Building gripper flexible robot

Abstract

The utility model discloses a building gripper flexible robot which comprises a fixing base, a rotating table is installed on the fixing base, a first swing table of an integrated structure is arranged on the rotating table, a connecting arm is connected beside the first swing table, a second swing table is connected to the connecting arm, and an extended rotating arm is connected to the front portion of the second swing table. The tail end of the extended rotating arm is connected with a connecting sleeve, and a welding gun is connected in front of the extended rotating arm. The building gripper piece is arranged below the extended rotating arm, angle swing can be achieved through assistance of the swing table and the hydraulic push rod, and the electric control push rod and the fine adjustment motor which are connected below the swing table are matched with the gripping table to conduct length and angle compensation and extension. According to the multi-axis movable building robot, the multi-axis movable welding gun is arranged on the stand body, then the gripper on the stand body completes grabbing of corresponding building materials, finally, the building materials are directly welded under cooperation of the multi-axis movable welding gun, compared with a traditional building robot, the multi-axis movable building robot can achieve multiple functions, and the problem that a placing table is needed for assistance in the welding process is solved.

Description

Technical Field

[0001] This utility model relates to the field of building auxiliary equipment technology, specifically a flexible building gripper robot. Background Technology

[0002] Construction robots are high-tech devices that integrate intelligence and automation. They are designed specifically for the construction industry and can perform a variety of tasks such as bricklaying, welding, spraying, and handling. Their core functions include precise positioning, efficient operation, and environmental perception. By being equipped with sensors and AI algorithms, they can achieve autonomous navigation and real-time adjustments. The role of construction robots is to improve construction efficiency, reduce labor costs, reduce safety hazards, and ensure the consistency of project quality.

[0003] While current construction robots can perform various tasks such as bricklaying, welding, painting, and handling, each task is performed independently. In welding, for example, external devices are needed to grasp the parts to be welded and install or place them on designated parts. Therefore, a flexible construction gripper robot is needed to change this situation. Summary of the Invention

[0004] To address the aforementioned issues, this utility model provides a flexible building gripper robot. With the assistance of a swing table and hydraulic push rods, it can swing at different angles. Furthermore, the electrically controlled push rods and fine-tuning motors connected below the swing table work in conjunction with the gripping table to compensate for and extend the length and angle, thereby enabling the gripper on the platform to grasp the corresponding building materials. Finally, with the assistance of a multi-axis welding torch, it can directly weld the building materials.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a flexible construction gripper robot, comprising a fixed base, a rotating platform mounted on the fixed base, a first swing platform with an integrated structure on the rotating platform, a connecting arm connected to the first swing platform, a second swing platform connected to the connecting arm, an extended rotating arm connected to the front of the second swing platform, a connecting sleeve connected to the end of the extended rotating arm, a welding torch connected to the front of the extended rotating arm, and construction gripper components mounted on the two outer walls of the extended rotating arm; a plurality of side fixing frames are provided inside the construction gripper components, side fixing beams are fixed below the side fixing frames, a swing platform is mounted between the side fixing beams, and a hydraulic push rod is connected above the swing platform. The swing platform is mainly hinged through the side fixing beams, and under the action of the hydraulic push rod, the swing angle of the swing platform can be triggered and adjusted, allowing the swing platform to adapt to the gripping of construction materials with different angle requirements after adjustment.

[0006] Furthermore, a plurality of electrically controlled push rods are fixed to the lower surface of the swing table, and auxiliary frames are fixed to the top of the plurality of electrically controlled push rods. A control box is installed on the upper surface of the auxiliary frames, and a gripping platform is installed between the auxiliary frames. A fine-tuning motor is installed on the side wall of the auxiliary frames. The fine-tuning motor is mainly used to trigger the gripping platform installed between the auxiliary frames to make fine adjustments to its angle, so that the angle can be slightly adjusted so that the gripping platform can perform the corresponding gripping work.

[0007] Furthermore, the gripping table includes a frame, on which a baffle is mounted. A plurality of second electrically controlled push rods are mounted at the bottom of the frame, and a fixed clamp is mounted on the top of each push rod. A gripper is mounted in the center of the outer surface of the fixed clamp. A U-shaped groove is formed on the frame, with sliding grooves on both sides. The U-shaped groove primarily allows the gripper to avoid obstructing the second electrically controlled push rods when adjusting their length after gripping the building material, facilitating the welding of the gripped building material with a welding torch.

[0008] Furthermore, the fixed clamp is positioned opposite the baffle, and the fixed clamp slides within the slide groove via the second electrically controlled push rod. The gripper is electrically connected to the control box, and the second electrically controlled push rod is electrically connected to the control box. The platform is installed between the auxiliary fixing frames and its angle is adjusted by the fine-tuning motor. The fixed clamp is mainly installed on the top of the second electrically controlled push rod, and its forward and backward movement is assisted by the slide groove, thereby enabling the building to be clamped parallel to the upper surface of the platform.

[0009] Furthermore, the platform's height is varied by the electrically controlled push rod, and the swing table achieves hinged swinging with the side support beam via the hydraulic push rod. The bottom of the hydraulic push rod is fixed to the bottom of the extended rotating arm, and multiple side support frames are respectively fixed to both sides of the extended rotating arm. The welding torch can swing along multiple axes. The electrically controlled push rod below the platform is mainly used to extend the length of its gripping platform, so that after the extension, its gripper can grip at different heights or different positions of building materials. Beneficial effects

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] This invention places the building gripper below the extended rotating arm, and with the assistance of a swing table and hydraulic push rod, the angle can be swung. The electrically controlled push rod and fine-tuning motor connected below the swing table work with the gripper to compensate for and extend the length and angle, thereby allowing the gripper on the platform to grasp the corresponding building materials. Finally, with the help of a multi-axis welding torch, the building materials can be directly welded. Compared with traditional construction robots, this invention can achieve multiple functions in one machine and avoids the problem of needing a placement table for assistance during welding. Attached Figure Description

[0012] Figure 1 This is a structural schematic diagram of a flexible building gripper robot according to the present invention;

[0013] Figure 2 This is a rear view structural diagram of the building gripper component of this utility model;

[0014] Figure 3 This is a side view of the swing table of this utility model.

[0015] Figure 4 This is a bottom view of the gripping platform of this utility model.

[0016] In the diagram: Fixed base-1, Rotating table-2, First swing table-3, Connecting arm-4, Second swing table-5, Connecting sleeve-6, Extended rotating arm-7, Welding torch-8, Construction gripper-9, Side support frame-91, Hydraulic push rod-92, Side support beam-93, Swing table-94, Electrically controlled push rod-941, Auxiliary support frame-942, Control box-943, Grip table-944, Fine-tuning motor-9421, Frame body-9441, Baffle-9442, Second electrically controlled push rod-9443, Slide groove-9444, U-shaped groove-9445, Fixed clamp-9446, Gripper-9447. Detailed Implementation

[0017] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the protection scope of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Example 1

[0019] like Figures 1-4 As shown, Figure 1 This is a structural schematic diagram of a flexible building gripper robot according to the present invention; Figure 2This is a rear view structural diagram of the building gripper component of this utility model; Figure 3 This is a side view of the swing table of this utility model. Figure 4 This is a bottom view of the gripping platform of this utility model.

[0020] This utility model provides a flexible robot for building grippers, including a fixed base 1, a rotating platform 2 mounted on the fixed base 1, a first swing platform 3 with an integrated structure on the rotating platform 2, a connecting arm 4 connected to the side of the first swing platform 3, a second swing platform 5 connected to the connecting arm 4, an extended rotating arm 7 connected to the front of the second swing platform, a connecting sleeve 6 connected to the end of the extended rotating arm 7, a welding torch 8 connected to the front of the extended rotating arm 7, and building gripper components 9 mounted on the two outer walls of the extended rotating arm 7; a plurality of side fixing frames 91 are provided inside the building gripper components 9, a side fixing beam 93 is fixed below the side fixing frame 91, a swing platform 94 is installed between the side fixing beams 93, and a hydraulic push rod 92 is connected above the swing platform 94. A plurality of electrically controlled push rods 941 are fixed to the lower surface of the swing table 94. A supporting frame 942 is fixed to the top of the plurality of electrically controlled push rods 941. A control box 943 is installed on the upper surface of the supporting frame 942. A gripping table 944 is installed between the supporting frames 942. A fine-tuning motor 9421 is installed on the side wall of the supporting frame 942. A frame body 9441 is set inside the gripping table 944. A baffle 9442 is installed on the frame body 9441. A plurality of second electrically controlled push rods 9443 are installed at the bottom of the frame body 9441. A fixed clamp 9446 is installed on the top of the second electrically controlled push rods 9443. A gripper 9447 is installed in the center of the outer surface of the fixed clamp 9446. A U-shaped groove 9445 is opened on the frame body 9441. Sliding grooves 9444 are provided on both sides of the U-shaped groove 9445.

[0021] The working principle of this utility model is explained below:

[0022] This utility model is fixed by a fixed base 1, and then rotates 360° with the help of a rotating platform 2 above the fixed base 1. At the same time, the first swing platform 3 of the integrated structure drives the connecting arm 4 to swing back and forth, and connects the extended rotating arm 7 with the connecting sleeve 6. Under the control of the welding gun 8, the corresponding welding is completed. When in use, the building gripper 9 needs to grab building materials in advance. During the grabbing operation, the hydraulic push rod 92 between the side fixing frames 91 triggers the swing platform 94 between the side fixing beams 93 to swing hingedly, so that the auxiliary fixing frame 942 can complete the angle adjustment. The grabbing platform 944 and the electric control push rod 941 are both triggered according to the terminal operation command with the help of the control box 943. The electric control push rod 941 realizes the height adjustment, and the side wall of the auxiliary fixing frame 942... The fine-tuning motor 9421 adjusts the angle to face the building material to be grasped. Then, with the lifting of the second electric control push rod 9443, the fixed clamp 9446 drives the gripper 9447 to grasp the building material. After resetting, the building material can be retracted into the U-shaped groove 9445. Finally, with the cooperation of the multi-axis movable welding torch 8, the building material on the gripper 9447 can be directly welded. Some building materials can be manually placed on the surface of the frame 9441. During the fixing of the baffle 9442 and the retraction of the fixed clamp 9446, the building material is clamped and welded with the welding torch 8.

[0023] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0024] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A building gripper flexible robot, characterized by, The utility model provides a kind of welding machine, including fixed seat (1), the rotating table (2) is installed on the fixed seat (1), the first swing table (3) of integrated structure is provided on the rotating table (2), the connecting arm (4) is connected with the first swing table (3) side, the second swing table (5) is connected with the connecting arm (4) side, the extension rotating arm (7) is connected with the front of second swing table, the extension rotating arm (7) end is connected with connecting sleeve (6), the welding torch (8) is connected with the front of extension rotating arm (7), building gripper (9) is installed on the two outer walls of extension rotating arm (7); The building gripper (9) is provided with a plurality of side fixed frames (91), the side fixed beams (93) are fixed below the side fixed frames (91), the swing tables (94) are installed between the side fixed beams (93), the hydraulic push rods (92) are connected above the swing tables (94).

2. A building gripper flexible robot according to claim 1, characterized in that: A plurality of electric control push rods (941) are fixed to the lower surface of the swing table (94), the auxiliary fixed frames (942) are fixed to the top of the plurality of electric control push rods (941), the control boxes (943) are installed on the upper surface of the auxiliary fixed frames (942), the grabbing tables (944) are installed between the auxiliary fixed frames (942), and the fine adjustment motors (9421) are installed on the side walls of the auxiliary fixed frames (942).

3. A building gripper flexible robot according to claim 2, characterized in that: The grabbing tables (944) are provided with frame bodies (9441), the baffles (9442) are installed on the frame bodies (9441), a plurality of second electric control push rods (9443) are installed at the bottom of the frame bodies (9441), the fixed clamping frames (9446) are installed at the top of the second electric control push rods (9443), the grippers (9447) are installed on the outer surfaces of the fixed clamping frames (9446), the U-shaped grooves (9445) are formed in the frame bodies (9441), and the sliding grooves (9444) are arranged on both sides of the U-shaped grooves (9445).

4. A building gripper flexible robot according to claim 3, characterized in that: The fixed clamping frames (9446) are arranged opposite to the baffles (9442), the fixed clamping frames (9446) are slidably connected in the sliding grooves (9444) through the second electric control push rods (9443), the grippers (9447) are electrically connected with the control boxes (943), the second electric control push rods (9443) are electrically connected with the control boxes (943), the frame bodies (9441) are installed between the auxiliary fixed frames (942), and the frame bodies (9441) are angularly adjusted by the fine adjustment motors (9421).

5. A building gripper flexible robot according to claim 3, characterized in that: The frame bodies (9441) change in height through the electric control push rods (941), the swing tables (94) are hingedly swung with the side fixed beams (93) through the hydraulic push rods (92), the hydraulic push rods (92) are fixed at the bottom of the extension rotating arm (7), a plurality of side fixed frames (91) are respectively fixed on both sides of the extension rotating arm (7), and the welding torch (8) can be multi-axially swung.

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