Intelligent building pipeline laying robot

Abstract

The utility model discloses an intelligent building pipeline laying robot, which relates to the technical field of pipeline laying and comprises a robot trolley and a pipeline storage box, the pipeline storage box is mounted above the robot trolley through a supporting seat, and a transmission shaft is mounted in the pipeline storage box through a bearing seat. An arc-shaped pipe taking block is installed on the transmission shaft, and a material taking box is installed on the right side of the pipeline storage box. A workbench is installed above the pipeline storage box, and a mechanical clamping jaw is installed below the mechanical arm assembly. And a supporting plate is mounted on the mechanical clamping jaw. According to the intelligent building pipeline laying robot, through cooperative work of the pipeline storage box, the transmission shaft, the forward and backward reciprocating motor and the arc-shaped pipeline taking block, the automatic pipeline feeding function is achieved, compared with traditional manual feeding, the time and physical strength of constructors for going back and forth to a stacking area and a laying point are greatly saved, the pipeline laying efficiency is remarkably improved, and the labor intensity of workers is reduced. And the construction period is shortened.

Description

Technical Field

[0001] This utility model relates to the field of pipeline laying technology, specifically to an intelligent building pipeline laying robot. Background Technology

[0002] In modern construction engineering, pipeline laying is an extremely important and complex task. From water supply and drainage pipes to gas and ventilation pipes, various pipeline systems run through every corner of a building, and the quality of their laying directly affects the normal functioning of the building and subsequent maintenance costs. With the rapid development of the construction industry, the scale of buildings is constantly expanding, and building structures are becoming increasingly complex and diverse, placing higher demands on the efficiency, precision, and safety of pipeline laying.

[0003] For example, Chinese utility model patent application number 201521058126.0 discloses a real-scene robot for cable duct laying and maintenance, which makes the daily operation and maintenance of cable lines visible and parameterized, greatly improving the management level of managers. At the same time, when adding cable construction work, this utility model can replace humans in rope-dragging operations, greatly improving construction safety and increasing work efficiency. However, the device still has certain shortcomings.

[0004] The inability to automatically feed materials during pipeline laying exacerbates the inefficiency of traditional pipeline laying methods. Manual feeding means that construction workers need to frequently travel between the storage area and the laying point, consuming a lot of physical strength and time.

[0005] Therefore, we propose an intelligent building pipeline laying robot to solve the problems mentioned above. Utility Model Content

[0006] The purpose of this utility model is to provide an intelligent building pipeline laying robot to solve the problem mentioned in the background art that the current market cannot automatically feed pipelines during pipeline laying, which exacerbates the inefficiency of traditional pipeline laying methods. Manual feeding means that construction workers need to frequently travel between the stacking area and the laying point, which consumes a lot of physical strength and time.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an intelligent building pipe laying robot, comprising a robot trolley and a pipe storage box. The pipe storage box is mounted on the top of the robot trolley via a support base. A drive shaft is mounted inside the pipe storage box via a bearing seat. An arc-shaped pipe picking block is mounted on the drive shaft. A material picking box is mounted on the right side of the pipe storage box.

[0008] A workbench is installed above the pipe storage box, and a robotic arm assembly is installed above the workbench. A mechanical gripper is installed below the robotic arm assembly.

[0009] A support plate is mounted on the mechanical gripper, and a scanning camera assembly is provided on the support plate. Connecting blocks are installed on both the left and right sides of the scanning camera assembly. Limiting threaded rods are installed on both the left and right sides of the upper surface of the support plate, and fixing nuts are installed on the limiting threaded rods. A protective plate is installed below the support plate via a hinge.

[0010] Preferably, the inner bottom of the pipe storage box is designed with a sloping structure, and the drive shaft is connected to the output shaft end of the reciprocating motor. During the left and right reciprocating rotation of the arc-shaped pipe picking block, its protruding surface does not contact the bottom surface of the pipe storage box. The arc-shaped pipe picking block rotates at a force angle of less than 360°. The rotation of the arc-shaped pipe picking block is used for transporting the pipe.

[0011] Using the above structural design, the pipe to be laid is first placed in the pipe storage box. Due to the inclined structure design at the bottom of the pipe storage box, the pipe will naturally slide down to the position close to the arc-shaped pipe picking block under the action of gravity. The reciprocating motor is started, and its output shaft drives the transmission shaft to rotate, which in turn causes the arc-shaped pipe picking block installed on the transmission shaft to rotate back and forth. During the rotation, the arc-shaped pipe picking block will take the building pipe out of the pipe storage box and transfer it to the picking box on the right.

[0012] Preferably, the reciprocating motor is fixed to the front surface of the pipe storage box, and a door is installed on the front surface of the pipe storage box, and a viewing window is provided on the pipe storage box.

[0013] With the above structural design, the pipes inside the pipe storage box can be easily viewed through the viewing window on the pipe storage box, so that the building pipes can be replenished in a timely manner.

[0014] Preferably, the top of the material picking box is designed with an open structure, and the inside of the material picking box is equipped with limit blocks. There are four limit blocks, which are distributed in a rectangular structure, and the upper surface of the limit blocks is designed with an arc structure.

[0015] With the above structural design, the limiting block limits the pipe falling into the picking box to prevent it from rolling. Then the robotic arm assembly starts, driving the mechanical gripper to move above the picking box. The mechanical gripper descends to grab the building pipe. After the gripping is completed, the robotic arm assembly moves the pipe to the laying position.

[0016] Preferably, a work warning light is installed above the workbench, and the work warning light is located on the left side of the upper surface of the workbench.

[0017] With the above structural design, the work warning light illuminates when the robot is working, alerting surrounding personnel to pay attention to safety.

[0018] Preferably, a metal sheet is mounted on the front surface of the scanning camera assembly, and a magnetic block is mounted on the protective plate. The magnetic block is attracted to the metal sheet, and the scanning camera assembly is connected to the intelligent system.

[0019] With the above structural design, during the transfer process, the scanning camera component on the support plate scans and captures images of the surrounding environment, and transmits the acquired image information to the operator or control system so as to monitor the pipeline laying status in real time and ensure laying accuracy. When the scanning camera component is idle, the magnetic block is attracted to the metal sheet on the front surface of the scanning camera component, keeping the protective plate in a closed state. The protective plate protects the camera on the scanning camera component.

[0020] Preferably, the connecting block has a through hole, the center line of which coincides with the center line of the limiting threaded rod, and the fixing nut is threadedly connected to the limiting threaded rod.

[0021] With the above structural design, when installing the scanning camera assembly, the scanning camera assembly is connected to the limiting threaded rod through the connecting block, so that the scanning camera assembly abuts against the support plate. Then, the fixing nut is rotated, and the fixing nut moves downward to abut against the connecting block on the scanning camera assembly, thereby facilitating the installation and removal of the scanning camera assembly.

[0022] Compared with existing technologies, the beneficial effects of this utility model are: This intelligent building pipeline laying robot:

[0023] 1. Achieve automatic feeding and improve laying efficiency: Through the coordinated work of the pipe storage box, drive shaft, reciprocating motor and arc-shaped pipe picking block, the automatic feeding function of the pipe is realized. Compared with the traditional manual feeding, it greatly saves the time and physical strength of construction personnel to travel between the stacking area and the laying point, significantly improves the efficiency of pipe laying and shortens the construction cycle.

[0024] 2. Precise positioning and monitoring to ensure laying quality: The scanning camera component can scan and photograph the pipeline laying environment in real time, providing operators with accurate environmental information, which facilitates precise control of the pipeline laying position and angle, and ensures laying quality;

[0025] 3. When the scanning camera assembly is idle, the magnetic block attracts the metal sheet on the front surface of the scanning camera assembly, keeping the protective plate closed. The protective plate protects the camera on the scanning camera assembly. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the installation structure of the scanning camera component of this utility model;

[0028] Figure 3 This utility model Figure 2 Enlarged structural diagram at point A in the middle;

[0029] Figure 4 This is a top view of the internal structure of the pipeline storage box and material retrieval box of this utility model;

[0030] Figure 5 This is a schematic diagram of the overall internal structure of the pipeline storage box and material retrieval box of this utility model;

[0031] Figure 6 This is a schematic diagram of the structure of the present invention when the material is transported through the pipeline to the inside of the material receiving box;

[0032] Figure 7 This is a schematic diagram of the internal structure of the pipe storage box of this utility model.

[0033] In the diagram: 1. Robotic vehicle; 2. Support base; 3. Pipe storage box; 4. Drive shaft; 5. Reciprocating motor; 6. Arc-shaped pipe picking block; 7. Material picking box; 8. Limit block; 9. Workbench; 10. Work warning light; 11. Robotic arm assembly; 12. Mechanical gripper; 13. Support plate; 14. Scanning camera assembly; 15. Metal sheet; 16. Connecting block; 17. Limit threaded rod; 18. Fixing nut; 19. Protective plate; 20. Magnetic block. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] Please see Figures 1-7This utility model provides a technical solution: an intelligent building pipe laying robot, including a robot trolley 1, a support base 2, a pipe storage box 3, a drive shaft 4, a forward and reverse reciprocating motor 5, an arc-shaped pipe picking block 6, a material picking box 7, a limiting block 8, a worktable 9, a work warning light 10, a robotic arm assembly 11, a mechanical gripper 12, a support plate 13, a scanning camera assembly 14, a metal sheet 15, a connecting block 16, a limiting threaded rod 17, a fixing nut 18, a protective plate 19, and a magnetic block 20. The pipe storage box 3 is mounted on the top of the robot trolley 1 via the support base 2, and the interior of the pipe storage box 3 is connected by a shaft. A drive shaft 4 is mounted on the support, and an arc-shaped pipe-picking block 6 is mounted on the drive shaft 4. A material-picking box 7 is mounted on the right side of the pipe storage box 3. The inner bottom of the pipe storage box 3 has a sloping structure design. The drive shaft 4 is connected to the output shaft end of the reciprocating motor 5. During the left and right reciprocating rotation of the arc-shaped pipe-picking block 6, its protruding surface does not contact the bottom surface of the pipe storage box 3. The rotation angle of the arc-shaped pipe-picking block 6 under force is less than 360°. The rotation of the arc-shaped pipe-picking block 6 is used to transport the pipe. The pipe to be laid is placed in the pipe storage box 3. Due to the sloping structure design of the inner bottom of the pipe storage box 3, the pipe will naturally slide down to the support. The arc-shaped pipe-retrieving block 6 is positioned near the pipe storage box 3, and then the reciprocating motor 5 is started. The output shaft of the reciprocating motor 5 drives the transmission shaft 4 to rotate, thereby causing the arc-shaped pipe-retrieving block 6 mounted on the transmission shaft 4 to rotate back and forth. During the rotation, the arc-shaped pipe-retrieving block 6 will take the pipe out of the pipe storage box 3 and transfer it to the material box 7 on the right side. The reciprocating motor 5 is fixed to the front surface of the pipe storage box 3, and the front surface of the pipe storage box 3 is equipped with a door. The pipe storage box 3 is provided with a viewing window, which facilitates the inspection of the pipes inside the pipe storage box 3. When the pipe is stored... When the number of pipes in box 3 is small or insufficient, pipes can be replenished in time. The top of the picking box 7 is designed with an open structure, and the inside of the picking box 7 is equipped with limit blocks 8. There are four limit blocks 8, which are distributed in a rectangular structure. The upper surface of the limit blocks 8 is designed with an arc structure. The limit blocks 8 play a role in limiting the pipes falling into the picking box 7, preventing them from rolling, and facilitating the subsequent gripping of the pipes. The robotic arm assembly 11 is started, which drives the mechanical gripper 12 to move above the picking box 7. The mechanical gripper 12 descends to grip the pipe. After gripping, the robotic arm assembly 11 moves the pipe to the laying position.

[0036] A workbench 9 is installed above the pipe storage box 3. A work warning light 10 is installed above the workbench 9. The work warning light 10 is located on the left side of the upper surface of the workbench 9. The work warning light 10 lights up when the robot is working to warn the surrounding personnel to pay attention to safety. A robotic arm assembly 11 is installed above the workbench 9. A mechanical gripper 12 is installed below the robotic arm assembly 11.

[0037] A support plate 13 is mounted on the mechanical gripper 12, and a scanning camera assembly 14 is installed on the support plate 13. Connecting blocks 16 are installed on both the left and right sides of the scanning camera assembly 14. Limiting threaded rods 17 are installed on both the left and right sides of the upper surface of the support plate 13, and fixing nuts 18 are installed on each of the limiting threaded rods 17. A protective plate 19 is installed below the support plate 13 via hinges. A metal sheet 15 is installed on the front surface of the scanning camera assembly 14, and a magnetic block 20 is installed on the protective plate 19. The magnetic block 20 is attracted to the metal sheet 15. The scanning camera assembly 14 is connected to an intelligent system. During the transfer process, the scanning camera assembly 14 on the support plate 13 scans and captures images of the surrounding environment, transmitting the acquired image information to the operator or control system to monitor the pipeline laying status in real time and ensure laying accuracy. When the scanning camera assembly 14 is idle, the magnetic block 15... Block 20 adheres to the metal sheet 15 on the front surface of the scanning camera assembly 14, keeping the protective plate 19 closed. The protective plate 19 protects the camera on the scanning camera assembly 14. When using the scanning camera assembly 14, the protective plate 19 can be rotated downwards along the hinge. The structure is simple and easy to operate. The connecting block 16 has a through hole, and the center line of the through hole coincides with the center line of the limiting threaded rod 17. The fixing nut 18 is threadedly connected to the limiting threaded rod 17. When installing the scanning camera assembly 14, the scanning camera assembly 14 is sleeved on the limiting threaded rod 17 through the connecting block 16, so that the scanning camera assembly 14 abuts against the support plate 13. Then, the fixing nut 18 is rotated, and the fixing nut 18 moves downwards to abut against the connecting block 16 on the scanning camera assembly 14, thereby realizing the quick disassembly and installation of the scanning camera assembly 14.

[0038] Working principle: When using this intelligent building pipe laying robot, firstly, when laying shorter building pipes, the pipe to be laid is placed in the pipe storage box 3. Due to the inclined structure design of the bottom of the pipe storage box 3, the pipe will naturally slide down to a position close to the arc-shaped pipe picking block 6 under the action of gravity. The reciprocating motor 5 is started, and its output shaft drives the transmission shaft 4 to rotate, which in turn causes the arc-shaped pipe picking block 6 installed on the transmission shaft 4 to rotate back and forth. During the rotation, the arc-shaped pipe picking block 6 will take the pipe out of the pipe storage box 3 and move it to the picking box 7 on the right. The limiting block 8 plays a role in limiting the pipe falling into the picking box 7 to prevent it from rolling. Then, the robotic arm assembly 11 is started, which drives the mechanical gripper 12 to move above the picking box 7. The mechanical gripper 12 descends to grab the pipe. After the gripping is completed, the robotic arm assembly 11 moves the pipe to the laying position.

[0039] During the transfer process, the scanning camera component 14 on the support plate 13 scans and captures images of the surrounding environment. The scanning camera component 14 is connected to the intelligent system, and the image information it acquires can be transmitted to the intelligent system in real time. The intelligent system uses image recognition and analysis technology to quickly process these images and accurately identify the location, shape, and surrounding obstacles of the pipeline. When the scanning camera component 14 is idle, the magnetic block 20 is attracted to the metal sheet 15 on the front surface of the scanning camera component 14, keeping the protective plate 19 in a closed state. The protective plate 19 protects the camera on the scanning camera component 14.

[0040] When installing the scanning camera assembly 14, the scanning camera assembly 14 is sleeved onto the limiting threaded rod 17 via the connecting block 16, so that the scanning camera assembly 14 abuts against the support plate 13. Then, the fixing nut 18 is rotated, and the fixing nut 18 moves downward to abut against the connecting block 16 on the scanning camera assembly 14, thereby facilitating the installation and removal of the scanning camera assembly 14. This completes a series of operations. Content not described in detail in this specification belongs to prior art known to those skilled in the art.

[0041] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent building pipe laying robot, comprising a robot trolley (1) and a pipe storage box (3), wherein the pipe storage box (3) is mounted on top of the robot trolley (1) via a support base (2), characterized in that: The inside of the pipe storage box (3) is equipped with a drive shaft (4) through a bearing seat. An arc-shaped pipe-retrieving block (6) is installed on the drive shaft (4). A material-retrieving box (7) is installed on the right side of the pipe storage box (3). A workbench (9) is installed above the pipe storage box (3), and a robotic arm assembly (11) is installed above the workbench (9). A mechanical gripper (12) is installed below the robotic arm assembly (11). A support plate (13) is installed on the mechanical gripper (12), and a scanning camera assembly (14) is provided on the support plate (13). Connecting blocks (16) are installed on both the left and right sides of the scanning camera assembly (14). Limiting threaded rods (17) are installed on both the left and right sides of the upper surface of the support plate (13), and fixing nuts (18) are installed on the limiting threaded rods (17). A protective plate (19) is installed below the support plate (13) via a hinge.

2. The intelligent building pipeline laying robot according to claim 1, characterized in that: The inner bottom of the pipe storage box (3) is designed with a sloping structure. The drive shaft (4) is connected to the output shaft end of the reciprocating motor (5). During the left and right reciprocating rotation of the arc-shaped pipe picking block (6), its protruding surface does not contact the bottom surface of the pipe storage box (3). The arc-shaped pipe picking block (6) rotates at a force angle of less than 360°. The rotation of the arc-shaped pipe picking block (6) is used for the transportation of the pipe.

3. The intelligent building pipeline laying robot according to claim 2, characterized in that: The reciprocating motor (5) is fixed on the front surface of the pipe storage box (3), and a door is installed on the front surface of the pipe storage box (3). A viewing window is provided on the pipe storage box (3).

4. The intelligent building pipeline laying robot according to claim 1, characterized in that: The material picking box (7) has an open structure at the top, and a limiting block (8) is installed inside the material picking box (7). There are four limiting blocks (8), which are distributed in a rectangular structure. The upper surface of the limiting block (8) has an arc-shaped structure.

5. The intelligent building pipeline laying robot according to claim 1, characterized in that: A work warning light (10) is installed above the workbench (9), and the work warning light (10) is located on the left side of the upper surface of the workbench (9).

6. The intelligent building pipeline laying robot according to claim 1, characterized in that: The scanning camera assembly (14) has a metal sheet (15) mounted on its front surface and a magnetic block (20) mounted on the protective plate (19). The magnetic block (20) is attracted to the metal sheet (15), and the scanning camera assembly (14) is connected to the intelligent system.

7. The intelligent building pipeline laying robot according to claim 1, characterized in that: The connecting block (16) has a through hole, the center line of which coincides with the center line of the limiting threaded rod (17), and the fixing nut (18) is threadedly connected to the limiting threaded rod (17).

Images