compression of the buffer spring 472, a gradually increasing pressure is applied to the contact sensor 48. When the pressure value reaches the preset value of the contact sensor 48, the sensor immediately sends a trigger signal to the control system. After receiving the signal, the control system calculates the actual distance between the ranging mechanism 4 and the side wall of the concrete module by combining the displacement data of the second motor 41 driving the lead screw 42, thus completing a single ranging action.

[0074] Furthermore, the rotating mechanism 6 includes a bracket 5, an L-shaped connecting plate 61, a connecting bend 62, a limiting flange 63, a third motor 64, and a fourth motor 65. The bracket 5 is fixedly connected to one side of the second connecting plate 324 near the side wall of the concrete module by welding, screwing, or snap-fitting. The ranging mechanism 4 is embedded in the bracket 5, so that the ranging mechanism 4 and the rotating mechanism 6 form a stable integral structure, ensuring stable position during the ranging process.

[0075] The third motor 64 is fixed to the bracket 5 by welding, screwing, or snap-fitting. The output shaft of the third motor 64 passes through the bracket 5 and forms a drive connection with the bottom of the L-shaped connecting plate 61. The rotation of the third motor 64 can directly drive the L-shaped connecting plate 61 to rotate synchronously. The fourth motor 65 is fixed to the inner side of the vertically extending part of the L-shaped connecting plate 61. The output shaft of the fourth motor 65 is fixed to one end of the connecting bend 62 by screwing, bonding, or welding. The other end of the connecting bend 62 is fixed to the limiting flange 63 by welding, snap-fitting, or riveting. The limiting flange 63 is fixed around the periphery of the line scanning camera 7 by welding, screwing, or snap-fitting, realizing the power transmission between the fourth motor 65 and the line scanning camera 7.

[0076] Before the angle adjustment process is initiated, the lead screw 42 of the ranging mechanism 4 has completed the distance measurement of multiple points on the side wall of the concrete module, and the measured distance values ​​are transmitted to the control device in real time. The control device performs fitting analysis on multiple sets of distance values, calculates the planar attitude of the side wall surface of the concrete module, and then derives the compensation rotation angle required by the rotating mechanism 6 in the horizontal and vertical directions, and converts the compensation rotation angle into a control signal and sends it to the programmable controller.

[0077] After receiving the signal, the programmable controller outputs drive commands to the third motor 64 and the fourth motor 65 respectively. The third motor 64 starts according to the command and drives the L-shaped connecting plate 61 to rotate around the vertical axis, realizing the angle adjustment of the line scan camera 7 in the horizontal plane; at the same time, the fourth motor 65 starts and drives the connecting bend 62 to rotate around the horizontal axis, causing the line scan camera 7 to deflect synchronously in the vertical plane.

[0078] The two-way adjustment actions are carried out in coordination. The closed-loop control of the motor speed and rotation angle by the programmable controller ensures that the lens plane of the line scan camera 7 always tracks the surface posture of the side wall of the concrete module. Ultimately, the line scan camera 7 and the side wall of the concrete module remain relatively parallel, providing structural guarantee for the clarity and measurement accuracy of subsequent line scan imaging.

[0079] Furthermore, the vertical lifting mechanism 3 includes a driver 31, a sliding assembly 32, a sliding frame 33, a lifting frame 34, a first gear 35, a second gear 36, a conveyor belt 37, and a vertical lifting component 38. The seventh-axis ground-rail robot 2 is connected to the sliding frame 33 by welding, screwing, or snapping, and the seventh-axis ground-rail robot 2 drives the sliding frame 33 to move in the left and right directions. The driver 31 includes a first motor, a reducer, and a coupling. The first motor is driven by the reducer through the coupling. The driver 31 is fixed above the sliding frame 33 by welding, screwing, or snapping. The output end of the driver 31 is driven by the first gear 35. The first gear 35 is rotatably mounted below the lifting frame 34 through a rotating shaft. The second gear 36 is rotatably mounted on the top of the lifting frame 34 through a rotating shaft, corresponding to the first gear 35 below.

[0080] The conveyor belt 37 is sleeved around the outside of the first gear 35 and the second gear 36, forming a closed transmission structure. Power is transmitted through the meshing of the first gear 35, the second gear 36, and the conveyor belt 37. The vertical lifting member 38 is located below the sliding assembly 32, and is fixedly connected to the conveyor belt 37 by means of screwing, snap-fitting, or other methods. The vertical lifting member 38 moves synchronously with the operation of the conveyor belt 37. The sliding assembly 32 is slidably connected to the slide rail 341 on the lifting frame 34 to slide in the vertical direction, with the bottom of the sliding assembly 32 abutting against the top of the vertical lifting member 38.

[0081] When the vertical lifting mechanism 3 is activated, the driver 31 drives the first gear 35 to rotate. Through the meshing of the first gear 35 with the conveyor belt 37, the second gear 36 is driven to rotate synchronously. During the operation of the conveyor belt 37, the vertical lifting component 38 can be driven to move linearly in the up and down direction. The vertical lifting component 38 pushes the sliding component 32 to move, so that the sliding component 32 slides along the slide rail 341 of the lifting frame 34, ultimately realizing the vertical lifting action of the sliding component 32, providing the required lifting action for the line scan camera 7.

[0082] Furthermore, the sliding frame 33 includes a slide table 331, a protective cover 332, a support flange 333, and a support base 334. The protective cover 332 is fixed to the upper surface of one end of the slide table 331 by means of screwing, welding, or snap-fitting. The protective cover 332 and the top surface of the slide table 331 enclose a protective space, in which the driver 31 is located. The protective cover 332 provides dustproof and impact-proof protection for the driver 31, ensuring the operational stability of the driver 31.

[0083] The support flange 333 is fixed to the top surface of the slide table 331 by welding, screwing or snapping, corresponding to the mounting position of the driver 31. The output shaft of the driver 31 is fitted with a bearing and passes through the support flange 333, forming a rigid support for the driver 31, so that the driver 31 maintains a stable operating posture on the slide table 331 and avoids shaking during operation.

[0084] The support base 334 is fixed to the upper surface of the other end of the slide table 331 by welding, screwing, or snap-fitting, and is positioned opposite to the protective cover 332. The bottom of the lifting frame 34 is fixed to the upper surface of the support base 334 by welding, screwing, or snap-fitting, and the vertical projection of the lifting frame 34 corresponds to the position of the first gear 35, ensuring that the second gear 36 at the top of the lifting frame 34 can cooperate with the first gear 35 to form a transmission connection during subsequent transmission.

[0085] Furthermore, multiple slide rails 341 are provided on both the front and rear sides of the lifting frame 34. The slide rails 341 extend vertically, and the slide rails 341 on the same side are evenly spaced to provide a basis for the sliding component 32 to slide.

[0086] The sliding assembly 32 includes multiple pulleys 321, two support plates 322, a first connecting plate 323, and a second connecting plate 324. The two support plates 322 are symmetrically arranged on the left and right sides of the lifting frame 34. The multiple pulleys 321 are rotatably mounted on the periphery of the support plates 322 via rotating shafts. The positions of the pulleys 321 correspond one-to-one with the slide rails 341 on the front and rear sides of the lifting frame 34, and the grooves of the pulleys 321 form a suitable sliding fit with the slide rails 341, allowing the support plates 322 to slide up and down along the slide rails 341 via the pulleys 321.

[0087] The first connecting plate 323 and the second connecting plate 324 are symmetrically arranged on the front and rear sides of the lifting frame 34, respectively. Both ends of the first connecting plate 323 and the second connecting plate 324 are fixed to the two support plates 322 by welding, screwing, or snap-fitting, connecting the two support plates 322 on the left and right sides into a single structure, thus improving the overall rigidity and stability of the sliding assembly 32. The outer side of the second connecting plate 324, located on the rear side of the lifting frame 34, abuts against the top of the vertical lifting member 38, ensuring that the vertical lifting member 38 can drive the sliding assembly 32 to slide vertically.

[0088] When the vertical lifting member 38 moves in the up and down direction, the vertical lifting member 38 pushes the sliding component 32 to move as a whole through the abutment action with the second connecting plate 324. At this time, the pulleys 321 on the periphery of the support plate 322 roll along the slide rail 341 of the lifting frame 34, converting sliding friction into rolling friction, reducing motion resistance, and ensuring the stability and accuracy of the sliding component 32 in the vertical direction.

[0089] Example 2:

[0090] This embodiment proposes a quality inspection method for side wall panels of modular integrated buildings, using a quality inspection robot to inspect the side wall panels of concrete modules. Specifically, the quality inspection method for side wall panels of modular integrated buildings employs a quality inspection robot for modular integrated buildings and further includes the following steps:

[0091] S1. After the quality inspection operation is initiated, the seventh-axis ground-rail robot 2 moves the vertical lifting mechanism 3 left and right, while the vertical lifting mechanism 3 moves the bracket 5 up and down. The coordinated operation of the seventh-axis ground-rail robot 2 and the vertical lifting mechanism 3 causes the distance measuring mechanism 4 mounted on the bracket 5 to move synchronously, enabling the distance measuring mechanism 4 to detect multiple different points in the horizontal and vertical directions of the side wall panel of the concrete module. Subsequently, the distance measuring mechanism 4 starts detection and completes the acquisition of distance values ​​at each point.

[0092] S2. After receiving the distance data from multiple points, the control unit performs fitting analysis on the distance values ​​to calculate the offset angles of the side wall panels of the concrete module in the vertical and horizontal directions. This allows it to derive the adjustment angle parameters required for the line scan camera 7 to face the side wall panels of the concrete module. Based on these adjustment angle parameters, the control unit drives the rotating mechanism 6 to rotate by the corresponding angles in the horizontal and vertical directions, causing the line scan camera 7 to adjust its posture synchronously until the line scan camera 7 and the side wall panels of the concrete module are facing each other. The line scan camera 7 then captures a clear image of the front of the side wall panels of the concrete module.

[0093] S3 and line scanning camera 7 transmit the captured front images of the side wall panels of the concrete module to the control unit. The control unit automatically retrieves the preset structural feature parameters corresponding to the side wall panels of the concrete module (including the dimensions of the side wall panels (length and width), the holes in the side wall panels (location, diameter, and number), and the exposed reinforcing bars (length and spacing)). Through image recognition and data comparison algorithms, the actual structural features of the concrete module reflected in the front image are matched and analyzed one by one with the preset structural features. Finally, it is determined whether the actual structural features meet the preset requirements, and a quality judgment result is generated.

[0094] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0095] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0096] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0097] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0098] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A quality inspection robot for modular integrated buildings, characterized in that: It includes two detection devices that are symmetrically arranged with respect to the front and back of the mold table (1). Each detection device includes a seventh-axis ground rail robot (2), a vertical lifting mechanism (3), a ranging mechanism (4), a bracket (5), a rotating mechanism (6), and a line scanning camera (7). The vertical lifting mechanism (3) is located above and connected to the seventh-axis ground rail robot (2). The bracket (5) is located on the vertical lifting mechanism (3) and is adapted to face the mold table (1) and connected to it. The ranging mechanism (4) and the rotating mechanism (6) are fixedly connected to the bracket (5). The line scan camera (7) is connected to the rotating mechanism (6). The seventh-axis ground-rail robot (2) is adapted to move back and forth along one side of the mold table (1) and the vertical lifting mechanism (3) drives the bracket (5) to move in the up and down direction, so that the distance measuring mechanism (4) can measure multiple distance values ​​on one side wall of the concrete module. The rotating mechanism (6) is adjusted according to the multiple distance values ​​measured, so that the line scanning camera (7) can take a frontal picture of one side wall of the concrete module.

2. The quality inspection robot for modular integrated buildings as described in claim 1, characterized in that: The ranging mechanism (4) includes a drive mechanism, a moving component, multiple buffer rods (47) and multiple contact sensors (48). The drive mechanism is connected to the moving component and can drive the moving component to move in the forward and backward direction; Multiple buffer rods (47) are fixed to one end of the side wall panel of the moving component near the concrete module. A contact sensor (48) is sandwiched between the buffer rods (47) and the moving component. The number of multiple buffer rods (47) is even and they are arranged in rows and columns. The two probes of a contact sensor (48) are located on two adjacent buffer rods (47). The drive mechanism drives the moving component to move the buffer rod (47) toward the side wall of the concrete module and press against the side wall. When the pressure value measured by the contact sensor (48) reaches the preset value, the stroke of the drive mechanism drives the moving component to be the distance value measured by the distance measuring mechanism (4).

3. The quality inspection robot for modular integrated buildings as described in claim 2, characterized in that: The ranging mechanism (4) also includes two limiting components (44); The drive mechanism includes a second motor (41), a lead screw (42), and a first mounting bracket (43); The moving mechanism includes a second mounting bracket (45) and a third mounting bracket (46); The first mounting bracket (43) is embedded in the bracket (5). The second motor (41) is fixed to the front end of the first mounting bracket (43), and the output shaft of the second motor (41) is driven by the lead screw (42). The lead screw (42) is threadedly connected to the front end of the second mounting bracket (45). The second mounting bracket (45) is embedded in the first mounting bracket (43). The third mounting bracket (46) is embedded in the second mounting bracket (45). Two limiting components (44) are respectively installed on the left and right sides of the second mounting bracket (45). The first mounting bracket (43) is slidably connected to one side of the limiting component (44) in the front-back direction. The third mounting bracket (46) is fixed to the other side of the limiting component (44).

4. The quality inspection robot for modular integrated buildings as described in claim 3, characterized in that: The limiting assembly (44) includes two pulleys (441) rotatably connected to both ends of the second mounting bracket (45) and a belt (442) surrounding the two pulleys (441). The first mounting bracket (43) is fixedly provided with a first connecting block (443) on the inner side, and the third mounting bracket (46) is fixedly provided with a second connecting block (444) on the outer side. The first connecting block (443) is slidably connected to one side of the belt (442) in the front-back direction, and the second connecting block (444) is fixedly connected to the other side of the belt (442). The first connecting block (443) and the second connecting block (444) are stopped by two pulleys (441).

5. The quality inspection robot for modular integrated buildings as described in claim 3, characterized in that: The quality inspection robot for modular integrated buildings also includes a control unit; The buffer rod (47) includes a buffer sleeve (471), a buffer spring (472), a connecting rod (473), and a polyurethane buffer block (474). The buffer spring (472) is embedded in the buffer sleeve (471), and the two ends of the buffer spring (472) are respectively connected to the connecting rod (473) and the third mounting bracket (46). The connecting rod (473) is fixedly connected to the polyurethane buffer block (474), and the connecting rod (473) can be inserted into the buffer sleeve (471) along the length direction of the buffer sleeve (471). The contact sensor (48) is sandwiched between the buffer spring (472) and the third mounting bracket (46). The polyurethane buffer block (474) is adapted to press against the side wall of the concrete module, thereby squeezing the buffer spring (472). The buffer spring (472) squeezes the probe of the contact sensor (48). The contact sensor (48) transmits the measured pressure value to the control unit. The control unit determines whether the pressure value is greater than or equal to the preset value. If so, the control unit controls the second motor (41) to self-lock; If not, the control unit controls the second motor (41) to rotate. The second motor (41) is adapted to drive the lead screw (42) to move towards the side wall of the concrete module, so that the polyurethane buffer block (474) is adapted to press against the side wall of the concrete module, increasing the pressure value of the contact sensor (48).

6. The quality inspection robot for modular integrated buildings as described in claim 5, characterized in that: The rotating mechanism (6) includes an L-shaped connecting plate (61), a connecting bend (62), a limiting flange (63), a third motor (64), and a fourth motor (65); The third motor (64) is fixed to the bracket (5), and the output shaft of the third motor (64) passes through the bracket (5) and drives the bottom of the L-shaped connecting plate (61) upward. The fourth motor (65) is fixed to the inner side of the part of the L-shaped connecting plate (61) extending in the vertical direction, and the output shaft of the fourth motor (65) is fixedly connected to one end of the connecting bend (62). The other end of the connecting bend (62) is fixedly connected to the limiting flange (63). The limiting flange (63) is fixed to the periphery of the line scan camera (7). The distance measuring mechanism is adapted to measure the distance values ​​of multiple points on the side wall of the concrete module. The control unit calculates the rotation angle required for the rotating mechanism (6) to achieve the frontal shooting state of the side wall in the horizontal and vertical directions, and controls the third motor (64) and the fourth motor (65) to operate.

7. The quality inspection robot for modular integrated buildings as described in claim 1, characterized in that: The vertical lifting mechanism (3) includes a driver (31), a sliding assembly (32), a sliding frame (33), a lifting frame (34), a first gear (35), a second gear (36), a conveyor belt (37), and a vertical lifting component (38). The seventh-axis ground-rail robot (2) drives the sliding frame (33) to move in the left and right directions. The driver (31), the first gear (35) and the lifting frame (34) are all fixed on the sliding frame (33). The lifting frame (34) extends in the vertical direction and is located above the first gear (35). The driver (31) is driven and connected to the first gear (35). The second gear (36) is rotatably connected to the top of the lifting frame (34). The conveyor belt (37) is driven and connected to the first gear (35) and the second gear (36). The vertical lifting component (38) is located below the sliding component (32) and is connected to the conveyor belt (37). The sliding component (32) and the lifting frame (34) are slidably connected in the up and down direction. The sliding component (32) and the vertical lifting component (38) abut against each other. The driver (31) drives the conveyor belt (37) to rotate, causing the vertical lifting component (38) to move in the up and down direction, and the vertical lifting component (38) drives the sliding component (32) to slide in the up and down direction.

8. The quality inspection robot for modular integrated buildings as described in claim 7, characterized in that: The sliding frame (33) includes a slide table (331), a protective cover (332), a support flange (333), and a support base (334). The slide (331) moves in the left and right directions as driven by the seventh-axis ground-rail robot (2). The protective cover (332) is fixed above one end of the slide (331) and encloses the driver (31) in the protective space formed by the protective cover (332) and the slide (331). The support flange (333) is fixed on the slide (331) and supports the driver (31) on the slide (331). The support base (334) is fixed above the other end of the slide (331). The lifting frame (34) is fixedly connected above the support base (334) and corresponds to the first gear (35).

9. The quality inspection robot for modular integrated buildings as described in claim 7, characterized in that: The sliding assembly (32) includes multiple pulleys (321), two support plates (322), a first connecting plate (323), and a second connecting plate (324); The lifting frame (34) includes multiple vertically extending slide rails (341) disposed on the front and rear sides. Multiple pulleys (321) are rotatably mounted on the periphery of the support plate (322). The two support plates (322) are located on the left and right sides of the lifting frame (34) respectively. The first connecting plate (323) and the second connecting plate (324) are located on the front and rear sides of the lifting frame (34) respectively, and both are fixedly connected to the two support plates (322). The second connecting plate (324) abuts against the vertical lifting component (38).

10. A quality inspection method for side wall panels of a modular integrated building, characterized in that: The quality inspection robot for modular integrated buildings as described in any one of claims 1-9 further includes the following steps: S1. The seventh-axis ground rail robot (2) moves left and right, and the vertical lifting mechanism (3) moves up and down, so that the distance measuring mechanism (4) detects the distance values ​​of multiple different points in the horizontal and vertical directions of the side wall of the concrete module. S2. Based on the distance values ​​detected at multiple points, calculate the offset angles in the vertical and horizontal directions. Rotate the rotating mechanism (6) by the corresponding angles in the horizontal and vertical directions so that the line scanning camera (7) can capture the side wall panel of the concrete module from the front, forming a front image of the side wall panel. S3. Based on the front image of the side wall panel, determine whether the actual structural features of the concrete module conform to the preset structural features.

Images