A lightweight prefabricated stair step installation auxiliary robot

Abstract

The utility model belongs to building machinery technical field discloses a kind of light-weight prefabricated stair step installation auxiliary robot, including and robot body step installation mechanism;The stair step installation mechanism includes the fixed seat of connection in the tail end of the robot body and the fixture module and the welding module of installation on the fixed seat;The fixture module is used to clamp stair step, and make stair step and stair side beam alignment under the drive of the robot body;The welding module is used to weld fixed stair step and stair side beam, to effectively improve the installation efficiency and precision of stair step.The welding module is symmetrically provided with two groups, and each group welding module includes reciprocating laser welding head;The fixture module is provided with at least one group, and is distributed between two groups of welding modules, and each group fixture module includes two clamping jaws that can move towards or opposite, and the clamping jaw moving direction is parallel to the laser welding head moving direction.

Description

Technical Field

[0001] This utility model belongs to the field of construction machinery technology, specifically relating to a lightweight prefabricated stair tread installation auxiliary robot. Background Technology

[0002] Staircases, as the main vertical transportation and emergency evacuation route in a building, have a significant impact on the normal use and emergency evacuation of the entire building. Most existing buildings use traditional cast-in-place reinforced concrete staircases, which have significant advantages in terms of strength, sound insulation, and maintenance-free operation. However, the installation process requires complex procedures such as formwork, rebar tying, on-site pouring, and curing, resulting in disadvantages such as long construction periods, numerous hidden works, and poor quality control.

[0003] Furthermore, with the maturity and improvement of prefabricated building technology, precast concrete stairs have also been widely used. However, the anchoring of existing precast concrete stairs usually involves pre-embedded bolts followed by cast-in-place concrete connection, and precast concrete stairs require hoisting and installation. This makes the installation of precast concrete stairs difficult in terms of positioning and requires highly skilled hoisting and installation workers.

[0004] Lightweight steel staircases mainly consist of welded and fixed staircase side beams and stair treads, offering advantages such as light weight, high strength, and easy installation. However, even after the existing lightweight steel staircases have their side beams installed, multiple stair treads still need to be manually welded to them. This process involves several steps, including manual positioning and welding, resulting in a high degree of manual involvement and issues such as inefficient welding and installation processes and poor stair tread positioning accuracy. Summary of the Invention

[0005] In view of this, in order to solve the problems mentioned in the background art, the purpose of this utility model is to provide a lightweight prefabricated stair tread installation auxiliary robot.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A lightweight prefabricated stair tread installation auxiliary robot includes: The robot itself; The stair tread mounting mechanism includes a fixed base connected to the end of the robot body and a clamping module and a welding module mounted on the fixed base. The clamping module is used to clamp the stair tread and align the stair tread with the stair side beam under the drive of the robot body. The welding module is used to weld and fix the stair tread and the stair side beam. Two sets of welding modules are symmetrically arranged, and each set of welding modules includes a laser welding head that can reciprocate. At least one set of clamping modules is provided and distributed between the two sets of welding modules. Each set of clamping modules includes two grippers that can move in opposite directions, and the movement direction of the grippers is parallel to the movement direction of the laser welding head.

[0007] Preferably, the welding module further includes a lifting drive component, which is connected to the laser welding head through an arc portion, so that the central axis of the laser welding head and the central axis of the lifting drive component form an angle between 90° and 180°.

[0008] Preferably, both the fixture module and the welding module include an electric guide rail and an electric slide block, wherein the electric slide block is configured to reciprocate linearly along the electric guide rail.

[0009] Preferably, the robot body includes a multi-legged walking mechanism that can move between two symmetrically arranged stair side beams and a multi-axis robotic arm that connects the multi-legged walking mechanism and the step mounting mechanism.

[0010] Preferably, the multi-legged walking mechanism includes a central base and at least two sets of walking legs mounted on the central base, wherein two walking legs constitute a set, and two walking legs in the same set are configured to walk alternately.

[0011] Preferably, the walking foot includes a supporting foot and at least two sets of leg links rotatably connected between the supporting foot and the central base.

[0012] Preferably, the support foot has a support surface that fits against the surface of the stair side beam, and the support surface is provided with a damping anti-slip pad.

[0013] Preferably, a set of leg links connected to the support foot is constructed as a quadrilateral structure so that the support surface always remains parallel to the surface of the stair side beam.

[0014] Preferably, the at least two sets of leg links include a first leg link capable of rotating about a first central axis and a second leg link capable of rotating about a second central axis, the second central axis being configured to be perpendicular to the first central axis.

[0015] Preferably, the multi-axis robotic arm includes at least one rotary joint and at least one telescopic joint.

[0016] Compared with the prior art, this utility model has the following advantages: (1) In this utility model, by cooperating with the robot body and the step installation mechanism, the welding and installation of the stair steps can be completed automatically between two stair side beams, thereby effectively improving the installation efficiency and installation accuracy of the stair steps.

[0017] (2) In this utility model, both the laser welding head and the gripper can reciprocate along the parallel electric rails, so that they can be flexibly applied to the clamping and welding of stair treads of different widths.

[0018] (3) In this utility model: a multi-legged walking mechanism is used for movement, which is simple in structure and stable in movement, and is effectively adapted to the movement between two stair side beams; a multi-axis robotic arm is used to flexibly drive and adjust the positioning position of the step installation mechanism, which facilitates the accurate picking and positioning welding of stair steps.

[0019] (4) In this utility model, the walking foot of the multi-leg walking mechanism includes a support foot and at least two sets of leg links, and the set of leg links connected to the support foot is constructed as a quadrilateral structure so that the support surface of the support foot is always parallel to the surface of the stair side beam, thereby improving the walking stability of the multi-leg walking mechanism. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the multi-legged walking mechanism in this utility model; Figure 3 This is a schematic diagram of the structure of the multi-axis robotic arm in this utility model; Figure 4 This is a schematic diagram of the step mounting mechanism in this utility model; Figure 5 This is a schematic diagram of the fixture module in this utility model; Figure 6 This is a schematic diagram of the welding module in this utility model; Figure 7 This is a schematic diagram of the assembly of the laser welding head and the lifting drive component in this utility model; Figure 8 This is a diagram showing the usage state of this utility model; In the diagram: Robot body - 100; Multi-legged walking mechanism - 110; Central base - 111; Walking legs - 112; Supporting feet - 113; Leg links - 114; Supporting surface - 115; Damping anti-slip pad - 116; Multi-axis robotic arm - 120; Rotary joint - 121; Telescopic joint - 122; Step mounting mechanism - 200; Fixed base - 210; Gripper module - 220; Gripper - 221; Welding module - 230; Laser welding head - 231; Lifting drive component - 232; Arc section - 233; Electrical guide rail - 240; Electrical slide - 250. Detailed Implementation

[0021] To further understand the content of this utility model, a detailed description of it is provided in conjunction with the accompanying drawings and embodiments. The structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art; they are not intended to limit the implementation of this utility model and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this utility model, should still fall within the scope of the technical content disclosed in this utility model. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of implementation of this utility model. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to the embodiments of this application described herein.

[0022] like Figure 1 As shown, the lightweight prefabricated stair tread installation auxiliary robot provided by this utility model includes a robot body 100 and a tread installation mechanism 200. Specifically, the robot body 100 includes a multi-legged walking mechanism 110 and a multi-axis robotic arm 120. The tread installation mechanism 200 is connected to the end effector of the multi-axis robotic arm 120, so that the tread installation mechanism 200 can flexibly adjust to different operating positions under the drive of the multi-axis robotic arm 120.

[0023] For example, the auxiliary robot provided by this utility model can achieve the following: Figure 8The lightweight steel staircase shown features an automated installation system for the steps. This staircase includes two symmetrically arranged side beams, with multiple steps welded equidistantly between them. The auxiliary robot provided in this invention is specifically used to automatically weld these steps. Furthermore, platforms can be connected to the top and bottom of the side beams. These platforms can be concrete floor slabs or reversing platforms for the lightweight steel staircase. During the actual automated welding of the stair steps: a multi-legged walking mechanism 110 reciprocates between the two side beams, moving parallel to them; a multi-axis robotic arm 120 adjusts the working position of the step installation mechanism 200; and the step installation mechanism 200 automatically picks up and welds the steps, which are specifically stacked on the platform at the top or bottom of the side beams. Figure 8 The diagram shows stair treads stacked on a top platform, with an auxiliary robot automatically welding multiple stair treads sequentially from bottom to top along the stair side beam. Conversely (not shown in the diagram), if the stair treads are stacked on a platform at the bottom of the stair side beam, the auxiliary robot automatically welds multiple stair treads sequentially from top to bottom along the stair side beam.

[0024] It is worth noting that the multi-legged walking mechanism 110 can integrate a distance sensor and a displacement sensor to accurately detect the moving position of the multi-legged walking mechanism 110 and the positioning distance between adjacent stair steps, thereby ensuring that multiple stair steps can be accurately distributed at equal intervals.

[0025] In one specific embodiment, reference continues to be made to... Figure 2 As shown, the multi-legged walking mechanism 110 includes a central base 111 and at least two sets of walking legs 112 mounted on the central base 111. The two walking legs 112 form a set, and the two walking legs 112 in the same set are configured to walk alternately. Figure 2 The diagram specifically illustrates the structure of two sets (four) of walking feet 112, namely... Figure 2 The multi-legged walking mechanism 110 is a four-legged walking mechanism. In this structure, the multi-legged walking mechanism 110 can move stably between the two stair side beams by alternating the movement of the walking legs 112.

[0026] In this embodiment, the walking foot 112 includes a supporting foot 113 and at least two sets of leg links 114 rotatably connected between the supporting foot 113 and the central base 111, thereby ensuring the flexible movement of the walking foot 112. Specifically, Figure 2 The diagram shows the structure of two sets of leg links 114, each set including a first leg link a rotatable about a first central axis and a second leg link b rotatable about a second central axis, the second central axis being configured to be perpendicular to the first central axis.

[0027] It is worth noting that the set of leg links 114 (second leg links b) connected to the supporting foot 113 are constructed as quadrilateral structures. This ensures that when the leg links 114 drive the supporting foot 113 to move, the supporting foot 113 always maintains an optimal movement posture. For example, the optimal movement posture is defined as follows: the supporting foot 113 has a support surface 115 that conforms to the surface of the stair side beam. This optimal movement posture means that the support surface 115 is always parallel to the surface of the stair side beam, which can be achieved using the quadrilateral leg links 114 (second leg links b). Based on this, during the movement of the overall multi-legged walking mechanism 110, it can be ensured that the supporting foot 113 abuts against the stair side beam with its support surface 115 completely conforming to the surface of the stair side beam, thereby ensuring the maximum contact area between the supporting foot 113 and the stair side beam. In addition, a damping anti-slip pad 116 is provided on the support surface 115 to further enhance the contact friction between the support foot 113 and the stair side beam, thereby improving the walking stability of the multi-legged walking mechanism 110.

[0028] In one specific embodiment, reference continues to be made to... Figure 3 As shown, the multi-axis robotic arm 120 includes at least one rotary joint 121 and at least one telescopic joint 122, thereby providing effective drive for the flexible movement of the step installation mechanism 200 and ensuring that the step installation mechanism 200 can accurately position the stair steps onto the stair side beam.

[0029] In one specific embodiment, reference continues to be made to... Figure 4 As shown, the stair tread installation mechanism 200 includes a fixed base 210 connected to the end of the robot body 100, and a clamping module 220 and a welding module 230 mounted on the fixed base 210. The clamping module 220 is used to clamp the stair treads and, driven by the robot body 100, aligns the stair treads with the stair side beams; the welding module 230 is used to weld and fix the stair treads to the stair side beams. Specifically, two sets of welding modules 230 are symmetrically arranged to achieve simultaneous welding on both sides of the stair treads, improving installation efficiency; at least one set of clamping modules 220 is provided and distributed between the two sets of welding modules 230. Figure 4 An example is shown with two sets of clamping modules 220 symmetrically arranged to ensure stability and balance when picking up and positioning the stair treads.

[0030] In this embodiment, we continue to refer to Figure 5As shown, each clamp module 220 includes an electric guide rail 240 and two electric slides 250. The two electric slides 250 are configured to move linearly in opposite directions along the electric guide rail 240. Each of the two electric slides 250 has a clamp 221 fixed to its bottom, allowing them to move in opposite directions and symmetrically clamp the two clamps 221 on both sides of the stair tread. Depending on the actual installation requirements of the stair tread, the two clamps 221 clamp the two sides of the stair tread along its width, ensuring that the end face of the stair tread along its length is aligned with the stair side beam.

[0031] In this embodiment, we continue to refer to Figure 6 and Figure 7 As shown, each welding module 230 includes an electric guide rail 240 and an electric slide 250. The electric slide 250 is configured to reciprocate linearly along the electric guide rail 240. A lifting drive component 232 is fixed to the bottom of the electric slide 250, and a laser welding head 231 is connected to the bottom of the lifting drive component 232. This allows the lifting drive component 232 and the laser welding head 231 to reciprocate linearly along the electric guide rail 240, ensuring that the moving direction of the gripper 221 is parallel to the moving direction of the laser welding head 231. That is, the laser welding head 231 can reciprocate along the width of the stair tread, thereby completing the welding of both ends of the stair tread to the stair side beam during the movement. Regarding the specific welding method, multiple spot welding positions are first performed at both ends of the stair tread. After positioning, the moving welding is performed along the joint between the stair tread and the stair side beam, thereby achieving full welding of the joint between the stair tread and the stair side beam.

[0032] For example, the electric guide rail 240 and the electric slide 250 can be selected as a linear motor structure or a motor lead screw thread seat or other mating structure, the purpose of which is to keep the laser welding head 231 and the gripper 221 parallel and independent linear movement.

[0033] It is worth noting that the lifting drive component 232 and the laser welding head 231 are connected by an arc portion 233, so that the central axis of the laser welding head 231 and the central axis of the lifting drive component 232 form an angle between 90° and 180°. Specifically, the laser welding head 231 is tilted away from the clamp module 220. Guided by this tilt angle, the laser welding head 231 is tilted towards the joint between the stair tread and the stair side beam, thereby ensuring that the laser welding head 231 and the joint can be accurately aligned and avoiding interference between the laser welding head 231, the electric slide 250 and other structures and the stair side beam.

[0034] As an alternative embodiment (not shown in the figure), the clamp module 220 may also include a fixed guide rail and a plurality of negative suction cups fixed at equal intervals on the fixed guide rail, so that the clamp module 220 can use a negative suction method to pick up and position the stair treads.

[0035] As an alternative embodiment (not shown in the figure), the clamp module 220 may also include the negative suction structure and the gripper picking structure disclosed above, so as to ensure that only one stair tread is picked up each time, while ensuring the stability of stair tread picking and positioning.

[0036] In the description of this utility model, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A lightweight prefabricated stair tread installation auxiliary robot, characterized in that, include: Robot body (100); The step installation mechanism (200) includes a fixed base (210) connected to the end of the robot body (100) and a clamping module (220) and a welding module (230) mounted on the fixed base (210). The clamping module (220) is used to clamp the stair steps and align the stair steps with the stair side beam under the drive of the robot body (100). The welding module (230) is used to weld and fix the stair steps and the stair side beam. Two sets of welding modules (230) are symmetrically arranged. Each set of welding modules (230) includes a laser welding head (231) that can reciprocate. At least one set of clamping modules (220) is provided and distributed between the two sets of welding modules (230). Each set of clamping modules (220) includes two grippers (221) that can move towards or away from each other. The moving direction of the grippers (221) is parallel to the moving direction of the laser welding head (231).

2. The lightweight prefabricated stair tread installation auxiliary robot according to claim 1, characterized in that: The welding module (230) also includes a lifting drive (232), which is connected to the laser welding head (231) through an arc portion (233) so that the central axis of the laser welding head (231) and the central axis of the lifting drive (232) form an angle between 90° and 180°.

3. The lightweight prefabricated stair tread installation auxiliary robot according to claim 1, characterized in that: Both the fixture module (220) and the welding module (230) include an electric rail (240) and an electric slide (250), the electric slide (250) being configured to reciprocate linearly along the electric rail (240).

4. The lightweight prefabricated stair tread installation auxiliary robot according to claim 1, characterized in that: The robot body (100) includes a multi-legged walking mechanism (110) capable of moving between two symmetrically arranged stair side beams and a multi-axis robotic arm (120) connecting the multi-legged walking mechanism (110) and the step mounting mechanism (200).

5. The lightweight prefabricated stair tread installation auxiliary robot according to claim 4, characterized in that: The multi-legged walking mechanism (110) includes a central base (111) and at least two sets of walking legs (112) mounted on the central base (111). The two walking legs (112) form a set, and the two walking legs (112) in the same set are configured to move alternately.

6. The lightweight prefabricated stair tread installation auxiliary robot according to claim 5, characterized in that: The walking foot (112) includes a support foot (113) and at least two sets of leg links (114) rotatably connected between the support foot (113) and the central base (111).

7. The lightweight prefabricated stair tread installation auxiliary robot according to claim 6, characterized in that: The support foot (113) has a support surface (115) that fits against the surface of the stair side beam, and a damping anti-slip pad (116) is provided on the support surface (115).

8. The lightweight prefabricated stair tread installation auxiliary robot according to claim 7, characterized in that: A set of leg links (114) connected to the support foot (113) is constructed in a quadrilateral shape so that the support surface (115) always remains parallel to the surface of the stair side beam.

9. A lightweight prefabricated stair tread installation auxiliary robot according to any one of claims 6-8, characterized in that: The at least two sets of leg links (114) include a first leg link rotatable about a first central axis and a second leg link rotatable about a second central axis, the second central axis being configured to be perpendicular to the first central axis.

10. The lightweight prefabricated stair tread installation auxiliary robot according to claim 4, characterized in that: The multi-axis robotic arm (120) includes at least one rotary joint (121) and at least one telescopic joint (122).

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