An all-electric wallboard installation robot

Abstract

This utility model provides a fully electric wall panel installation robot, including an omnidirectional moving chassis and a wall panel installation tool. The wall panel installation tool includes an outer gantry, an inner gantry, a lifting gantry, and a gripping frame. The omnidirectional moving chassis includes a chassis body, with one end of a pitch cylinder hinged to the chassis body. The bottom of the outer gantry is hinged to the chassis body, and the middle part of the outer gantry is hinged to the pitch cylinder. The inner gantry is equipped with guide rails on both its front and rear sides. The inner guide rail slides with a slider on the outer gantry, and the outer guide rail slides with a slider on the lifting gantry. The inner gantry is connected to the telescopic end of the lifting cylinder, and the outer gantry is connected to the fixed end of the lifting cylinder. An electric rotary table is installed on the lifting gantry, and the gripping frame is installed at the output end of the electric rotary table. This robot improves the installation accuracy and efficiency of the installation tool by replacing the hydraulic structure with an electric structure as the actuator.

Description

Technical Field

[0001] This utility model mainly relates to the technical field of construction robots, specifically a fully electric wall panel installation robot. Background Technology

[0002] Currently, installation robots can be used to assist in wall panel installation in the construction industry. In the applicant's previous application for a "wall panel installation robot," hydraulic cylinders or hydraulic motors were primarily used as actuators, achieving good results in practical applications. However, actual verification has revealed the following shortcomings: The hydraulic drive structure results in low installation accuracy for wall panel installation tools, requiring multiple adjustments or manual intervention before proper installation or transport, leading to low efficiency. In situations with high precision requirements, it may even be impossible to complete wall panel installation and transport. Due to the lack of chassis flexibility, wall panels cannot be installed in many confined spaces, and collisions with other walls frequently occur during installation, damaging the panels. The robot lacks fall protection, and in case of accidents, it may fall from an upper floor to the ground. The robot's lifting structure design is not compact enough, resulting in low motion accuracy. There are also numerous hydraulic pipes with complex routing.

[0003] In conclusion, it is necessary to further improve the existing installation robots in order to enhance their practical application effectiveness. Utility Model Content

[0004] To address the shortcomings of current technology, this utility model, based on existing technology and practical application, provides a wall panel installation robot. By replacing the hydraulic structure with an electric structure as the actuator in the system, the installation accuracy and efficiency of the installation tools are improved.

[0005] The technical solution of this utility model is as follows: A fully electric wall panel installation robot includes an omnidirectional mobile chassis and a wall panel installation tool. The wall panel installation tool includes an outer gantry, an inner gantry, a lifting gantry, and a gripping frame. The omnidirectional mobile chassis includes a chassis body and a steering and walking wheel set. A pitch cylinder is installed on the chassis body, with one end of the pitch cylinder hinged to the chassis body. The bottom of the outer gantry is hinged to the chassis body, and the middle part of the outer gantry is hinged to the pitch cylinder. The inner gantry is equipped with guide rails on both the front and rear sides. The inner guide rail is slidably engaged with the slider on the outer gantry, and the outer guide rail is slidably engaged with the slider on the lifting gantry. The inner gantry is connected to the telescopic end of the lifting electric cylinder, and the outer gantry is connected to the fixed end of the lifting electric cylinder. The outer gantry, inner gantry, and lifting gantry are connected by chains; An electric rotary table is installed on the lifting gantry. A gripping frame is installed at the output end of the electric rotary table. The fixed end of the gripping electric cylinder is connected to the gripping frame, and the telescopic end of the gripping electric cylinder is connected to the clamping arm.

[0006] Furthermore, the chassis body is equipped with a fall protection sensor, which can emit a beam of light towards the road surface in front of the robot.

[0007] Furthermore, the robot includes a main control unit and sub-control units. The main control unit is mounted on the chassis body and is used for motion control of the omnidirectional moving chassis, control of the pitch cylinder and lifting cylinder, as well as power supply and communication to the sub-control units. The sub-control units are mounted on the gripping frame and are used for control of the electric rotary table and gripping cylinder.

[0008] Furthermore, the power supply and control lines of the sub-control unit are connected to the main control unit via a cable chain.

[0009] Furthermore, one end of the drag chain is fixed to the lifting gantry, and the other end is fixed to the chassis body by passing around the drag chain guide wheel on the inner gantry.

[0010] Furthermore, a rotation limit switch is installed on the lifting gantry. When the grabbing frame rotates to a certain angle, the rotation limit switch is triggered to achieve rotation limit.

[0011] Furthermore, a distance sensor is installed on the gripping frame to detect the distance between the installation robot and the wall panel.

[0012] Furthermore, there are four sets of steering and traveling wheels, all of which are fixed on the chassis body. Each set of steering and traveling wheels includes: a steering and traveling connecting plate, a traveling wheel steering assembly, and a traveling wheel traveling assembly. The traveling wheel steering assembly and the traveling wheel traveling assembly are fixedly connected through the traveling and steering connecting plate.

[0013] Furthermore, the walking wheel assembly includes a walking motor, a walking gearbox, and a walking wheel. The walking motor is fixed on the walking gearbox, the walking gearbox is fixed on the steering walking connecting plate, and the output shaft of the walking gearbox is fixedly connected to the walking wheel to drive the walking wheel to move.

[0014] Furthermore, the traveling wheel steering assembly includes a steering motor, a steering reduction gearbox, and a steering angle sensor. The steering motor is fixed on the steering reduction gearbox. After the steering reduction gearbox is fixedly connected to the steering traveling connecting plate, it drives the traveling wheel traveling assembly to achieve steering. The steering angle sensor is used to detect the steering angle of the traveling wheel.

[0015] The beneficial effects of this utility model are: This invention improves the installation accuracy of the installation tool by rationally modifying the hydraulic drive structure in the traditional wall panel installation robot system into a servo electric cylinder or servo electric rotary table as the actuator, thereby achieving efficient and high-precision wall panel installation. Furthermore, the all-electric structure design makes system control and response more convenient and faster, facilitating automated control.

[0016] This invention includes a fall protection sensor. The sensor beam that shines onto the ground can provide feedback on the ground conditions, preventing the robot from accidentally falling from the building.

[0017] This utility model divides the control into a main control unit and a sub-control unit, making the control design more reasonable. The designed drag chain structure facilitates the arrangement of control cables and power supply cables, reducing the number of cables.

[0018] The chassis of this utility model adopts a pure electric omnidirectional moving chassis, which increases the flexibility of movement, meets the installation requirements of wall panels in narrow spaces, prevents collisions with other walls, shortens installation time, and improves installation efficiency. At the same time, the wall panel gripping part adopts an electronically controlled structure, which facilitates more precise electronic force feedback. During the clamping process, the clamping force is controlled below the force that will not damage the wall panel, thus preventing damage to the wall panel. Attached Figure Description

[0019] Appendix Figure 1 Schematic diagram of robot installation Figure 1 .

[0020] Appendix Figure 2 Schematic diagram of robot installation Figure 2 .

[0021] Appendix Figure 3 Schematic diagram of robot installation Figure 3 .

[0022] Appendix Figure 4 This is a schematic diagram of the steering and walking wheel assembly structure. Detailed Implementation

[0023] The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the scope defined in this application.

[0024] refer to Figures 1-4 The diagram shown is a schematic of the structure of a fully electric wall panel installation robot provided in this embodiment. It is mainly used in the construction industry for the automatic transportation and installation of wall panels. The robot does not use a hydraulic structure, but a fully electric control structure, as detailed below.

[0025] The all-electric wall panel installation robot includes: an omnidirectional mobile chassis, wall panel installation tools, a main control unit, and sub-control units.

[0026] The main control unit employs a closed-loop servo control method to achieve motion control of the omnidirectional mobile chassis, as well as power supply and communication to the sub-control units. The sub-control units control the corresponding servo electric cylinders and servo electric rotary tables of the wall panel installation tools.

[0027] The omnidirectional mobile chassis specifically includes: chassis body 1, steering and traveling wheel sets 3, and anti-fall sensors 20. The steering and traveling wheel sets 3 consist of four sets, all with identical structures and fixed to the chassis body 1. Under the control of the main control unit, the omnidirectional movement of the chassis body 1 is achieved through the combined movement of the four sets of steering and traveling wheel sets 3.

[0028] Specifically, each set of steering and traveling wheels 3 includes: a steering and traveling connecting plate 26, a traveling wheel steering assembly, and a traveling wheel traveling assembly. The traveling wheel steering assembly and the traveling wheel traveling assembly are connected via the steering and traveling connecting plate 26. The traveling wheel traveling assembly mainly consists of a traveling motor 24, a traveling reduction gearbox 25, and a traveling wheel 27. The traveling motor 24 is fixed to the traveling reduction gearbox 25, which is fixed to the steering and traveling connecting plate 26. The output shaft of the traveling reduction gearbox 25 is fixed to the traveling wheel 27, driving the traveling wheel 27 to travel. The traveling wheel steering assembly mainly consists of a steering motor 22, a steering reduction gearbox 23, and a steering angle sensor 21. The steering motor 22 is fixed to the steering reduction gearbox 23. The steering reduction gearbox 23 is connected to the steering and traveling connecting plate 26, driving the traveling assembly to achieve steering. The steering angle sensor 21 measures the steering angle of the traveling wheel 27 in real time, and the steering angle and traveling speed are controlled by the central control unit 2.

[0029] The front of the chassis body 1 is equipped with a fall protection sensor 20, which detects the road surface by emitting a beam of light forward and downward to prevent the robot from falling from the building to the ground.

[0030] The main structure of the wall panel installation tool is as follows: The wall panel pitch control includes: an outer gantry 7, a pitch cylinder 4, and a slider. The bottom of the outer gantry 7 is connected to the chassis body 1 via a pin, and the middle part is connected to the telescopic end of the pitch cylinder 4 via a pin. The bottom of the pitch cylinder 4 is connected to the chassis body 1 via a pin, and the pitch control of the outer gantry 7 is achieved by the telescopic movement of the pitch cylinder 4.

[0031] The wall panel lifting control system includes: a lifting cylinder 6, an inner gantry 15, a lifting gantry 8, guide rails 17, a slider, a chain, chain guide wheels, a drag chain 5, and drag chain guide wheels 16. The fixed end of the lifting cylinder 6 is fixed to the bottom of the outer gantry 7, and its telescopic end is fixedly connected to the inner gantry 15. The inner gantry 15 is equipped with guide rails 17 on both sides, one of which can slide on the slider of the outer gantry 7, and simultaneously tilts the inner gantry 15 when the outer gantry 7 tilts. The lifting gantry 8 is equipped with a slider, and the other guide rail 17 of the inner gantry 15 can slide on the slider, simultaneously tilting the lifting gantry 8 when the inner gantry 15 tilts. One end of the chain is fixed to the outer gantry 7, passes over the chain guide wheels fixed to the inner gantry 15, and is then fixed to the lifting gantry 8. The extension and retraction of the lifting cylinder 6 drives the inner gantry 15 to rise and fall, and the chain of the lifting gantry 8 drives the lifting gantry 8 to rise and fall.

[0032] One end of the drag chain 5 is fixed to the lifting gantry 8, and the other end passes around the drag chain guide wheel 16 on the inner gantry 8 and is fixed to the omnidirectional moving chassis, so that the power supply cable and control cable of the sub-control unit can move with the lifting of the gantry.

[0033] The wall panel flipping control mainly includes: electric rotary table 14 and rotary limit switch 9. The electric rotary table 14 is installed on the lifting gantry 8, and the flipping of the clamping structure is achieved by the rotation of the electric rotary table 14.

[0034] Specifically, a rotation limit switch 9 is installed on the lifting gantry 8. When the clamping structure rotates to a certain angle, it triggers the rotation limit switch 9. The rotation limit switch 9 feeds back the signal to the sub-control unit 18. The sub-control unit 18 controls the electric rotary table 14 to stop rotating and feeds back the signal to the main control unit 2 in real time, thus achieving rotation limit.

[0035] The wall panel clamping structure includes: a gripping frame 11, a gripping electric cylinder 10, a clamping arm 13, a clamping claw 12, and a sub-control unit 18. The gripping frame 11 is fixed to the output end of the electric rotary table 14, and the rotation of the rotary table drives the gripping frame 11 to rotate. The fixed end of the gripping electric cylinder 10 is connected to the gripping frame 11 by a pin, and the telescopic end is connected to the clamping arm 13 by a pin. The other end of the clamping arm 13 is connected to the clamping claw 12 by a pin, and the middle part of the clamping arm 13 is connected to the gripping frame 11 by a pin. When the gripping electric cylinder 10 extends or retracts, it drives the clamping arm 13 to move, and the clamping arm 13 drives the clamping claw 12 to move, thereby pressing the wall panel against the gripping frame 11 and achieving the clamping of the wall panel. The gripping claw 12 is connected to the gripping arm 13 via a pin, which allows the gripping claw 12 to automatically align with the contact surface of the wall panel when gripping it, ensuring a firm grip and increasing the contact area to prevent damage to the wall panel. Furthermore, force feedback at the gripping structure allows for control of the gripping force. When the gripping force exceeds the force that could damage the wall panel, the clamping force is automatically maintained to prevent damage.

[0036] The sub-control unit 18 is fixed on the gripping frame 11. The gripping electric cylinder 10 and the electric rotary table 14 are controlled by the sub-control unit 18. The power line and control line of the sub-control unit 18 are connected to the main control unit 2 through the drag chain 5 to realize the communication between the main control unit 2 and the sub-control unit 18, thereby greatly reducing the number of cables.

Claims

1. An all-electric wall panel installation robot comprising an omnidirectional mobile chassis and a wall panel installation tool, the wall panel installation tool comprising an outer gantry, an inner gantry, a lifting gantry, and a gripping gantry, the omnidirectional mobile chassis comprising a chassis body and a set of steering road wheels, characterized in that, A pitch cylinder is installed on the chassis body. One end of the pitch cylinder is hinged to the chassis body. The bottom of the outer gantry is hinged to the chassis body. The middle part of the outer gantry is hinged to the pitch cylinder. The inner gantry is equipped with guide rails on both the front and rear sides. The inner guide rail is slidably engaged with the slider on the outer gantry, and the outer guide rail is slidably engaged with the slider on the lifting gantry. The inner gantry is connected to the telescopic end of the lifting electric cylinder, and the outer gantry is connected to the fixed end of the lifting electric cylinder. The outer gantry, inner gantry, and lifting gantry are connected by chains; An electric rotary table is installed on the lifting gantry. A gripping frame is installed at the output end of the electric rotary table. The fixed end of the gripping electric cylinder is connected to the gripping frame, and the telescopic end of the gripping electric cylinder is connected to the clamping arm.

2. The all-electric wall panel installation robot of claim 1, wherein, The chassis body is equipped with a fall protection sensor, which can emit a beam of light towards the road surface in front of the robot.

3. The all-electric wall panel installation robot of claim 1, wherein, The robot includes a main control unit and sub-control units. The main control unit is mounted on the chassis body and is used for the motion control of the omnidirectional moving chassis, the control of the pitch cylinder and the lifting cylinder, as well as the power supply and communication to the sub-control units. The sub-control units are mounted on the gripping frame and are used for the control of the electric rotary table and the gripping cylinder.

4. The all-electric wall panel installation robot of claim 3, wherein, The power and control lines of the sub-control unit are connected to the main control unit via cable chains.

5. The all-electric wall panel installation robot of claim 4, wherein, One end of the drag chain is fixed to the lifting gantry, and the other end is fixed to the chassis body by passing around the drag chain guide wheel on the inner gantry.

6. The all-electric wall panel installation robot of claim 1, wherein, The lifting gantry is equipped with a rotation limit switch. When the grabbing frame rotates to a certain angle, the rotation limit switch is triggered to achieve rotation limit.

7. The all-electric wall panel installation robot of claim 1, wherein, The gripping frame is equipped with a distance sensor to detect the distance between the installation robot and the wall panel.

8. The all-electric wall panel installation robot of claim 1, wherein, There are four sets of steering and traveling wheels, all of which are fixed on the chassis body. Each set of steering and traveling wheels includes: a steering and traveling connecting plate, a traveling wheel steering assembly, and a traveling wheel traveling assembly. The traveling wheel steering assembly and the traveling wheel traveling assembly are fixedly connected through the traveling and steering connecting plate.

9. The all-electric wall panel installation robot of claim 8, wherein, The walking wheel assembly includes a walking motor, a walking gearbox, and walking wheels. The walking motor is fixed on the walking gearbox, which is fixed on the steering walking connecting plate. The output shaft of the walking gearbox is fixed to the walking wheels and drives the walking wheels to move.

10. The all-electric wall panel installation robot of claim 1, wherein, The traveling wheel steering assembly includes a steering motor, a steering reduction gearbox, and a steering angle sensor. The steering motor is fixed on the steering reduction gearbox. After the steering reduction gearbox is fixedly connected to the steering traveling connecting plate, it drives the traveling wheel traveling assembly to achieve steering. The steering angle sensor is used to detect the steering angle of the traveling wheel.

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