Transportation robot for building construction site

Abstract

The utility model relates to the technical field of building construction, and particularly discloses a transportation robot for a building construction site. The transportation robot comprises a movable chassis structure, a supporting plate detachably installed on the chassis structure, and a control cabinet installed on the chassis structure and used for controlling the chassis structure to move. A cavity is formed between the supporting plate and the base plate. The utility model can be effectively suitable for the transportation of materials or equipment under multiple working conditions in a construction site, can be suitable for the transportation of heavy goods, and has good turning and obstacle avoidance functions.

Description

TECHNICAL FIELD

[0001] The utility model relates to building construction machinery technical field more particularly relates to a transport robot for building construction site. BACKGROUND

[0002] In the field of automatic material transportation of construction site, the traditional transportation mode mainly relies on manual handling, small mechanical vehicles and part of semi-automatic equipment. These devices improve the efficiency of material handling to different degrees, but still face significant limitations.

[0003] In the traditional construction site material handling equipment, the following several types of equipment are usually used: small mechanical vehicles, including loaders, forklifts and the like, which can only be used in a relatively large space area, and for floors, the above-mentioned equipment will not be used.

[0004] At the same time, the above-mentioned equipment functional units cannot meet the use of different construction conditions; such as cleaning, plastering, wall painting and other construction requirements cannot be considered; and heavy goods transfer cannot be realized. INVENTION CONTENTS

[0005] The technical problem to be solved by the utility model is to provide a transport robot for building construction site;

[0006] The solution adopted by the utility model to solve the technical problem is:

[0007] A transport robot for building construction site, comprising a movable chassis structure, a support plate detachably installed on the chassis structure, and a control cabinet installed on the chassis structure and used for controlling the movement of the chassis structure; the support plate and the chassis form a cavity.

[0008] In some possible embodiments, the chassis structure comprises a chassis, a drive wheel set installed at the bottom of the chassis and rotationally matched with the chassis, and a support frame installed on the outer side of the chassis and having a mounting cavity; the support plate is installed on the support frame; the chassis is located in the mounting cavity and is connected with the support frame as a whole.

[0009] In some possible embodiments, it further comprises a lifting mechanism installed on the chassis and connected with the control cabinet; the lifting mechanism comprises a lifting drive mechanism installed at the bottom of the chassis, a lifting plate installed on the support plate and connected with the lifting drive mechanism; the lifting drive mechanism is connected with the lifting plate through the support plate.

[0010] In some possible embodiments, a groove corresponding to the lifting plate is arranged on the support plate; the lifting plate is two groups and is arranged in parallel, and the lifting drive mechanism comprises a driving member installed at the bottom of the chassis, a transmission assembly in transmission connection with the driving member and connected with the two groups of lifting plates respectively.

[0011] In some possible implementation manners, the transmission assembly comprises two groups of transmission boxes mounted at the bottom of the chassis and corresponding to the lifting plates, two groups of lead screws respectively located in the transmission boxes and connected with the lifting plates at one end, two groups of transmission shafts respectively located in the two groups of transmission boxes and rotationally matched with the transmission boxes, and two groups of nuts respectively mounted in the two groups of transmission boxes and sleeved outside the lead screws; the driving member is a transmission driving motor, the output shaft of the transmission driving motor is in transmission matching with the nuts and the transmission shafts; and the nut is in rotational matching with the corresponding transmission box.

[0012] The transmission box comprises a transmission box one and a transmission box two matched with the transmission driving motor.

[0013] The output shaft of the transmission driving motor extends into the transmission box one and is sleeved with a driving bevel gear; a driven bevel gear one meshing with the driving bevel gear is arranged in the transmission box one, a driven bevel gear two meshing with the driven bevel gear one is arranged in the transmission box one, the driven bevel gear one is sleeved outside the nut, and the driven bevel gear two is sleeved outside the transmission shaft.

[0014] The other end of the transmission shaft is provided with a driven bevel gear three located in the transmission box two; a driven bevel gear four meshing with the driven bevel gear three is arranged outside the nut in the transmission box two.

[0015] In some possible implementation manners, the telescopic driving member is detachably mounted on the support plate and connected with the control cabinet.

[0016] In some possible implementation manners, the driving wheel groups are connected with the control cabinet and at least two groups; each group of driving wheel groups comprises at least one group of driving wheels.

[0017] In some possible implementation manners, the driving wheel comprises a driven gear mounted at the bottom of the chassis and in rotational matching with the chassis, a main gear meshing with the driven gear, a rotary driving motor in transmission connection with the main gear, a pulley connected with the driven gear, and a sliding driving motor in transmission matching with the pulley and used for controlling the movement of the chassis.

[0018] In some possible implementation manners, a battery module connected with the control cabinet is mounted at the bottom of the chassis.

[0019] In some possible implementation manners, an ultrasonic radar, a laser radar and a depth camera respectively connected with the control cabinet are arranged on the chassis structure.

[0020] Compared with the prior art, the utility model has the beneficial effects that:

[0021] The utility model can be effectively applied to the transportation of materials or equipment under various working conditions at construction sites; and can be applied to the transportation of heavy-loaded goods by setting the driving wheel set;

[0022] The utility model realizes the lifting of the equipment by adopting a bevel gear structure and has high lifting accuracy for the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of the utility model;

[0024] Figure 2 A schematic diagram of the internal structure of the utility model;

[0025] Figure 3 Schematic diagram of the lifting drive mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the internal structure of the lifting drive mechanism of the present invention;

[0027] Figure 5 This is a structural diagram of the lead screw, nut, and transmission box in the utility model;

[0028] Figure 6 This is a schematic diagram of the chassis structure and lifting drive mechanism of the present invention;

[0029] Figure 7 It is a top view of the utility model;

[0030] Figure 8 It is a structural schematic diagram of the utility model with a telescopic drive member installed;

[0031] Among them: 1. chassis structure; 11. chassis; 12. driving wheel group; 121. slave gear; 122. main gear; 123. rotating drive motor; 124. pulley; 125. sliding drive motor; 13. support frame; 2. support plate; 3. control cabinet; 4. lifting mechanism; 41. lifting drive mechanism; 411. transmission box; 412. screw; 4121. anti-rotation keyway 4121; 413. transmission shaft; 414. nut; 415. driving bevel gear; 416. driven bevel gear 1; 417. driven bevel gear 2; 418. driven bevel gear 3; 419. driven bevel gear 4; 42. lifting plate; 5. battery module; 6. telescopic drive assembly; 7. anti-collision strip. DETAILED DESCRIPTION

[0032] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and so on terms should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be direct connection, also can pass through intermediate medium indirectly link, can be two element inside link or two element mutual action relation.The "first", "second" and similar words mentioned in the application do not indicate any order, quantity or importance, but only distinguish different components.Similarly, "one" or "a" and similar words do not indicate quantity limit, but indicate that there is at least one.In the implementation of the application, the association relationship of the associated objects is described as "and / or", which indicates that there can be three relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist simultaneously, and B exists alone.In the description of the embodiments of the application, unless otherwise specified, "a plurality of" means two or more than two.For example, a plurality of positioning columns means two or more than two positioning columns.For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0033] The utility model will be described in detail below.

[0034] As shown in Figures 1-8

[0035] A transport robot for construction site, including movable chassis structure 1, support plate 2 detachably installed on chassis structure 1, and control cabinet 3 installed on chassis structure 1 and used to control the movement of chassis structure 1;The cavity is formed between support plate 2 and chassis 11.

[0036] When using, corresponding construction devices can be installed on support plate 2 according to the work object, and construction work is carried out, such as mechanical automatic welding, a mechanical arm can be installed on support plate 2;When performing wall plastering, a plastering mechanical man can be installed on support plate 2;When transporting materials, materials are directly placed on support plate 2, and chassis structure 1 is controlled by control cabinet 3 to move, and the transportation of materials can be carried out;The utility model can meet the carrying and transportation of different equipment and materials according to the diversification of construction site work.

[0037] In some possible embodiments, in order to make the utility model have good moving performance, it can move as required under the control of control cabinet 3, realize the transportation of equipment or materials;

[0038] ​The chassis structure 1 comprises a chassis 11, a driving wheel set 12 mounted on the bottom of the chassis 11 and rotationally connected with the chassis 11, and a support frame 13 mounted on the outer side of the chassis 11 and having a mounting cavity; the support plate 2 is mounted on the support frame 13; and the chassis 11 is located in the mounting cavity and connected with the support frame 13 as a whole.

[0039] The chassis 11 is used for mounting the control cabinet 3 and the driving wheel set 12, the support frame 13 wraps the chassis 11 and forms a whole with the chassis 11, and the support plate 2 is detachably mounted on the support frame 13, so that different support plates 2 can be selected and mounted according to the type of the goods to be transported before use, so as to meet the needs of different goods operation.

[0040] In some possible embodiments, in order to meet the lifting needs of the transported equipment or working machine along the vertical direction (Z-axis direction), a lifting mechanism 4 is further arranged on the chassis 11 and connected with the control cabinet 3; the lifting mechanism 4 comprises a lifting driving mechanism 41 arranged on the bottom of the chassis 11 and a lifting plate 42 arranged on the support plate 2 and connected with the lifting driving mechanism 41; and the lifting driving mechanism 41 is connected with the lifting plate 42 through the support plate 2.

[0041] Specifically, the transported equipment or working machine is mounted on the lifting plate 42, and after being transported to a designated position, the lifting plate 42 is lifted along the vertical direction by the lifting driving mechanism 41, so as to drive the transported equipment or working machine to be lifted to a designated height for construction work.

[0042] The lifting driving mechanism 41 can adopt a scissors-type lifting mechanism in the prior art, however, if the scissors-type lifting mechanism is used, it is extremely inconvenient to mount and dismount, and for use in multiple working conditions on a construction site, it will greatly affect the construction efficiency and increase the construction cost.

[0043] Therefore, in some possible embodiments, in order to effectively realize the lifting of the lifting plate 42 and drive the transported equipment or working machine mounted on the lifting plate 42 to be lifted, a groove corresponding to the lifting plate 42 is arranged on the support plate 2.

[0044] The lifting plate 42 is arranged in two groups and parallel to each other, and the lifting driving mechanism 41 comprises a driving member arranged on the bottom of the chassis 11 and a transmission assembly in transmission connection with the driving member and connected with the two groups of lifting plates 42 respectively.

[0045] By arranging the groove, the top surface of the lifting plate 42 is coplanar with the top surface of the support plate 2 under normal circumstances, so that the transportation of other materials can also be met without dismounting the lifting driving mechanism 41.

[0046] When transporting the transported equipment or working machine that needs to be lifted, the transmission assembly is controlled to work by the driving member, so as to drive the two groups of lifting plates 42 to lift and lower the transported equipment or working machine.

[0047] In some possible embodiments, the transmission assembly comprises two groups of transmission boxes 411 mounted at the bottom of the chassis 11 and corresponding to the lifting plates 42, two groups of lead screws 412 respectively located in the transmission boxes 411 and connected to the lifting plates 42 at one end, two groups of transmission shafts 413 respectively located in the two groups of transmission boxes 411 and rotationally matched with the transmission boxes 411, and two groups of nuts 414 respectively mounted in the two groups of transmission boxes 411 and sleeved outside the lead screws 412.

[0048] The driving member is a transmission driving motor, the output shaft of the transmission driving motor is in transmission matching with the nuts 414 and the transmission shafts 413, and the nuts 414 are in rotational matching with the corresponding transmission boxes 411.

[0049] The transmission boxes 411 comprise a transmission box one and a transmission box two matched with the transmission driving motor.

[0050] The output shaft of the transmission driving motor extends into the transmission box one and is sleeved with a driving bevel gear 415, a driven bevel gear one 416 meshing with the driving bevel gear 415 is arranged in the transmission box one, a driven bevel gear two 417 meshing with the driven bevel gear one 416 is arranged in the transmission box one, the driven bevel gear one 416 is sleeved outside the nut 414, and the driven bevel gear two 417 is sleeved outside the transmission shaft 413.

[0051] The other end of the transmission shaft 413 is provided with a driven bevel gear three 418 located in the transmission box two, and a driven bevel gear four 419 meshing with the driven bevel gear three 418 is arranged outside the nut 414 in the transmission box two.

[0052] The output shaft of the transmission driving motor is coaxially connected with the driving bevel gear 415, the two ends of the transmission shaft 413 are respectively provided with the driven bevel gear two 417 and the driven bevel gear three 418, the driven bevel gear two 417 is mounted on one group of nuts 414, and the driven bevel gear four 419 is mounted on the other group of nuts 414.

[0053] Specifically, the driven bevel gear one 416 is engaged with the driven bevel gear two 417 and the driving bevel gear 415 respectively, under the rotation of the output shaft of the transmission driving motor, the driving bevel gear 415 rotates, and then drives the driven bevel gear one 416 and the driven bevel gear two 417 to rotate, so that the nut 414 installed on the driven bevel gear one 416 rotates, and since the driven bevel gear two 417, the driven bevel gear three 418 and the transmission shaft 413 are coaxially connected, the transmission shaft 413 and the driven bevel gear three 418 rotate under the rotation of the driven bevel gear two 417, and since the driven bevel gear three 418 is engaged with the driven bevel gear four 419, the nut 414 for installing the driven bevel gear four 419 rotates; the two groups of nuts 414 rotate in the corresponding transmission boxes 411 respectively, the nuts 414 are sleeved outside the corresponding lead screws 412, so that the lead screws 412 can move along their axes, thereby realizing the lifting of the two groups of lifting plates 42;

[0054] In order to prevent the lead screw 412 from rotating around its axis while lifting, an anti-rotation key groove 4121 is arranged on the outer side of the lead screw 412, and a protrusion is arranged on the box body and cooperates with the anti-rotation key groove 4121; the anti-rotation key groove 4121 is long strip-shaped, and its long direction (Z-axis direction) is arranged along the axial direction of the lead screw 412;

[0055] The bevel gear engagement and lead screw cooperation mode is adopted to realize transmission and lifting of the lifting plate 42, so that the lifting of the transported equipment or working instrument can be realized, and the lifting of the material can be accurately controlled;

[0056] Specifically, the transmission shaft 413 is divided into multiple segments, and adjacent two ends are connected through a shaft coupling, so that the entire lifting driving mechanism 41 is convenient to assemble and disassemble.

[0057] Further, the axis of the transmission shaft 413 and the axis of the output shaft of the transmission driving motor are perpendicular to each other to form an L-shaped structure, and such a layout mode makes the space at the bottom of the chassis 11 more reasonably utilized; specifically, the transmission shaft 413 is arranged along the X-axis direction, and the output shaft of the transmission driving motor is arranged along the Y-axis direction.

[0058] In some possible embodiments, as shown in Figure 8 Further, the lifting device further comprises a telescopic driving member 6 which is detachably installed on the support plate 2 and connected with the control cabinet 3.

[0059] When the instrument transported on the support plate 2 is a hopper, the hopper is hinged to the support plate 2 and connected with the telescopic driving member 6, after being transported to a specified position, the telescopic driving member 6 controls the hopper to rotate around the hinge point with the support seat to the side away from the control cabinet, so as to pour out the material in the hopper; specifically, the telescopic driving member 6 is a hydraulic telescopic cylinder, the telescopic end of which is hinged to the hopper and arranged on the side of the support plate 2 close to the control cabinet 3.

[0060] In some possible implementation manners, the driving wheel set 12 is connected with the control cabinet 3 and is at least two sets, and the two sets of driving wheel sets 12 are arranged along the Y-axis direction; each set of driving wheel sets 12 comprises at least one set of driving wheels;

[0061] As shown in the drawings, the driving wheels in each set of driving wheel sets 12 are two sets. Figure 6

[0062] In some possible implementation manners, the driving wheel comprises a slave gear 121 mounted at the bottom of the chassis 11 and matched with the chassis 11 and rotating around the Z-axis direction, a main gear 122 engaged with the slave gear 121, a rotary driving motor 123 in driving connection with the main gear 122, a pulley 124 connected with the slave gear 121, and a sliding driving motor 125 used for driving cooperation with the pulley 124 and used for controlling the movement of the chassis 11.

[0063] The output shaft of the rotary driving motor 123 is arranged along the vertical direction (Z-axis direction), and the rotation of the pulley 124 around the vertical direction is realized through the cooperation of the main gear 122 and the slave gear 121, so that the whole device can realize turning and reversing;

[0064] The sliding driving motor 125 is in driving connection with each pulley 124, and the output shaft of the sliding driving motor 125 is arranged along the horizontal direction, realizing the rotation of the pulley 124 connected therewith;

[0065] When turning and reversing, the rotary driving motor 123 controls the rotation of the main gear 122, so that the slave gear 121 rotates around the vertical direction, and the pulley 124 connected with the slave gear 121 rotates around the vertical direction;

[0066] An installation seat for installing the pulley 124 is arranged at the bottom of the slave gear 121; the pulley 124 is in rotary cooperation with the installation seat and realizes the rotary sliding through the sliding driving motor 125;

[0067] Each pulley 124 in the utility model will correspond to a set of sliding driving motors 125, thereby effectively realizing heavy load operation;

[0068] Specifically, the sliding driving motor 125, the rotary driving motor 123 and the transmission driving motor are all servo motors and are respectively connected with the control cabinet 3;

[0069] In some possible implementation manners, a battery module 5 connected with the control cabinet 3 is mounted at the bottom of the chassis 11, and the battery module 5 is arranged in the space formed by the L-shaped structure and the bottom of the chassis 11.

[0070] Further, a bumper 7 is arranged on the outer side of the support frame 13, thereby effectively realizing anti-collision. ​

[0071] In some possible implementation modes, the ultrasonic radar, the laser radar and the depth camera are arranged on the chassis structure 1 and connected with the control cabinet 3 respectively, the obstacle detection capability in the complex construction environment is realized through the arrangement of the ultrasonic radar, the laser radar and the depth camera, the monitored data is transmitted to the control cabinet 3, and the sliding drive motor 125 and the rotating drive motor 123 are controlled to work through the control cabinet 3, so that the obstacle avoidance is realized.

[0072] The chassis structure 1 is arranged, so that heavy materials and equipment can be efficiently transported in complex terrains, the material handling efficiency of the construction site is significantly improved, and the transportation time is reduced.

[0073] The sliding drive motor 125 and the rotating drive motor 123 are matched with the sliding wheels to realize driving movement, have stronger mobility and more accurate steering capability, can flexibly cope with narrow and complex environments in the construction site, and improve the flexibility of operation.

[0074] The bevel gear structure and the lead screw 412 structure are matched to realize accurate lifting of the materials and the equipment.

[0075] The supporting plate 2 is arranged, so that modular extension can be performed in the future, such as adding a hopper, wall brushing, plastering, sweeping and the like, and the multipurpose property of the equipment is enhanced.

[0076] The automatic material handling process is used, the dependence on human resources is reduced, so that the labor cost is reduced, and the safety risk caused by manual operation is also reduced.

[0077] The utility model is not limited to the foregoing specific implementation modes. The utility model extends to any new feature disclosed in the specification or any new combination, and any new method or process step disclosed or any new combination.

Claims

1. A transport robot for construction sites, characterized in that: The invention comprises a movable chassis structure, a support plate detachably mounted on the chassis structure, and a control cabinet mounted on the chassis structure and used to control the movement of the chassis structure; a cavity is formed between the support plate and the chassis; the chassis structure comprises a chassis, a drive wheel assembly mounted on the bottom of the chassis and rotatably engaged with the chassis, and a support frame mounted on the outside of the chassis and having a mounting cavity; A lifting mechanism connected to the control cabinet is installed on the chassis; the lifting mechanism includes a lifting drive mechanism installed at the bottom of the chassis, a lifting plate installed on the support plate and connected to the lifting drive mechanism; the lifting drive mechanism is connected to the lifting plate through the support plate; The lifting drive mechanism includes a driving member installed at the bottom of the chassis, a transmission assembly connected to the driving member and connected to the lifting plate; The transmission assembly includes two sets of transmission boxes installed at the bottom of the chassis and arranged one-to-one with the lifting plates, two sets of lead screws respectively located in the transmission boxes and one end of which passes through the transmission boxes and is connected to the lifting plates, transmission shafts with both ends respectively located in the two sets of transmission boxes and rotatably matched with the transmission boxes, and nuts respectively installed in the two sets of transmission boxes and sleeved on the outside of the lead screws; the driving member is a transmission drive motor, and the output shaft of the transmission drive motor is in transmission cooperation with the nut and the transmission shaft; The nut is rotationally engaged with the corresponding transmission box; The transmission box includes a transmission box 1 and a transmission box 2 used in conjunction with the transmission drive motor; The output shaft of the transmission drive motor extends into the transmission box 1 and is fitted with a driving bevel gear; a driven bevel gear 1 meshing with the driving bevel gear is provided in the transmission box 1, and a driven bevel gear 2 meshing with the driven bevel gear 1 is provided in the transmission box 1, the driven bevel gear 1 is fitted on the outside of the nut, and the driven bevel gear 2 is fitted on the outside of the transmission shaft; The other end of the transmission shaft is provided with a driven bevel gear three located in the transmission box two; and a driven bevel gear four meshing with the driven bevel gear three is provided on the outside of the nut in the transmission box two.

2. A transport robot for construction sites according to claim 1, characterized in that: The support plate is installed on the support frame; the chassis is located in the installation cavity and is connected to the support frame as a whole.

3. The transport robot for construction sites according to claim 1, characterized in that: The support plate is provided with grooves corresponding to the lifting plates; the lifting plates are arranged in two groups in parallel, and the two groups of lifting plates are respectively connected to the transmission components.

4. The transport robot for construction sites according to claim 1, characterized in that: It also includes a telescopic driving member which is detachably mounted on the support plate and connected to the control cabinet.

5. The transport robot for construction sites according to claim 1, characterized in that: The driving wheel groups are connected to the control cabinet and there are at least two groups; each driving wheel group includes at least one group of driving wheels.

6. The transport robot for construction sites according to claim 5, characterized in that: The driving wheel includes a slave gear installed at the bottom of the chassis and rotating with the chassis, a main gear meshing with the slave gear, a rotating drive motor connected to the main gear, a pulley connected to the slave gear, and a sliding drive motor used to cooperate with the pulley and control the movement of the chassis.

7. A transport robot for construction sites according to any one of claims 1 to 6, characterized in that: A battery module connected to a control cabinet is installed at the bottom of the chassis.

8. A transport robot for construction sites according to any one of claims 1 to 6, characterized in that: An ultrasonic radar, a laser radar, and a depth camera which are respectively connected to the control cabinet are arranged on the chassis structure.

Images