A high-altitude construction robot that combines drilling and installation

Abstract

This invention discloses a high-altitude construction robot that combines drilling and installation, relating to the field of construction technology. It includes a lifting work platform and a robotic arm mounted on the platform. The end effector of the robotic arm is equipped with a drilling mechanism and a tightening mechanism, which are spatially arranged to avoid interference between each other. A feeding mechanism is provided on the work platform to supply the lifting rod and / or expansion bolts to the tightening mechanism. This invention integrates the drilling and tightening mechanisms at the same end effector of the robotic arm and configures the feeding mechanism on the lifting work platform, achieving integrated drilling and lifting rod / expansion bolt installation. This significantly reduces the auxiliary time caused by frequent tool or equipment changes in traditional construction, improving the continuity and efficiency of high-altitude operations.

Description

Technical Field

[0001] This invention relates to the field of building construction and installation technology, specifically to a high-altitude building construction robot that combines drilling and installation. Background Technology

[0002] In building installation, the supports and hangers for systems such as pipes, air ducts, and cable trays are fixed by connecting them to the ceiling slab using hangers or expansion bolts. Traditional construction methods require workers to stand on escalators or lifts, use hand drills to drill holes in the ceiling at height, and then manually install and tighten the expansion bolts or hangers. This method results in harsh working conditions, extremely high labor intensity, low efficiency, and a significant safety risk of workers falling from heights.

[0003] In summary, the existing technology has the following main drawbacks: (1) Workers who operate heavy electric drills with their heads tilted back for a long time are very likely to suffer cervical spine injuries. Moreover, there is a risk of falling while working at height, and safety accidents occur frequently. The safety risks of working at height are high.

[0004] (2) In high-altitude work environment, taking the use of escalators as an example, a group is generally equipped with two people, one of whom operates the drill and tightens, and the other person holds the ladder. This method of operation can only complete the drilling and installation of 15 to 25 holes per hour. When faced with a large number of points in a large project, it is difficult to meet the construction period requirements and the construction efficiency is low. Summary of the Invention

[0005] The purpose of this invention is to solve the problems in the prior art by proposing a high-altitude construction robot that combines drilling and installation. By integrating the drilling mechanism and the tightening mechanism into the same robotic arm end and configuring a feeding mechanism on a liftable work platform, the integrated operation of drilling and installation of booms / expansion bolts is realized.

[0006] To address the above problems, the present invention provides the following technical solution: A high-altitude construction robot for drilling and installation includes a lifting platform and a robotic arm mounted on the platform. The robotic arm's end effector is equipped with a drilling mechanism and a tightening mechanism, which are spatially arranged to avoid interference with each other. The platform is equipped with a feeding mechanism for supplying lifting rods and / or expansion bolts to the tightening mechanism.

[0007] Compared with the prior art, the present invention has the following beneficial effects: By integrating the drilling and tightening mechanisms into the same robotic arm end and configuring a feeding mechanism on a liftable work platform, integrated drilling and boom / expansion bolt installation operations are achieved. This significantly reduces the auxiliary time caused by frequent tool or equipment changes in traditional construction, improving the continuity and efficiency of high-altitude operations. Secondly, the drilling and tightening mechanisms are spatially aligned to ensure that the two actions do not interfere with each other, avoiding the risk of collisions. Simultaneously, the feeding mechanism can supply the tightening mechanism with the necessary materials, further reducing the need for manual material handling at heights, fundamentally reducing the frequency and duration of operator exposure to hazardous environments, and improving operational safety. Attached Figure Description

[0008] The invention will now be further described with reference to the accompanying drawings.

[0009] Figure 1 This is a schematic diagram of the three-dimensional structure of the high-altitude construction robot of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the high-altitude construction robot of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the three-dimensional structure of the high-altitude construction robot of the present invention. Figure 3 ; Figure 4 yes Figure 3 A magnified schematic diagram of the local structure under the specified condition; Figure 5 yes Figure 4 A schematic diagram of the three-dimensional structure of the substrate and movable base; Figure 6 yes Figure 4 A schematic diagram of the frame and chain three-dimensional structure in the image; Figure 7 This is a schematic diagram of the three-dimensional structure of the high-altitude construction robot of the present invention. Figure 4 ; Figure 8 yes Figure 7 A magnified schematic diagram of the local structure under the specified condition; Figure 9 This is a schematic diagram of the three-dimensional structure of the high-altitude construction robot of the present invention. Figure 5 ; Figure 10 yes Figure 9 Enlarged structural diagram at point A; Figure 11 This is a three-dimensional structural diagram of the drilling mechanism of the present invention; Figure 12 yes Figure 11 A three-dimensional structural diagram showing the removal of the protective cover under certain conditions; Figure 13 yes Figure 12 A three-dimensional structural diagram of the drilling rig under the condition of removal; Figure 14 yes Figure 13 A partially enlarged structural diagram; Figure 15 This is a schematic diagram of a hanger structure in the prior art; Figure 16 This is a three-dimensional structural schematic diagram of the tightening mechanism of the present invention; Figure 17 yes Figure 16 A three-dimensional structural diagram showing the removal of the protective cover in the current state; Figure 18 yes Figure 16 A three-dimensional structural diagram showing the removal of the cover from the gear transmission component under certain conditions; Figure 19 yes Figure 18 A three-dimensional structural diagram showing the removal of the lifting rod in the current state; Figure 20 yes Figure 19 A schematic diagram of the assembly structure of the gear transmission component and the bearing support under the specified conditions; Figure 21 This is a three-dimensional structural diagram of the tightening gear, tightening sleeve, and limiting sleeve in this invention; Figure 22 This is a three-dimensional structural diagram of the tightening gear and tightening sleeve in this invention; Figure 23 This is a schematic diagram of the three-dimensional structure of the limiting sleeve in this invention; Figure 24 This is a schematic diagram of the three-dimensional structure of the present invention, with the drilling mechanism at the bottom and the tightening mechanism at the top. Figure 1 ; Figure 25 This is a schematic diagram of the three-dimensional structure of the present invention, with the drilling mechanism at the bottom and the tightening mechanism at the top. Figure 2 ; Figure 26 This is a three-dimensional structural diagram of the tightening sleeve, extension, and spring plunger of the present invention; Figure 27 This is a schematic diagram of the three-dimensional structure of the present invention, with the drilling mechanism at the bottom and the tightening mechanism at the top. Figure 3 ; Figure 28 This is a three-dimensional structural diagram of the buffer mechanism of the present invention; Figure 29 yes Figure 28 A schematic diagram of the three-dimensional structure of the elastomer removed under the condition; Figure 30 This is a schematic diagram of the three-dimensional structure of the two sets of nested circular seats in relation to each other in this invention; Figure 31 This is a three-dimensional structural diagram of the relative arrangement of the two sets of connecting seats of the present invention; Figure 32 This is a three-dimensional structural diagram of a single connecting seat according to the present invention.

[0010] In the diagram: 1. Drilling rig; 101. Drill bit; 2. Telescopic dust collection hood; 201. Closed end; 202. Open end; 3. Fixing plate; 4. Clamp; 5. Connecting rod; 6. Support; 7. Hose clamp; 8. V-shaped support block; 9. First slide; 10. First drive source; 11. Dust collection pipe; 12. Boss; 13. Protective cover; 14. Limiting sleeve; 15. Limiting groove; 16. Tightening sleeve; 17. Bearing support; 18. 19. Tightening gear; 20. Drive motor; 21. Key block; 22. Inlet / outlet; 23. Second slide; 24. Second drive source; 25. Protective cover; 26. V-shaped lateral abutment seat; 27. Gear transmission component; 28. Car body; 29. ​​Working platform; 30. Fastening bolt; 31. Elastomer; 32. Distance sensor; 33. Industrial camera; 34. Fill light; 35. Lifting mechanism; 36. Constraint wire rope; 37. Machine 37. Robotic arm; 38. Drilling mechanism; 39. Tightening mechanism; 40. Tightening groove; 41. Extension section; 42. Spring plunger; 43. Tilt sensor; 44. Feeding mechanism; 45. Third slide; 46. Base plate; 47. Support rod; 48. Movable base; 49. Return spring; 50. Electric gripper; 51. Frame; 52. Sprocket; 53. Feeding motor; 54. Chain; 55. Outer chain plate; 55. Rectangular frame Body; 5401, irregular clamping plate; 5402, upper clamping part; 5403, lower clamping part; 55, tension spring; 56, lifting plate; 57, proximity switch; 58, baffle plate; 59, fourth slide; 60, buffer mechanism; 61, integrated plate; 62, nested round seat; 63, through cavity; 64, connecting seat; 65, first protrusion; 66, second protrusion; 67, cover; a, lifting rod; b, nut; c, expansion bolt. Detailed Implementation

[0011] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0012] like Figures 1-3 As shown, this application proposes a high-altitude construction robot for drilling and installation, including a vehicle body 27 and a work platform 28. The vehicle body 27 is equipped with a lifting mechanism (such as a scissor lift, etc., which is not limited to this application) 34. The work platform 28 is mounted on the top of the lifting mechanism 34 so that after the vehicle body 27 moves to a designated position, the lifting mechanism 34 can lift the work platform 28 to a designated construction height.

[0013] To ensure the stability of the work platform 28 when it is at the designated construction height, this application attaches restraint steel wire ropes 35 to all four corners of the work platform 28. When the work platform 28 is at the designated construction height, the four sets of restraint steel wire ropes 35 can be straightened and their other ends can be attached to the vehicle body 27 to apply a uniform downward pulling force to the work platform 28 from all sides, so that it is stable and will not sway left and right at high altitudes, thus affecting subsequent operations.

[0014] In order to realize the drilling operation of high-altitude buildings, this application provides a multi-degree-of-freedom robotic arm 36 on the work platform 28, and the execution end of the robotic arm 36 is equipped with a drilling mechanism 37; in order to realize the tightening operation of the expansion bolt c or the guide rod a with expansion tube in the hole of the high-altitude building, this application also equips the execution end of the robotic arm 36 with a tightening mechanism 38.

[0015] Example 1: like Figures 11-14 As shown, the drilling mechanism 37 includes a fixed plate 3 mounted at the end of the robotic arm 36. The fixed plate 3 is equipped with a drill rig 1 and a telescopic dust collection hood 2. The specific connection and layout relationships are as follows: (1) Drilling machine 1: The fixing plate 3 is designed in an L shape to fit the shape of the drilling machine 1. The bottom of the fixing plate 3 is provided with a V-shaped support block 8 for the bottom of the drilling machine 1 to be placed. At the same time, the bottom and side of the drilling machine 1 are clamped on the fixing plate 3 by the hose clamp 7. The movement of the fixing plate 3 can drive the drilling machine 1 to move accordingly.

[0016] (2) Telescopic dust collection hood 2: The telescopic dust collection hood 2 has a fixed closed end 201 and a free open end 202. The closed end 201 is mounted on the fixed plate 3 and statically sleeved on the outside of the drill bit 101. Static sleeved here means that the closed end 201 is sleeved on the outside of the drill bit 101 by means of a hole on it. The hole diameter is slightly larger than the diameter of the drill bit 101, so that the closed end 201 does not interfere with the self-rotation of the drill bit 101. This installation method does not interfere with the self-rotation of the drill bit 101. When the drill bit 101 is working, the closed end 201 always remains relatively stationary. The open end 202 is arranged flush with the drill tip of the drill bit 101. Figure 12 The drill tip of the drill bit 101 shown is higher than the opening end 202, which indicates that the drilling operation is underway. It should be noted that the telescopic dust collection hood 2 can be a pipe with telescopic function in the prior art, such as a corrugated pipe.

[0017] Under the above design, when drilling is required on a building, a laser (or other positioning components in the prior art) is used for pre-positioning. The robotic arm 36 drives the drilling mechanism 37 to the corresponding drilling position. Then, the drill rig 1 is started, causing the drill bit 101 to rotate. The fixed plate 3 then drives the drill bit 101 and the opening end 202 to contact the drilling position. The fixed plate 3 continues to move, feeding the drill bit 101 towards the building until the specified drilling depth is achieved. During this process, because the opening end 202 is in contact with the drilling position, the telescopic dust collection hood 2 is compressed when the drill bit 101 feeds. That is, the closed end 201 moves towards the opening end 202. At this time, the positions of the drill bit 101 and the telescopic dust collection hood 2 can be adjusted. Figure 11 To illustrate, the open end 202 is located below the drill tip of the drill bit 101. Simultaneously, due to the contact between the open end 202 and the outer perimeter of the drilling location, debris and dust generated during drilling fall into the telescopic dust collection hood 2, ensuring cleanliness during drilling operations and eliminating the need for subsequent cleaning of scattered debris and dust.

[0018] To prevent dust from escaping through the gap between the open end 202 and the building, and to compensate for the limited material storage of the telescopic dust hood 2 during high-intensity drilling, this application provides a dust collection pipe 11 on the closed end 201 for communication with the inner cavity of the telescopic dust hood 2. Therefore, during drilling, the generated debris and dust will fall from the dust collection pipe 11. Simultaneously, the vibration generated by the drilling machine 1 during drilling further helps to shake the debris and dust off from the dust collection pipe 11. Furthermore, a vacuum cleaner (not shown in the figure) can be added, connected to the dust collection pipe 11, to achieve real-time suction of debris and dust generated during drilling.

[0019] To facilitate the installation of the closed end 201 on the fixed plate 3, a clamp 4 is provided on the fixed plate 3, which is attached to the outside of the drilling rig 1. Multiple connecting rods 5 are fixedly mounted on the clamp 4, and a support 6 is provided at one end of each connecting rod 5 extending to the drill bit 101. The support 6 is used for the installation of the closed end 201. To ensure uniform force distribution, the multiple connecting rods 5 are arranged in a circumferential array outside the drill bit 101. Furthermore, the closed end 201 and the drill bit 101 can be arranged coaxially, so that the telescopic dust collection hood 2 and the drill bit 101 are coaxially arranged.

[0020] like Figure 11 As shown, a protective cover 13 can also be installed on the fixed plate 3 to protect and cover the entire drilling rig 1.

[0021] like Figures 11-13As shown, an embodiment is illustrated where a fixed plate 3 is movably mounted on a first slide 9. A first drive source (cylinder, etc.) 10 is provided on the first slide 9. The execution end of the first drive source 10 is fixedly connected to the fixed plate 3, so that when the first drive source 10 is working, it can drive the fixed plate 3 to slide on the first slide 9. The direction of sliding can be set according to the actual drilling direction. This design of the first slide 9 only allows the drilling mechanism 37 to move in a single direction, which limits the applicable construction scenarios. In some simple building drilling scenarios, this application can omit the robotic arm 36 and instead install the first slide 9 on the work platform 28, thus assembling the drilling mechanism 37 on the work platform 28. However, in complex high-altitude construction environments, the aforementioned placement of the first slide 9 on the work platform 28, resulting in the drilling mechanism 37 only having a unidirectional movement function, is insufficient to meet the corresponding drilling requirements. Therefore, this application preferably uses a robotic arm 36 to drive the drilling mechanism 37, that is, the fixed plate 3 is mounted at the execution end of the robotic arm 36.

[0022] Example 2: like Figure 15 The standard hanger system shown consists of three parts: a metal rod with external threads at the top, a tapered expansion tube fitted onto the threaded section, and a matching nut (usually a hexagonal or square nut). During installation, the construction personnel must follow these steps: First, drill an installation hole in the building structure (such as a concrete slab) matching the outer diameter of the expansion tube; then insert the expansion tube into the hole from bottom to top, with the nut positioned between the bottom of the expansion tube and the structural surface; finally, tighten the nut, utilizing the threaded drive principle to cause the expansion tube to expand radially, thus forming a mechanical engagement with the hole wall. The hanger can be represented by 'a', and the nut on it can be represented by 'b'. Of course, in practice, the component installed is not necessarily hanger 'a'; as mentioned above, it could also be an expansion bolt 'c' from existing technology, which also has a nut 'b' that needs to be tightened to complete the assembly.

[0023] like Figures 16-23 As shown, the tightening mechanism 38 includes multiple limiting sleeves 14, each of which has one end face recessed axially to a certain depth (this depth can be set according to the thickness of the nut b) to form a limiting groove 15 for accommodating the nut b on the boom a. This state can be achieved by... Figure 23 This is used to indicate the type of nut b on the boom a or expansion bolt c. Therefore, the shapes of the limiting grooves 15 on the multiple limiting sleeves 14 are respectively designed to match the shapes of the multiple nuts b. These multiple limiting sleeves 14 with different limiting grooves 15 constitute a selectable component library. Before tightening the boom a, a limiting sleeve 14 with a matching upper limiting groove 15 shape is selected from the component library according to the shape of the nut b.

[0024] Preferably, since the nut b on the existing rod a or expansion bolt c is generally hexagonal or square, this application provides two limiting sleeves 14 to match it. Correspondingly, the limiting grooves 15 on the two limiting sleeves 14 are hexagonal and square, respectively. Of course, when the bolt b is set to other shapes, the shape of the limiting groove 15 on the limiting sleeve 14 will also match it.

[0025] It should be noted that this application Figures 16-18 The lifting rods a are not fitted with expansion tubes. Expansion tubes will be fitted onto their top ends during subsequent use. When an expansion tube is fitted onto the top end of lifting rod a, it can be placed on the selected limiting sleeve 14. The limiting groove 15 on the limiting sleeve 14 accommodates the nut b on lifting rod a. Then, the limiting sleeve 14 is driven upwards until the expansion tube on lifting rod a is inserted into the hole. Next, the limiting sleeve 14 is driven to rotate axially. Since the shape of the limiting groove 15 matches the shape of the nut b, the limiting groove 15 will prevent the nut b from rotating, causing the nut b to rotate. The rotation of the nut b will cause the expansion tube to expand radially, thus forming a mechanical engagement with the hole wall and completing the tightening process.

[0026] Based on the component library formed by the aforementioned multiple limiting sleeves 14, this application provides a tightening sleeve 16 for driving the limiting sleeves 14 to rotate. After selecting the appropriate limiting sleeve 14 from the component library, the limiting sleeve 14 can be coaxially placed inside the tightening sleeve 16, and the two can be connected using a keyway. This connection method is similar to the spline connection in the prior art, or it can be the method designed in this application: one section of the limiting sleeve 14 is set as a prism shape. This state can be achieved by... Figure 23 This indicates that a groove is formed by recessing one end face of the tightening sleeve 16 inward to a certain depth along its axial direction. This state can be achieved by... Figure 22 This is done by using the prism-shaped segment and the slotted fitting to complete the installation of the tightening sleeve 16 and the limiting sleeve 14. The state after installation can be determined by... Figure 21 The above installation method allows the rotation of the tightening sleeve 16 to drive the limiting sleeve 14 to follow, thereby realizing the tightening action of the limiting sleeve 14 on the nut b.

[0027] To automatically rotate the tightening sleeve 16, this application also includes a drive assembly for driving the tightening sleeve 16 to rotate. Specifically, the drive assembly includes a support 17, on which a tightening gear 18 and a drive motor 19 are mounted. The output shaft of the drive motor 19 is connected to the tightening gear 18. The tightening sleeve 16 is coaxially mounted on the tightening gear 18. The two can be conventionally detachably connected, for example, by having a through hole at the center of the tightening gear 18 for inserting the tightening sleeve 16, and both the wall of the through hole and the outer wall of the tightening sleeve 16 have insertion holes, which are arranged opposite to each other and jointly hold a key block 20. Figure 21 As shown, the two sockets and the key block 20 together form a connection structure, and the connection structure is set into two sets and arranged radially along the tightening gear 18. During operation, the drive motor 19 works, which drives the tightening gear 18 to rotate, thereby driving the tightening sleeve 16 to rotate, realizing the rotation action of the tightening sleeve 16.

[0028] Furthermore, in order to increase the rotational torque of the tightening sleeve 16, a gear transmission component 26 is provided on the bearing support 17 for transmitting power between the drive motor 19 and the tightening gear 18. The gear transmission component 26 can be a reduction gear set or the like in the prior art, which will not be described in detail here.

[0029] like Figures 16-17 As shown, an embodiment is illustrated where the support 17 is movably mounted on the second slide 22. A second drive source (cylinder, etc.) 23 is provided on the second slide 22. The actuator of the second drive source 23 is connected to the support 17, so that when the second drive source 23 is working, it can drive the support 17 to slide on the second slide 22. The sliding direction can be set according to the actual installation direction of the boom a. This design of the second slide 22 only allows the tightening mechanism 38 to move in a single direction, thus limiting its applicability to various construction scenarios. In some simple building drilling applications, this application can omit the robotic arm 36 and instead install the second slide 22 on the work platform 28, thus achieving the tightening mechanism 38 on the work platform 28. However, in complex high-altitude building environments, the above-mentioned arrangement of the second slide 22 on the work platform 28, which causes the tightening mechanism 38 to only have the function of unidirectional movement, is difficult to meet the corresponding requirements for the up and down movement of the boom a. Therefore, this application preferably uses a robotic arm 36 to drive the tightening mechanism 38 to work, that is, the bearing support 17 is assembled and installed at the execution end of the robotic arm 36.

[0030] Based on the aforementioned setting of the limiting sleeve 14 and the bearing support 17, since the length of the lifting rod a is relatively long and it has a nut b, generally, the lifting rod a can only be inserted into the limiting sleeve 14 from top to bottom. However, this vertical insertion method is limited by environmental factors and is inconvenient to use. Therefore, we propose a horizontal insertion method. This method involves notches on the sides of the tightening gear 18, the tightening sleeve 16, and the limiting sleeve 14, and these notches together form an inlet / outlet 21 for the lifting rod a to enter or exit. This state can be achieved by... Figure 21 It should be noted that the size of the notch on the tightening gear 18 will not interfere with the meshing of the gears in the gear transmission component 26. The existence of this notch will not interfere with the meshing of the tightening gear 18 and the gear transmission component 26.

[0031] To protect the drive motor 19, a protective cover 24 is provided on the support 17. Meanwhile, to stably limit the movement of the boom a placed on the limiting sleeve 14, a V-shaped lateral abutment seat 25 is provided on the support 17 below the limiting sleeve 14. When the boom a is placed on the limiting sleeve 14, the bottom sides of the boom a abut against the two inner walls of the V-shaped lateral abutment seat 25. In other words, the limiting sleeve 14 and the V-shaped lateral abutment seat 25 limit the movement of the boom a, ensuring its stability during upward movement.

[0032] Example 3: like Figures 24-26 As shown, the difference between this embodiment and the second embodiment described above is that this embodiment abandons the design of the limiting sleeve 14 and only retains the design of the tightening sleeve 16, but the tightening sleeve 16 is improved as follows: The top of the tightening sleeve 16 has a downward-facing recessed tightening groove 39. The shape of this tightening groove 39 is the same as that of the nut b in the lifting rod a or the nut b in the expansion bolt c. When the nut b in the lifting rod a or the nut b in the expansion bolt c is hexagonal, the shape of the tightening groove 39 is also hexagonal; at the same time, the depth of the tightening groove 39 is also adapted to the thickness of the nut b. Figure 26 It can be seen that, based on the existence of inlet and outlet 21, the two adjacent sides of the twisting groove 39 are removed accordingly.

[0033] In subsequent work, the nut b on the boom a or expansion bolt c can be placed in the tightening groove 39, and then the tightening gear 18 can be driven to rotate to achieve the tightening action.

[0034] Example 4: like Figures 7-8As shown, since both the drilling mechanism 37 and the tightening mechanism 38 are mounted at the end of the same robotic arm 36, and both rely on the movement of the robotic arm 36 to perform their drilling and tightening operations, in order to avoid interference between the two, they are designed to be inverted: Figure 8 From the viewing angle, the drilling mechanism 37 is positioned above, while the tightening mechanism 38 is positioned below. In this state, the drilling mechanism 37 can perform normal drilling operations. After drilling is completed, the robotic arm 36 can drive its end effector to rotate 180 degrees. At this time, the drilling mechanism 37 will be positioned below, while the tightening mechanism 38 will switch to the top. This state can be achieved by... Figures 24-25 As shown, the tightening mechanism 38 then drives the lifting rod a or expansion bolt c on it to pass into the hole drilled by the drilling mechanism 37, and then performs a rotation tightening action to complete the tightening of the nut b.

[0035] It should be noted that, in this embodiment, the drilling mechanism 37 and the tightening mechanism 38 are preferably arranged vertically to minimize interference between them. However, they can also be arranged at other angles, such as a 90-degree arrangement, as long as the requirement of not interfering with their respective operations is met.

[0036] Example 5: like Figures 24-27 As shown, taking the drilling mechanism 37 and tightening mechanism 38 arranged vertically in Embodiment 4 as an example, after the drilling mechanism 37 completes the drilling work at the top, it can then be flipped up and down, causing the tightening mechanism 38 to be at the top. During this process, there are two ways to place the lifting rod a or expansion bolt c on the tightening mechanism 38: (1) After the tightening mechanism 38 is flipped to the top, place the lifting rod a or expansion bolt c on it; (2) After the drilling mechanism 37 has completed the drilling work, but the tightening mechanism 38 is still below, the lifting rod a and the expansion bolt c are placed upside down on it. After the subsequent flipping, the tightening mechanism 38 will drive the lifting rod a or the expansion bolt c to the normal installation state.

[0037] In high-altitude operation environments, this embodiment preferably uses the second method. In this method, since the boom a or expansion bolt c needs to be placed upside down on the tightening mechanism 38, in order to achieve stable placement of the boom a or expansion bolt c on the tightening mechanism 38, a structure matching the upside-down design needs to be provided. The boom a or expansion bolt c is pre-fixed on the tightening mechanism 38 using this structure, so that during the subsequent upward flipping of the tightening mechanism 38, the boom a or expansion bolt c can be stably pressed on the tightening mechanism 38 and driven to the top, realizing the subsequent assembly, as follows: Taking the tightening sleeve 16 as an example in Embodiment 3, the top of the tightening sleeve 16 is recessed downward to form a tightening groove 39, and the bottom of the tightening sleeve 16 extends downward to form an extension 40. At least two sets of spring plungers (a conventional component in the prior art) 41 are provided on the groove wall of the tightening groove 39 of the tightening sleeve 16. The spring plunger 41 has a ball head that can move along its length direction. The ball heads of the two sets of spring plungers 41 form an adjustable clamping area in the tightening groove 39. After the nut b on the lifting rod a or expansion bolt c is inserted into the tightening groove 39 from top to bottom, the two sets of ball heads will abut against the opposite outer wall of the nut b by the spring of their respective spring plungers 41, thereby achieving clamping and limiting, and applying a vertical constraint to the nut b to prevent it from slipping out of the tightening groove 39 during subsequent flipping.

[0038] Furthermore, since the overall length of the expansion bolt c is relatively short, when the nut b on it is placed in the turning groove 39 and clamped and limited by the two sets of ball heads, the clamping and limiting effect can constrain the entire expansion bolt c, preventing it from slipping out. However, since the overall length of the lifting rod a is relatively long, if only the two sets of ball heads in the turning groove 39 apply a clamping and limiting effect to the nut b on it, while its rod is not restricted, slippage may occur during the flipping process. Based on this, in this embodiment, a spring plunger 41 is also provided on the inner wall of the extension 40 of the tightening sleeve 16. After the nut b on the lifting rod a is inserted from top to bottom into the turning groove 39, the two sets of spring plungers 41 in the turning groove 39 will apply a clamping and limiting effect to the nut b, while the spring plunger 41 in the extension 40 will apply a clamping and limiting effect to the rod, so that the entire lifting rod a is stably restricted, facilitating the normal progress of subsequent flipping operations.

[0039] When drilling is required on a high-rise building, the robotic arm 36 can be used to move the drilling mechanism 37 to the designated position. Then, the drill bit 101 is fed upward to drill into the building until a hole of the corresponding depth is formed. The specific drilling operation can be referred to the description in Embodiment 1, which will not be repeated here. After drilling is completed, the drilling mechanism 37 is in the upper position and the tightening mechanism 38 is in the lower position. At this time, the lifting rod a or the expansion bolt c is placed on the tightening sleeve 16 of the tightening mechanism 38. Then, the robotic arm 36 is used to perform an up-and-down flipping action, that is, the drilling mechanism 37 is in the lower position and the tightening mechanism 38 is in the upper position. The robotic arm 36 is used again to move the tightening sleeve 16 upward until the top of the lifting rod a or the expansion bolt c is inserted and tightened into the hole. The specific tightening operation can be referred to the description in Embodiment 2, which will not be repeated here. This embodiment integrates the drilling mechanism 37 and the tightening mechanism 38 onto the same robotic arm 36, enabling drilling and tightening to be performed sequentially through automation. This avoids the significant time and manpower required for drilling and installing booms (or expansion bolts c) a in high-altitude locations. Furthermore, automation ensures consistent drilling position, accuracy, and tightening effect without substantial errors. Additionally, the vertical arrangement of the drilling mechanism 37 and the tightening mechanism 38 allows for repositioning during subsequent operations, preventing motion and spatial interference between the drilling and tightening processes.

[0040] Example 6: like Figure 1 As shown, to adapt this robot to different workplaces and achieve high installation accuracy, a distance sensor 31 and an industrial camera 32 can be installed on the end effector of the robotic arm 36, and a tilt sensor 42 and a supplementary light 33 can be installed on the work platform 28. The distance sensor 31 can monitor the upward feed displacement of the drill bit 101 and the tightening sleeve 16 during drilling and tightening operations, ensuring the accuracy of these operations. The industrial camera 32 can photograph and identify the drilling position, which, combined with the multi-dimensional movement of the robotic arm 36, allows for better adjustment of the positions of the drill bit 101 and the tightening sleeve 16. The supplementary light 33 provides illumination in dark working environments, and the tilt sensor 42 detects the horizontal working angle of the work platform 28 to prevent tilting.

[0041] Example 7: like Figures 3-6 As shown, in the above embodiment five, the drilling mechanism 37 and the tightening mechanism 38 are designed to be arranged vertically. At the same time, when the tightening mechanism 38 is in the lower position, it is necessary to place the lifting rod a or the expansion bolt c on it. Based on this embodiment, this embodiment adds a feeding mechanism 43 to feed the expansion bolt c to the tightening mechanism 38 in the lower position, so as to realize automated feeding.

[0042] As shown below, the feeding mechanism 43 includes a third slide 44 disposed on the side of the working platform 28. A base plate 45 is slidably mounted on the third slide 44. A cylinder or the like is disposed on the third slide 44 to drive the base plate 45 to slide. Multiple sets of vertically arranged support rods 46 are movably disposed on the base plate 45. A movable base 47 is fixedly mounted on the top of the multiple sets of support rods 46. A return spring 48 is disposed between the base plate 45 and the movable base 47. Preferably, the return spring 48 is sleeved on the outside of the support rods 46. An electric gripper 49 is fixedly disposed on the top of the movable base 47.

[0043] The feeding mechanism 43 also includes a frame 50 located on the side of the working platform 28. Two sets of sprockets 51 are movably mounted on the frame 50, and a feeding motor 52 is mounted on the frame 50 to drive either sprocket 51 to rotate. Chains 53 are sleeved on the outside of the two sets of sprockets 51. The chain 53 is a conventional design in the prior art, specifically: rollers contact and roll the sprockets, sleeves and pins form a rotating joint, and inner and outer chain plates are alternately connected to form the chain 53.

[0044] The upper and lower sets of outer chain plates 5301 of the chain 53 are both bent outwards towards each other, that is, the upper outer chain plate 5301 bends upwards and the lower outer chain plate 5301 bends downwards. A rectangular frame 54 is connected to the bent portions of the upper and lower sets of outer chain plates 5301. Since the chain 53 has multiple sets of upper and lower outer chain plates 5301, there are naturally multiple sets of rectangular frames 54. These multiple sets of rectangular frames 54 can be positioned opposite the electric gripper 49 according to the rotation of the chain 53, meaning that multiple sets of rectangular frames 54 are sequentially located within the gripping path of the electric gripper 49. When the rectangular frame 54 is opposite the electric gripper 49, it can drive the base plate 45 to slide on the third slide table 44 until the electric gripper 49 approaches the rectangular frame 54. It should be noted that the rectangular frame 54 is installed at the bent portions of the upper and lower sets of outer chain plates 5301 and will not affect the normal operation of the outer chain plates 5301.

[0045] Two sets of irregularly shaped clamping plates (equivalent to clamps) 5401 are movably hinged on the rectangular frame 54. Each irregularly shaped clamping plate 5401 has an upper clamping part 5402, a lower clamping part 5403, and a hollowed-out part in the middle. The two sets of upper clamping parts 5402 on the two sets of irregularly shaped clamping plates 5401 can be used to clamp the upper part of the expansion bolt c, and the two sets of lower clamping parts 5403 on the two sets of irregularly shaped clamping plates 5401 can be used to clamp the lower part of the expansion bolt c. After the expansion bolt c is clamped and fixed, the middle part of the expansion bolt c is exposed. In order to realize the clamping effect of the two sets of irregularly shaped clamping plates 5401 on the expansion bolt c, this embodiment provides a tension spring 55 between the two upper clamping parts 5402. Similarly, a tension spring 55 is also provided between the two lower clamping parts 5403. The tension spring 55 makes the two sets of irregularly shaped clamping plates 5401 tend to move closer to each other, thereby realizing clamping. Of course, in order to fit the shape of the expansion bolt c, this embodiment can provide grooves at the opposite positions of the two upper clamping parts 5402. Similarly, grooves can be provided at the opposite positions of the two lower clamping parts 5403. The upper and lower parts of the expansion bolt c can then be placed directly within the area enclosed by the two sets of grooves.

[0046] Combining the aforementioned similar movement of the electric gripper 49 towards the rectangular frame 54, the electric gripper 49 can grasp the middle of the expansion bolt c. Subsequently, the base plate 45 is driven to reset, and the electric gripper 49 can be used to carry the expansion bolt c away from the rectangular frame 54 to the designated position. After the expansion bolt c is driven to the designated position by the electric gripper 49, the robotic arm 36 works, so that the tightening mechanism 38 is in the lower position, and the tightening sleeve 16 on the tightening mechanism 38 is located directly above the expansion bolt c (that is, the tightening groove 39 and the expansion bolt c are in a coaxial layout). Then, the tightening sleeve 16 is driven to move downward towards the expansion bolt c. The tightening sleeve 16 will be fitted onto the outside of the expansion bolt c from top to bottom. At this time, the nut b of the expansion bolt c will be located in the tightening groove 39. The spring plunger 41 in the tightening groove 39 will resist and limit the nut b, completing the automated feeding of the expansion bolt c.

[0047] Since the tightening sleeve 16 applies a large downward pressure to the expansion bolt c during its downward movement and contact with the expansion bolt c, a support plate 56 is fixedly provided on the base plate 45 in this embodiment. When the expansion bolt c is driven to the designated position by the electric gripper 49, the support plate 56 is located directly below the expansion bolt c. When the tightening sleeve 16 applies downward pressure to the expansion bolt c in the initial downward movement, the expansion bolt b will move down a certain distance and abut against the support plate 56. As the tightening sleeve 16 continues to move down, the support plate 56 will lift the bottom end of the expansion bolt c until the tightening groove 39 of the tightening sleeve 16 is completely fitted onto the outside of the nut b of the expansion bolt c.

[0048] Furthermore, during the downward movement of the aforementioned tightening sleeve 16, in order to determine whether the tightening groove 39 of the tightening sleeve 16 has been engaged with the nut b on the expansion bolt c, this embodiment provides a proximity switch (e.g., a slotted switch) 57 on the base plate 45, and a baffle 58 on the movable base 47, with the baffle 58 located directly above the proximity switch 57. During the downward movement of the tightening sleeve 16 causing downward displacement of the expansion bolt c, the movable base 47 will drive the baffle 58 to move downward accordingly, that is, the height of the baffle 58 will gradually decrease. When the height of the baffle 58 decreases to the sensing range of the proximity switch 57, it indicates that the downward displacement of the tightening sleeve 16 has reached the set value. At this time, the tightening groove 39 of the tightening sleeve 16 is fully engaged with the nut b on the expansion bolt c, and the robotic arm 36 stops its downward movement.

[0049] It should be noted that during the downward movement of the aforementioned tightening sleeve 16, the return spring 48 located between the base plate 45 and the movable base 47 will be compressed. This compression serves two purposes: firstly, it provides buffer protection against the downward pressure applied by the robotic arm 36 to the expansion bolt c; secondly, it can drive the movable base 47 to return to its initial state relative to the rectangular frame 54 after the robotic arm 36 returns to its upward position.

[0050] Similarly, in some embodiments, in order to avoid spatial interference to the downward movement of the robotic arm 36, a fourth slide 59 is fixedly provided on the side of the work platform 28. The fourth slide 59 is vertically arranged, and the third slide 44 is slidably installed on the fourth slide 59, which realizes the vertical position adjustment of the movable base 47 and the electric gripper 49. This vertical position adjustment can drive the electric gripper 49 to drive the expansion bolt c upward when the robotic arm 36 cannot descend due to spatial interference or other reasons, so as to complete the loading action of the expansion bolt c on the tightening sleeve 16.

[0051] It should be noted that, based on the feeding design of the boom a, the boom a can be placed on the two sets of irregular clamps 5401 mentioned above to complete the feeding; or, this application can also set a hopper on the work platform 28, in which multiple sets of booms a are evenly arranged. Subsequently, the robotic arm 36 can drive the tightening sleeve 16 to perform a nesting action towards the boom a until the nut b on the boom a is located in the tightening groove 39 of the tightening sleeve 16 and the spring plunger 41 abuts against the nut b and the boom body.

[0052] Generally, the feeding mechanism 43 is usually covered by a cover 67, which has an opening for exposing a set of rectangular frames 54 so that the rectangular frames 54 are positioned opposite the electric gripper 49, so that the electric gripper 49 can move toward it to grip.

[0053] Example 8: like Figures 27-32As shown, the difference between this embodiment and any of the previous embodiments is that, in order to avoid damage caused by hard contact during drilling and tightening operations, a buffer mechanism 60 is fixedly provided at the end of the robotic arm 36 in this embodiment. An integrated plate 61 is fixedly provided on the buffer mechanism 60, and both the drilling mechanism 37 and the tightening mechanism 38 are mounted on the integrated plate 61. The buffer mechanism 60 will be described below: The buffer mechanism 60 includes two sets of coaxially arranged nested circular seats 62. Both sets of nested circular seats 62 have through cavities 63. Each set of through cavities 63 is provided with a connecting seat 64 in a clearance fit. Multiple sets of first protrusions 65 are arranged in a circumferential array along the nested circular seats 62 in the through cavities 63. Multiple sets of second protrusions 66 are arranged in a circumferential array along the connecting seat 64. The multiple sets of first protrusions 65 and multiple sets of second protrusions 66 are arranged in an alternating layout, that is, any first protrusion 65 is located between two adjacent sets of second protrusions 66, or any second protrusion 66 is located between two adjacent sets of first protrusions 65.

[0054] Meanwhile, the two sets of nested circular seats 62 also have the following design: If it is assumed that one of the nested circular seats 62 is obtained by parallel replication of the other nested circular seat 62, then one of the nested circular seats 62 needs to be rotated around its axis by a certain angle. After this rotation, it must satisfy the following: the projection of the first protrusion 65 on one of the nested circular seats 62 onto the other nested circular seat 62 is located between the two adjacent sets of first protrusions 65. This state can be achieved by... Figure 30 To represent it.

[0055] exist Figure 30 In the design shown, multiple sets of second protrusions 66 on one of the connecting seats 64 correspond one-to-one with multiple sets of first protrusions 65 on the opposite nested round seat 62, and the second protrusions 66 and the first protrusions 65 are connected by fastening bolts 29; multiple sets of second protrusions 66 on the other connecting seat 64 also correspond one-to-one with multiple sets of first protrusions 65 on the opposite nested round seat 62, and the second protrusions 66 and the first protrusions 65 are also connected by fastening bolts 29.

[0056] Furthermore, an elastomer 30 is also provided between the two sets of nested circular seats 62.

[0057] The buffer mechanism 60 is used for installation between the end effector of the robotic arm 36 and the integrated plate 61 as follows: Two sets of connecting seats 64 are provided with bosses 12 on opposite sides. The bosses 12 have threaded holes arranged in a circumferential array. Both sets of connecting seats 64 are threadedly connected to the end effector of the robotic arm 36 and the integrated plate 61 respectively through the bosses 12. Through two sets of coaxially arranged nested circular seats 62 and their internally clearance-fitting connecting seats 64, an axial floating connection between the end effector of the robotic arm 36 and the integrated plate 61 is achieved. When the drilling mechanism 37 or tightening mechanism 38 on the integrated plate 61 operates, the resulting vibration and impact can be transmitted sequentially through the integrated plate 61 to the bosses 12, and then from the bosses 12 to the connecting seats 64. The connecting seats 64 will generate axial movement or a tendency to axial movement, thus compressing the elastic body 30 and simultaneously applying axial thrust or a tendency to axial thrust to the opposite nested circular seats 62, achieving buffering.

[0058] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A high-altitude construction robot for both drilling and installation, characterized in that, The device includes a lifting platform (28) and a robotic arm (36) mounted on the platform (28). The robotic arm (36) is equipped with a drilling mechanism (37) and a tightening mechanism (38) at its end. The drilling mechanism (37) and the tightening mechanism (38) are arranged to avoid each other in space so that their operation does not interfere with each other. The platform (28) is equipped with a feeding mechanism (43) for supplying a lifting rod (a) and / or an expansion bolt (c) to the tightening mechanism (38).

2. The high-altitude construction robot for both drilling and installation as described in claim 1, characterized in that, The robotic arm (36) is equipped with a buffer mechanism at its end, and the buffer mechanism is provided with an integrated plate (61) for mounting the drilling mechanism (37) and the tightening mechanism (38). The buffer mechanism includes two sets of coaxially arranged nested circular seats (62). A connecting seat (64) is provided in the nested circular seat (62) with clearance fit. The connecting seat (64) can generate axial displacement with the nested circular seat (62). One nested circular seat (62) is connected to the connecting seat (64) in the opposite nested circular seat (62), and the other nested circular seat (62) is connected to the connecting seat (64) in the opposite nested circular seat (62). The two sets of connecting seats (64) are fixedly connected to the end of the robotic arm (36) and the integrated plate (61), respectively.

3. The high-altitude construction robot for both drilling and installation as described in claim 1, characterized in that, The tightening mechanism (38) includes a limiting sleeve (14), and one end face of the limiting sleeve (14) is recessed to a certain depth along the axial direction to form a limiting groove (15) for accommodating the nut (b). The shape of the limiting groove (15) is adapted to match the shape of the nut (b) to prevent rotation and limit the nut (b). When the limiting sleeve (14) is driven to rotate around its axial direction, the nut (b) is rotated by relying on the limiting effect of the limiting groove (15). The limiting sleeve (14) is set in multiple sets, and the shape of the limiting groove (15) on the multiple sets of limiting sleeves (14) is different to form a component library.

4. The high-altitude construction robot for both drilling and installation as described in claim 3, characterized in that, The tightening mechanism (38) further includes a tightening sleeve (16) for driving the limiting sleeve (14) to rotate. The tightening sleeve (16) is coaxially disposed outside the limiting sleeve (14) and connected to the keyway of the limiting sleeve (14) so ​​that when the tightening sleeve (16) rotates, the limiting sleeve (14) can rotate by relying on the keyway between the tightening sleeve (16) and the limiting sleeve (14).

5. A high-altitude construction robot for both drilling and installation as described in claim 4, characterized in that, The tightening mechanism (38) further includes a drive assembly for driving the tightening sleeve (16) to rotate. The drive assembly includes a support (17), on which a tightening gear (18) for coaxial mounting of the tightening sleeve (16) and a drive motor (19) for driving the tightening gear (18) to rotate are provided. The sides of the tightening gear (18), the tightening sleeve (16) and the limiting sleeve (14) are all provided with notches, and the notches together form an inlet (21) for the boom (a) to enter or move out.

6. The high-altitude construction robot for both drilling and installation as described in claim 1, characterized in that, The tightening mechanism (38) includes a tightening sleeve (16), and one end face of the tightening sleeve (16) is recessed to a certain depth along the axial direction to form a tightening groove (39) for accommodating the nut (b). The shape of the tightening groove (39) is adapted to match the shape of the nut (b) to prevent rotation and limit the nut (b). When the tightening sleeve (16) is driven to rotate around its axial direction, the nut (b) is rotated by the limiting effect of the tightening groove (39). At least two sets of spring plungers (41) are provided on the groove wall of the tightening groove (39). The spring plungers (41) have ball heads that can move along their length direction. The ball heads of the two sets of spring plungers (41) form an adjustable clamping area in the tightening groove (39) so that after the nut (b) is inserted into the tightening groove (39), the two sets of ball heads abut against the opposite outer wall of the nut (b) to achieve clamping and limiting.

7. A high-altitude construction robot for both drilling and installation as described in claim 6, characterized in that, The tightening sleeve (16) extends downward at the bottom to form an extension (40). At least two sets of spring plungers (41) are also provided on the inner wall of the extension (40) so that after the nut (b) on the boom (a) is inserted into the tightening groove (39), the two sets of spring plungers (41) in the tightening groove (39) apply a clamping and limiting effect on the nut (b), and the spring plungers (41) in the extension (40) apply a clamping and limiting effect on the rod of the boom (a).

8. A high-altitude construction robot for both drilling and installation according to any one of claims 1-7, characterized in that, The feeding mechanism (43) includes a third slide (44) located on the side of the working platform (28), a base plate (45) is slidably mounted on the third slide (44), and multiple sets of vertically arranged support rods (46) are movably arranged on the base plate (45) along the vertical direction. A movable base (47) is fixedly mounted on the top of the multiple sets of support rods (46), and a return spring (48) is provided between the base plate (45) and the movable base (47). An electric gripper (49) is fixedly mounted on the top of the movable base (47). The feeding mechanism (43) also includes a frame (50) located on the side of the working platform (28), and a movable base (49) is mounted on the frame (50). The device is equipped with two sets of sprockets (51) and a feeding motor (52) for driving either sprocket (51) to rotate is provided on the frame (50). The two sets of sprockets (51) are fitted with chains (53). The upper and lower sets of outer chain plates (5301) of the chain (53) are bent outwards towards each other. The bent parts of the upper and lower sets of outer chain plates (5301) are connected to a rectangular frame (54). The rectangular frame (54) is equipped with clamps for holding expansion bolts (c). When the chain (53) is driven, multiple clamps can drive the expansion bolts (c) on them to be in sequence within the gripping path of the electric gripper (49).

9. A high-altitude construction robot for both drilling and installation as described in claim 8, characterized in that, The clamp includes two sets of irregular clamping plates (5401) that are hinged to each other on a rectangular frame (54) and arranged opposite each other. The irregular clamping plates (5401) have an upper clamping part (5402), a lower clamping part (5403) and a hollow part in the middle. A tension spring (55) is provided between the two upper clamping parts (5402) and between the two lower clamping parts (5403) so that the two sets of irregular clamping plates (5401) have a tendency to move closer to each other. The two sets of upper clamping parts (5402) on the two sets of irregular clamping plates (5401) are used to clamp the upper part of the expansion bolt (c), and the two sets of lower clamping parts (5403) on the two sets of irregular clamping plates (5401) are used to clamp the lower part of the expansion bolt (c) so that the middle part of the expansion bolt (c) is exposed after the expansion bolt (c) is clamped and fixed.

10. A high-altitude construction robot for both drilling and installation as described in claim 9, characterized in that, A lifting plate (56) is fixedly provided on the base plate (45). When the expansion bolt (c) is driven to the designated position by the electric gripper (49), the lifting plate (56) is located directly below the expansion bolt (c) so that when the tightening sleeve (16) applies downward pressure to the expansion bolt (c) in the initial stage of downward movement, the lifting plate (56) is used to support the expansion bolt (b) upward. A proximity switch (57) is provided on the base plate (45), and a baffle (58) is provided on the movable base (47), and the baffle (58) is located directly above the proximity switch (57).

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