Robot for u-shaped gutter construction

Abstract

The application discloses a robot for U-shaped drainage ditch construction, comprising: a vehicle frame, which drives the whole device to move along the length direction of the drainage ditch; a power control module, which is arranged on the vehicle body and is used for controlling the movement and work of the vehicle body; and an execution module, which is arranged on the vehicle body and sequentially arranged with the power control module along the length direction of the vehicle body, and is used for finishing the drainage ditch; the RTK host and the controller are used for setting the construction path in advance and dynamically correcting the running process, so that the accuracy of the construction is ensured; the pressure sensor which can sense the weight change of the storage tank in real time is combined, so that the concrete in the storage tank can be timely fed back when the concrete is insufficient, and the construction is stopped, invalid construction is prevented, the whole device is driven by electric energy, the requirements of energy saving, emission reduction and green construction of building construction are met, the standardized operation of the robot reduces the dependence on the skill level of the front-line workers, and the construction problems caused by the skill difference are reduced.

Description

Technical Field

[0001] The invention relates to the field of building construction technology, and in particular to a robot for constructing drainage ditches. Background Technology

[0002] U-shaped drainage ditches generally refer to cast-in-place or precast U-shaped channels whose inner surface (circular bottom + sloping / straight sides) requires compaction, grouting, and finishing with cement mortar to ensure a smooth, leak-proof, and slag-free inner wall. Roof U-shaped drainage ditches are U-shaped cast-in-place reinforced concrete gutters installed around or partially around the roof of a building to collect rainwater and direct it into the rainwater pipes. Current technology often involves manual construction of U-shaped drainage ditches using a trowel, a process that is slow, ineffective, lacks straightness, and is costly.

[0003] Therefore, there is an urgent need to develop a facility or equipment that can stabilize and uniformly apply cement mortar to the surface of U-shaped drainage ditches, improve the overall linear smoothness and straightness of the U-shaped cement mortar, and at the same time, improve the construction efficiency of U-shaped drainage ditches. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a robot for drainage ditch construction, which solves the problems of slow construction speed and poor linear flatness and straightness of U-shaped cement mortar caused by manual operation in the prior art, thereby improving construction efficiency and reducing construction costs.

[0005] The present invention provides a robot for constructing U-shaped drainage ditches, comprising:

[0006] The frame drives the entire device to move along the length of the drainage ditch;

[0007] The power control module, mounted on the chassis, is used to control the movement and operation of the vehicle.

[0008] The execution module, which is mounted on the vehicle frame and arranged sequentially with the power control module along the length of the vehicle body, is used to smooth the drainage ditch.

[0009] Furthermore, the vehicle frame includes a chassis, a drive source, and a steering mechanism, with the drive source and steering mechanism respectively disposed at both ends of the chassis; the chassis includes a drive wheel connected to the drive source and a steering wheel connected to the steering mechanism, and the vehicle frame can be driven by the drive source and move along the working path under the control of the steering mechanism.

[0010] Furthermore, the power control module includes a control box, an RTK host, and a controller. The control box is located above the steering mechanism, the controller can generate a working path, and the RTK host can locate the path generated by the controller.

[0011] Furthermore, the execution module includes a storage tank and a trowel. The storage tank is equipped with a sealable outlet, through which concrete can reach the drainage ditch. The trowel is placed above the outlet to apply the concrete to the drainage ditch.

[0012] Furthermore, the steering mechanism includes a steering column and a drive member, which are connected by a linkage. The linkage can convert the linear thrust of the drive member into the torque that rotates the steering column.

[0013] Furthermore, the steering mechanism also includes a crossbeam and wheel cantilever arms. The steering column passes through the chassis and is connected to the crossbeam, with ball joints at both ends of the crossbeam. The wheel cantilever arms are integrally connected to the crossbeam via the ball joints. The wheel cantilever arms can adjust wheel rotation via the ball joints.

[0014] Furthermore, the storage bin also includes spiral blades and a cover plate; the spiral blades can stir the concrete and push the concrete in the storage bin to the discharge port, and the cover plate has a mesh structure to prevent debris from entering the storage bin.

[0015] Furthermore, the chassis also includes a battery that can supply power to the power control module and the execution module.

[0016] Furthermore, the control box includes an access panel and a laser rangefinder located on the side. The access panel is located at the top of the control box, and the laser rangefinder is used to monitor the distance to the side wall.

[0017] The beneficial effects of this invention are as follows: This invention provides a robot for U-shaped drainage ditch construction; by using an RTK host and controller to pre-set the construction path and dynamically correct the deviation during the movement process, the accuracy of construction is ensured. Combined with a pressure sensor that can sense changes in the weight of the storage bin in real time, it can promptly provide feedback and stop construction when the amount of concrete in the storage bin is insufficient, preventing ineffective construction. Furthermore, the entire device is electrically driven, which meets and improves the requirements of energy conservation, emission reduction and green construction in building construction. The standardized operation of the robot reduces the dependence on the skill level of front-line workers, reduces construction problems caused by skill differences, helps to optimize the human resource structure of the construction industry, and improves the overall talent quality and competitiveness of the industry. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the execution module structure of the present invention;

[0021] Figure 3This is a top view of the chassis structure.

[0022] Figure 4 Front view of the chassis;

[0023] Figure 5 This is a schematic diagram of the AA cross-section. Detailed Implementation

[0024] like Figures 1 to 5 As shown: A robot for constructing U-shaped drainage ditches according to this embodiment includes:

[0025] The frame 1 drives the entire device to move along the length of the drainage ditch; the frame 1 serves as the foundation and moving base for the entire device, driving the entire device to move according to the actual needs of the site. It continuously and stably completes the movement along the entire length of the U-shaped drainage ditch.

[0026] The power control module 3, mounted on the frame 1, controls the movement and operation of the vehicle. This module controls the power of the U-shaped drainage ditch construction robot and its positioning and correction during movement, making the entire device more convenient throughout the construction process, reducing manual intervention and increasing mechanization. The power control module 3, positioned above the frame 1, can be moved along the length of the U-shaped drainage ditch by the frame 1, obtaining real-time feedback on the robot's position through synchronous movement, thus improving the accuracy of the construction location.

[0027] The execution module 2, which is set on the frame 1 and arranged sequentially with the power control module 3 along the length of the frame 1, is used to smooth the surface of the drainage ditch. The execution module 2 and the power control module 3 are set together on the frame 1 and arranged along the length of the frame 1, making the entire U-shaped drainage ditch robot more suitable for construction in narrow environments. It can be used to store a large amount of concrete material as a supplement to ensure that the mortar is continuous, uniform and uninterrupted during the construction of the U-shaped drainage ditch.

[0028] In this embodiment, the vehicle frame 1 includes a chassis 104, a drive source 106, and a steering mechanism 103. The drive source 106 and the steering mechanism 103 are respectively disposed at both ends of the chassis 104. The chassis 104 includes a drive wheel 102 connected to the drive source 106 and a steering wheel 101 connected to the steering mechanism. The vehicle frame 1 can be driven by the drive source 106 and moves along the working path under the control of the steering mechanism 103. The drive source 106 can be a power source that can provide rotational support, such as a servo motor, a DC motor, or a three-phase motor. Here, a servo motor is preferred as it is easier to realize the forward and backward movement of the U-shaped drainage ditch construction robot. The servo motor is driven by a differential gear, which adjusts the speed of the servo motor. After adjustment by the differential gear, the servo motor outputs to the output shaft 1061 with bevel gear I 1062. The drive wheel 101 is connected as a whole by the drive shaft 1021. The drive shaft 1021 is equipped with bevel gear II 1022, which meshes with the lower part of bevel gear I 1062. The drive source not only drives the drive wheel to rotate and thus moves the U-shaped drainage ditch robot, but also serves as the drive source for the execution module 2. The steering mechanism 103 can control the steering wheel 101 to deflect at a certain angle so that the frame moves along the predetermined direction of the U-shaped drainage ditch.

[0029] In this embodiment, the power control module 3 includes a control box 307, an RTK host 302, and a controller 303. The control box 307 is located above the steering mechanism 103. The controller 303 can generate a working path, and the RTK host 302 can locate the path generated by the controller. The control box 307 is a hollow box structure with an open bottom, which facilitates the accommodation of the steering mechanism 103 on the same side as the power control module 3. At the same time, the control box 307 integrates the RTK host 302 and the controller 303. The RTK host 302 refers to a built-in multi-frequency GNSS module that receives satellite carrier phase signals from Beidou, GPS, GLONASS, Galileo, etc., and is set as a positioning correction device in a mobile base station mode. The controller 303 is a touch screen onboard computer adapted to the RTK host, which provides high-precision maps and acts as the main control unit to control the steering mechanism and drive source to coordinate properly, so that the movement direction of the U-shaped drainage ditch construction robot can be controlled and the movement route can be accurate.

[0030] In this embodiment, the execution module 2 includes a storage tank 201 and a trowel 202. The storage tank 201 has a discharge port 2012, through which concrete can reach the drainage ditch. The trowel 202 is positioned above the discharge port to apply the concrete to the drainage ditch. The storage tank can store a large amount of precast concrete slurry. The discharge port 2012 is a long, curved pipe with a quick-release structure. The outlet of the long pipe has a closed partition, and the outlet faces the ground to facilitate smoother and faster discharge. The quick-release structure of the long pipe allows for quick replacement of the storage tank in case of blockage during daily operation without affecting construction, and also makes repairs easier. The trowel 202 is positioned behind the discharge port. When concrete slurry is discharged from the discharge port, it can be quickly applied to the surface of the U-shaped drainage ditch. The trowel 202 has a quick-release structure and comes in various models to adapt to different U-shaped drainage ditches. The quick-release connection method also improves the versatility of the U-shaped drainage ditch construction robot.

[0031] In this embodiment, the steering mechanism 103 includes a steering column 1031 and a drive member 1032. The drive member 1032 and the steering column 1031 are connected by a connecting rod 1034. The connecting rod 1034 can convert the linear thrust of the drive member 1032 into the torque that rotates the steering column 1031. The steering column 1031 is connected to the connecting rod 1034 by welding, making the power transmission of the drive member 1031 more obvious and direct. The connecting rod 1034 is also hinged to the drive member 1032. The hinge allows the rotating column 1031 to rotate due to the connecting rod 1034 driven by the drive member 1032. The drive member 1032 can be a component that can generate linear driving force, such as a cylinder, a hydraulic cylinder, or a lead screw. Here, a hydraulic cylinder is preferably used as the drive member, thereby providing sufficient driving force and driving stability. The hydraulic cylinder is equipped with a hydraulic pump and pipelines, etc., and is not externally connected to simultaneously stabilize the balance of both sides of the vehicle body.

[0032] In this embodiment, the steering mechanism 103 further includes a crossbeam 1035 and a wheel cantilever 3036. The steering column passes through the chassis 104 and is connected to the crossbeam 1035. Ball joints 1037 are provided at both ends of the crossbeam 1035. The wheel cantilever 1036 is connected to the crossbeam 1035 as a whole through the ball joints 1037. The wheel cantilever 1036 can adjust the wheel rotation through the ball joints 1037. The crossbeam 1035 is a strip column welded to a central rotating column, which rotates with the rotating column. A ball joint 1037 is provided at each end of the crossbeam 1035. The wheel cantilever of the steering wheel is connected to the lower part of the crossbeam through the ball joint. The flexibility of the ball joint allows the left and right wheels to deflect synchronously in place when rotating, making the steering more flexible. The steering column 1031 is connected to the frame through a flat bearing.

[0033] In this embodiment, the storage bin 201 also includes a spiral shaft 2013 and a cover plate 2011. The spiral shaft 2013 is provided with spiral blades 2014 to stir concrete and push the concrete in the storage bin to the discharge port. The cover plate 2011 has a mesh structure to prevent debris from entering the storage bin. The rotating blades 2014 are arranged on the rotating shaft 2013. The rotating shaft is connected to the storage bin 201 via a bearing on the side near the discharge port. A bevel gear III 2015 is provided on the other side. The power source of the rotating shaft is the same as that of the drive wheel 102. The power source and the rotating shaft are connected by a connecting shaft 2016 to complete the power output. Both ends of the connecting shaft are set with bevel gears. One end of the connecting shaft 2016 meshes with the upper part of the output shaft bevel gear I 1062, and the other end meshes with the rotating shaft bevel gear III 2015, so that the U-shaped drainage ditch machine can move smoothly while the discharge port can continuously flow out concrete slurry. Furthermore, when continuous output of concrete slurry is not required, the discharge port can be closed, and the rotating shaft continues to rotate and stir the concrete from the blades to prevent the concrete from solidifying. The top cover of the storage tank is made of mesh, which allows for real-time observation of the concrete level in the tank and also prevents debris or workers' hands from reaching into the equipment, thus improving construction safety. The output shaft bevel gear I, drive shaft bevel gear II, rotating shaft bevel gear III, and connecting rotating shaft bevel gear are arranged in the gearbox.

[0034] In this embodiment, the chassis 104 further includes a battery 105, which can supply power to the power control module 3 and the execution module 2; the control box 307 also integrates a charging port 305, through which the battery 105 can be charged. The wireless construction method makes the use of the entire U-shaped drainage ditch construction machine more flexible. The U-shaped drainage ditch construction robot uses electrical energy as its power source, improving the economic efficiency and environmental friendliness of the construction.

[0035] In this embodiment, the control box 307 includes an inspection port 301 and a laser rangefinder 306 located on the side. The inspection port 301 is located at the top of the control box, and the laser rangefinder 306 is used to monitor the distance to the side wall. The inspection port facilitates timely inspection and simple repair of internal equipment damage without extensive disassembly. The laser rangefinder 306 can provide real-time feedback on the distance between the U-shaped drainage ditch construction robot and the nearby wall, stopping the robot when the distance is too close to prevent damage to the existing structure. The drive wheel is also equipped with a pressure sensor, which can detect the weight of concrete in the storage tank to estimate whether the remaining concrete is sufficient. When the remaining concrete is insufficient, a signal can be sent to the controller to remind the robot to refill.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robot for constructing U-shaped drainage ditches, characterized in that: include: The frame drives the entire device to move along the length of the drainage ditch; The power control module, mounted on the chassis, is used to control the movement and operation of the vehicle. The execution module, which is mounted on the vehicle frame and arranged sequentially with the power control module along the length of the vehicle body, is used to smooth the drainage ditch.

2. The robot for constructing U-shaped drainage ditches according to claim 1, characterized in that: The vehicle frame includes a chassis, a drive source, and a steering mechanism, with the drive source and steering mechanism respectively located at both ends of the chassis. The chassis includes drive wheels driven by the drive source and steering wheels connected to the steering mechanism. The vehicle frame can be driven by the drive source and move along a working path under the control of the steering mechanism.

3. The robot for constructing U-shaped drainage ditches according to claim 1, characterized in that: The power control module includes a control box, an RTK host, and a controller. The control box is located above the steering mechanism. The controller can generate a working path, and the RTK host can locate the path generated by the controller.

4. The robot for constructing U-shaped drainage ditches according to claim 2, characterized in that: The execution module includes a storage tank and a trowel. The storage tank is equipped with a sealable outlet, through which concrete can be delivered from the storage tank to the drainage ditch. The trowel is placed above the outlet to apply the concrete to the drainage ditch.

5. The robot for constructing U-shaped drainage ditches according to claim 2, characterized in that: The steering mechanism includes a steering column and a drive member, which are connected by a linkage. The linkage can convert the linear thrust of the drive member into the torque that rotates the steering column.

6. The robot for constructing U-shaped drainage ditches according to claim 5, characterized in that: The steering mechanism also includes a crossbeam and wheel cantilever arms. The steering column passes through the chassis and is connected to the crossbeam. Ball joints are provided at both ends of the crossbeam. The wheel cantilever arms are integrally connected to the crossbeam via the ball joints. The wheel cantilever arms can adjust wheel rotation via the ball joints.

7. The robot for constructing U-shaped drainage ditches according to claim 2, characterized in that: The storage bin also includes spiral blades and a cover plate; the spiral blades can stir the concrete and push the concrete in the storage bin to the discharge port, and the cover plate has a mesh structure to prevent debris from entering the storage bin.

8. The robot for constructing U-shaped drainage ditches according to claim 3, characterized in that: The chassis also includes a battery that can power the power control module and the execution module.

9. The robot for constructing U-shaped drainage ditches according to claim 4, characterized in that: The control box includes an access panel and a laser rangefinder located on the side. The access panel is located at the top of the control box, and the laser rangefinder is used to monitor the distance to the side wall.

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