CN109719698A - A kind of robot equipped system for building and control method - Google Patents
A kind of robot equipped system for building and control method Download PDFInfo
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- CN109719698A CN109719698A CN201910108073.5A CN201910108073A CN109719698A CN 109719698 A CN109719698 A CN 109719698A CN 201910108073 A CN201910108073 A CN 201910108073A CN 109719698 A CN109719698 A CN 109719698A
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Abstract
The invention belongs to the realm of building construction, more particularly to a kind of robot equipped system for building and control method, robot equipped system for building includes that it includes climbing scaffold system and row crane system, the climbing scaffold system is connected with row crane system by support post, the support post is arranged on the main body frame of the climbing scaffold system, the row crane system is arranged on support post, and the support post includes the first support post row and the second support post row that front and back is arranged；The row hangs the telescopic rod that setting one can stretch in vertical direction on trolley, the detachably connected Multi-shaft mechanical arm in the lower end of the telescopic rod, the dismountable connecting building robot in the lower end of the Multi-shaft mechanical arm.The row that hangs cart by the way that the row for hanging and moving on guide rail that can be expert at is arranged and can move on crossbeam hangs trolley, and cooperative mechanical hand realizes the effect of spatially flexible hoisting material, and good positioning effect, increases substantially construction efficiency.
Description
Technical field
The invention belongs to the realm of building construction, and in particular to a kind of robot equipped system for building and control method.
Background technique
It generally will use row in building construction process to hang (crane) and hang loading material, realize the carrying of material；Climbing frame
It is one of essential equipment in building construction process, it is in construction that climbing frame, which can climb or decline along on building,
Safe and reliable job platform.
Traditional row, which is hung, to be generally located on ground or flooring, and is hung at the top of climbing frame without setting up row, this causes row to be hung in
Movement is not flexible when transported material, and position it is bad, often have hang carry less than dead angle, need artificial time-consuming and laborious carrying again
To operating position, and existing row hangs that the degree of automation is low, needs manually to participate in more physical work；With novel building
The development of mode, operating radius needed for building is increasingly longer and positioning accuracy request is higher and higher, is badly in need of a kind of novel hanging
Equipment meets existing various lifting environment and lifting demand.
Summary of the invention
The purpose of the present invention is shortcoming present in view of the above technology, propose that a kind of robot for building carries system
System, send material not flexible, positions bad problem to solve prior art climbing frame and row handling.
The present invention provides a kind of robot equipped system for building comprising climbing scaffold system and row crane system, climbing scaffold system
It is connected with row crane system by support post, support post is arranged on the main body frame of climbing scaffold system, and the setting of row crane system exists
On support post, support post includes the first support post row and the second support post row that front and back is arranged；Row crane system includes
The first row hanger rail road being supported on the first support post row and the second row hanger rail road, the frame that are supported on the second support post row
It is located between the first row hanger rail road and the second row hanger rail road and can be hung greatly along the row that the first row hanger rail road, the second row hanger rail road move
Vehicle, setting be expert at hang on cart and can opposing rows hang the row of cart movement and hang trolley, row hangs setting one on trolley can be in vertical side
To flexible telescopic rod, the detachably connected Multi-shaft mechanical arm in the lower end of telescopic rod, the lower end of Multi-shaft mechanical arm is detachable
Connecting building robot.
Further, robot for building can also directly be connect with telescopic rod.
Further, robot for building can be for simple manipulator or manipulator with mechanical arm or with machinery
The robot of arm, manipulator.
Further, row hang the direction of motion of trolley and row hang the direction of motion of cart is vertical, and row hangs cart, row hang it is small
Vehicle, telescopic rod direction of motion relationship be X-axis, Y-axis, Z-direction, Multi-shaft mechanical arm can carry out various dimensions fortune in solid space
It is dynamic.
Further, row hang trolley ride be located at row hang on cart.
Further, it includes a crossbeam that row, which hangs cart, and the rear and front end of crossbeam is installed with the first wheel, the second wheel, right
That answers is installed on corresponding the first row hanger rail road and the second row hanger rail road, and moving track is provided on crossbeam.
Further, it includes car body and wheel that row, which hangs trolley, and the section of car body is inverted U-shaped, the groove of wheel setting car body
Inner top, when row hangs trolley and is erected on crossbeam, wheel is just as on moving track.
Further, row hangs trolley and is configured with the trolley motor for hanging car wheel drive connection with row；Row hangs cart configuration
There is the cart motor that cart wheel drive connection is hung with row.
Further, the first connection unit that telescopic rod bottom setting connects for Multi-shaft mechanical arm or robot for building
And/or Multi-shaft mechanical arm bottom is provided with the second connection unit for connecting with robot for building.
Further, first/second connection unit is accomplished that rigid connection.
Further, which includes the control method that climbing frame moves in the vertical direction comprising following steps:
Step S1: controller issues instruction, and process of climbing starting when climbing frame integrally rises to predetermined position, is climbed and stopped
Only, after manually the mechanical connection of progress climbing frame and building is fixed, the climbing device of climbing frame enters relaxation state no longer stress.
Step S2: the first support post of control, the second support post are gone up and down to suitable position, install row loop wheel machine structure.
It further,, can autostop if load overloads when climbing frame climbs；When any two elevator of climbing frame itself
It is more than 2cm that climb altitude difference, which occurs, for structure, and climbing frame autostop is again started up after needing manual intervention to level after shutdown.
Further, when climbing frame climbs, row loop wheel machine structure is moved to third, near the 4th support post, third, the 4th
Support post is hydraulic linkage, and collaboration climbing frame rises to it and provides support force, mitigates the resistance of climbing frame uplink.
Further, which further includes transporting the control method of material in the plane comprising following steps:
Step S3: input planning track route parameter, stop place parameter within the control module；
Step S4: control module sending instruction starting row hangs cart motor and hangs trolley motor, cart motor and trolley with capable
Motor respectively drives that row hangs cart and row hangs trolley and walks by planning path；
Step S5: row hangs cart and row when hanging carriage walking, hangs cart to row using inductor and where row hangs trolley
Position monitors in real time and feeds back to control module；
Step S6: row hangs cart to control module based on the received and row hangs trolley position data, determines that row is hung
Cart and row hang whether trolley reaches default stop place, when row hangs cart and row hangs trolley and reaches default stop place, control
Molding block issues instruction control cart motor and trolley motor is out of service.
Further, further include following steps after step S6:
Step S7: row hang cart and row hang trolley stop after, control module starts timing, reaches setting when the residence time
After residence time, control module assigns instruction restarting cart motor and trolley motor；
Step S8: control module according to the position data of inductor Real-time Feedback and setting destination locations information into
Row matching, when detect row hang cart and row hang trolley reach programme path terminal after, control module issue instruction control cart
Motor and trolley motor are out of service.
Further, it is expert at and hangs cart and during row hangs moving of car, data that control module is fed back according to inductor
Judge that row hangs cart and row hangs trolley whether on programme path, if not then control module is under cart motor and trolley motor
Up to instruction, driving row hangs cart and row hangs trolley and returns correct travel route.
Further, control method further includes that the control method for the telescopic rod being arranged on trolley is hung to row comprising as follows
Step:
Step S9: recording the initial position and manipulator motion radius data of telescopic rod, and by position data and machinery
Arm moving radius data import control module；
Step S10: using the operating distance data of third inductor real-time collection machinery arm and material on mechanical arm, and
Operating distance data are sent to control module；
Step S11: control module compares operating distance data and moving radius data, when moving radius data are more than or equal to
When operating distance data, control module assigns the first operation acts of instruction execution to mechanical arm and manipulator；
Step S12: when moving radius data are less than operating distance data, control module sends enabling signal to telescopic rod
Dynamical system, telescopic rod dynamical system driving telescopic rod move down, and mobile distance is a moving radius length；Control mould
Block comparing motion radius data and operating distance data again, and recycle and execute step 34, until control module detects movement
Radius length data are more than or equal to operating distance data.
Further, after step S11, control module continues to determine whether the need to be implemented there are telescopic rod second work
Movement, control module circulation executes step S10, step S11 and step S12 if it exists；Control module, which issues, if it does not exist restores
Signal to telescopic rod dynamical system, telescopic rod dynamical system driving telescopic rod restore to initial position.
Further, control method when control method further includes robot work, includes the following steps:
Step S13: the operating coordinates location information of manipulator is input in controller, inductor collection machinery hand is current
Location coordinate information, and location information is fed back into controller；
Step S14: controller according to operating coordinates location information and current position coordinates information computer tool hand X-axis,
Amount of movement in Y-axis and Z axis, controller issue control instruction to cart motor, trolley motor and telescopic rod dynamical system；
Step S15: feedback of the controller according to the first inductor, the second inductor, third inductor, real time monitoring machinery
The position of hand, after determining that manipulator reaches operating position, controller issues work order driving manipulator and executes operation acts.
Using above technical scheme, compared with prior art, a kind of robot equipped system for building of the present invention it is beneficial
Effect is that it is more accurate to position, and crawl material is stablized precisely, high degree of automation.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the schematic diagram when row that the present invention is preferably implemented is hung in construction；
Fig. 2 is that the row that the present invention is preferably implemented hangs structural schematic diagram；
Fig. 3 is the enlarged structure schematic diagram in Fig. 2 and Figure 17 at A；
Fig. 4 is that currently preferred row hangs trolley part enlarged structure schematic diagram；
Fig. 5 is currently preferred climbing frame and hoisting mechanism schematic diagram；
Fig. 6 is currently preferred Multi-shaft mechanical arm connection schematic diagram；
Fig. 7 is currently preferred Multi-shaft mechanical arm perspective view；
Fig. 8 is currently preferred Multi-shaft mechanical arm main view；
Fig. 9 is currently preferred Multi-shaft mechanical arm side view；
Figure 10 is currently preferred Multi-shaft mechanical arm top view；
Figure 11 is currently preferred Multi-shaft mechanical arm bottom view；
Figure 12 is currently preferred Multi-shaft mechanical arm in vertical plane rotation schematic diagram；
Figure 13 is currently preferred Multi-shaft mechanical arm around motor shaft rotation schematic diagram；
Figure 14 is the control method flow diagram that climbs of currently preferred climbing frame；
Figure 15 is that currently preferred control row hangs cart and row hangs the flow diagram of trolley running method；
Figure 16 is the mobile flow diagram of currently preferred control telescopic rod；
Figure 17 is currently preferred construction system structure diagram；
In figure: 1- row hangs cart, 11- crossbeam, 12- first movement portion, the second moving portion of 13-, 14- cargo motor, 15-
Moving track, 2- row hang trolley, 21- car body, 22- wheel, 23- support, 31- the first row hanger rail road, 32- the second row hanger rail road,
42- robot for building, the first connection unit of 43-, 44- mechanical arm, the second connection unit of 45-, 46- connecting rod, 5- climbing frame,
51- support post, 201- guide rail, upright bar in 202-, 203- outer vertical rod, 204- cross bar, 205- support diagonal web member, and 206- is horizontal
Support construction, 208- wall-attached supporting seat, 209- anti-fall device, 211- anti-falling rods, 212- anti-tilt device, the upper suspension centre of 213-, under 214-
Suspension centre, 215- elevator, 217- scaffold board, the outer protective net of 218-, 219- operation at top layer guardrail, 220- seal turnover panel, 221-
Building；The 4th mechanical arm of 50-, 52- external-connected port unit, 53- first mechanical arm, 54- first motor axis, 55- second are mechanical
Arm, the second motor shaft of 56-, 57- third mechanical arm, 59- bolt hole, 60- data-interface.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
A kind of robot equipped system for building comprising climbing scaffold system and row crane system, the climbing scaffold system and row are hung
System is connected by support post, and the support post is arranged on the main body frame of the climbing scaffold system, the row crane system
It is arranged on support post, the support post includes the first support post row and the second support post row that front and back is arranged；Institute
Stating row crane system includes that the first row hanger rail road being supported on the first support post row is stood with second support is supported on
The second row hanger rail road on column row is erected between the first row hanger rail road and the second row hanger rail road and can be along described the
A line hanger rail road, the second row hanger rail road movement row hang cart, setting be expert at hang on cart and can opposing rows hang cart fortune
Dynamic row hangs trolley, it is characterised in that: the row hangs on trolley the telescopic rod that setting one can stretch in vertical direction, it is described can
It is used for dismountable connecting building the lower end of the detachably connected Multi-shaft mechanical arm in the lower end of telescopic rod, the Multi-shaft mechanical arm
Robot.
Specific embodiment is as follows: as shown in Fig. 1-Fig. 5 and Figure 17: climbing scaffold system includes one or more climbing frames,
It is arranged preferably about building 221, as needed, such as modifies some of 221 metopes of building and be, it can also be only wherein
On one side, two faces or three faces are equipped with climbing frame 5.Climbing frame 5 is customized or selects generally according to the length of building 221, as shown in figure 1
221 longitudinal surface of building, can be only with a climbing frame 5, and lateral face can be transversely applied in combination using multiple climbing frames 5, i.e., more
A climbing frame 5 is assisted to operation.Certainly it also may customize and be mounted to a whole climbing frame 5, as shown in Figure 1 around building 221
One 5 structure of whole climbing frame.Specifically, it includes: main frame structure, guide rail 201 and hoisting mechanism that Fig. 5, which illustrates climbing frame 5,
215, guide rail 201 is fixed on building 221, and as the track that main frame structure is climbed, main frame structure passes through hoisting mechanism
215 climb along guide rail 201, the track that guide rail 201 integrally climbs as climbing frame 5, it is preferred to use the combination of channel steel and round steel
Steel material, and be fixed on building 221 using bolt arrangement, so that climbing frame 5 is glided by realizing with the cooperation of guide rail 201
It is dynamic.Simultaneously in order to guarantee the stability of climbing frame 5, climbing frame 5 can also be equipped with anti-tilt device 212, anti-tilt device 212 include sway bar and
Clamping apparatus, sway bar are fixed on climbing frame 5, and clamping apparatus one end is annulus, can be socketed in sway bar, the other end passes through
Wall-attached supporting seat 208 is fixed on building 221.When climbing frame 5 climbs, sway bar passes through annulus upward sliding, sliding process
In prevent climbing frame from toppling.Additionally, it is preferred that, the present invention is additionally provided with frictional anti-fall device 209 comprising anti-falling rods 211 are used for
When climbing frame 5 drops, climbing frame 5 is frictionally supported, slows down tenesmus, until tenesmus stops.In addition, the present invention is also set up
Connecting elements of the wall-attached supporting seat 208 as climbing frame 5 and building, plays the role of off-load overturn-preventing, it is preferred to use channel steel and round steel
Combine steel material.Wall-attached supporting seat 208 is generally mechanically attached with shear wall, can also be carried out with floor mechanical connect
It connects.Part wall-attached supporting seat 208 is equipped with upper suspension centre 213, and 5 bottom of climbing frame is correspondingly provided with lower suspension centre 214, and upper suspension centre 213 is hung under
Cable is equipped between point 214, cable can be promoted and be declined by elevator 215 such as electric block or hydraulic press.
No matter the discovery that the present invention innovates in building construction process, simply uses climbing frame or simply uses row and hang
Either the two simply plays each self-applying simultaneously, does not all contribute to construction load-bearing requirements ability height, space allocation spirit
The feature that activity is strong, positioning requirements are quasi-.Based on this, to realize that climbing scaffold system and row crane system are combined together cost of implementation 1+1
Less than the effect that 2, effect 1+1 is greater than 2, the combination that support post realizes climbing scaffold system and row crane system is arranged in this construction system.
Preferred climbing frame is respectively equipped with support post 51 in the front and rear sides of main frame structure, and support post upper support has
Row hanger rail road 104, support post 106 include multiple first support post 51A and multiple second support post 51B.To hang row
The combination of system and climbing scaffold system can be supported preferably, and support post 51 is preferably designed to the height higher than climbing frame 5, i.e.,
Row hangs the height certain higher than climbing frame of sliding rail 104.It is further preferred that for the essence for realizing climbing frame and integral construction system that can be good
Certainly position and smooth motion, the first support post, the second support post preferably use adjustable length structure, such as support post
It is preferably hydraulic bar type structure, including cylinder body and the body of rod, wherein cylinder body is fixed in the main frame structure of climbing frame, and the body of rod can phase
Cylinder body is moved up and down.By above-mentioned setting, it can be convenient row crane system and be adjusted in the vertical direction.
It is further preferred that it is vertical to be additionally provided with the support of the first ground in lower section the first support post two sides in the first row hanger rail road 31
Column, lower section the second support post two sides in the second row hanger rail road 32 are additionally provided with the second ground support column, two columns are supported directly on
On ground, with better stress.When the object weight of row lifting is very big, multiple first support posts on climbing frame are set
The need of 51A and multiple second support post 51B hold very big gravity.For this purpose, being configured in the lower section two sides in two row hanger rail roads
Support column can greatly ensure the safety and the perfection in conjunction with climbing frame that row hangs work.Preferably, the first, second support is vertical
Column can be made into height-adjustable or can be adjusted flexibly along the mode of ground moving with meeting endurance and position simultaneously
Effect.
Row crane system in conjunction with climbing scaffold system, as Figure 1-10 shows, including be supported on the first support post row the
A line hanger rail road 31 and the second row hanger rail road 32 being supported on the second support post row are erected at the first row hanger rail
Between road and the second row hanger rail road and cart can be hung along the row that the first row hanger rail road, the second row hanger rail road move, if
Set be expert at hang on cart can opposing rows hang the row of cart movement and hang trolley, row hangs trolley for connecting building robot.Such as figure
Further preferred embodiment shown in 6-13, robot 42 for building are manipulator or working arm or robot or their group
It closes.Manipulator includes but is not limited to that following reinforcing steel bar banding mechanical arm, aluminum alloy pattern plate installation manipulator or ground polish manipulator；Machine
People can be screeding machines people, smooth out robot, bind robot, grab robot, strike off robot etc..
Preferably, row hang trolley 2 ride be located at row hang on cart 1.The movement that this connection type makes row hang trolley 2 is more steady
It is fixed, it prevents from overturning.Preferably, it includes a crossbeam 11 that row, which hangs cart 1, and the rear and front end of crossbeam 11 is installed with the first wheel 12, the
Two wheels 13, it is corresponding to be installed on corresponding the first row hanger rail road 31 and the second row hanger rail road 32, shifting is provided on crossbeam 11
Dynamic rail road 15.The crossbeam 11 that the first wheel 12 and the second wheel 13 of 11 both ends of crossbeam connection can be dismantled, and more renew, crossbeam
11 length can be customized according to the demand in building construction process.It includes car body 21 and wheel 22 that row, which hangs trolley 2, and car body 21 is cut
Face be it is inverted U-shaped, the groove inner top of car body 21 is arranged in wheel 22, and when row hangs trolley 2 and is erected on crossbeam 11, wheel 22 is just extremely
In on moving track 15.Preferably, row hangs trolley 2 and is configured with the trolley motor for hanging the drive connection of car wheel 22 with row；Row is hung
Cart 1 is configured with the cart motor 14 that 1 wheel of cart drive connection is hung with row.Cart motor 14 and trolley motor are three-in-one horse
It reaches, three-in-one motor is also referred to as three-in-one retarder, is the component for integrating retarder, motor and brake functionality.Trolley
The more preferred position of motor is arranged in car body 21.
Row of the present invention, which hangs mode of the trolley for connecting building robot, can more clocks:
(1) it such as Figure 14, goes and hangs trolley connection Multi-shaft mechanical arm, the dismountable connecting building in the lower end of the Multi-shaft mechanical arm
Use robot.
(2) it such as Fig. 2, goes and hangs trolley connection expansion link, the lower end of the telescopic rod connects Multi-shaft mechanical arm, the multiaxis machine
The dismountable connecting building robot in the lower end of tool arm.
For (1) situation, it preferably further can be extended with a connecting rod 46 in the lower end of trolley, Multi-shaft mechanical arm is logical
The connecting rod is crossed to be fixed on trolley.It hangs 2 lower end of trolley when the connection of Multi-shaft mechanical arm 44 is expert at or is connected to 46 lower end of connecting rod
When, the row hangs the direction of motion of trolley 2 and row hangs that the direction of motion of cart 1 is vertical, and the row hangs cart, row hangs the fortune of trolley
Dynamic direction relations are X-axis, Y direction, and Multi-shaft mechanical arm can be moved up and down and/or be can be rotatably set in connecting rod, multiaxis
Mechanical arm can be in solid space because its multiaxis does not carry out various dimensions movement on the same axis.
For (2) situation, when Multi-shaft mechanical arm 44, which is connected to row by telescopic rod 41, hangs on trolley 2, row hangs trolley 2
The direction of motion hang that the direction of motion of cart 1 is vertical with row, row hangs cart 1, row hangs trolley 2, the direction of motion of telescopic rod 41 is closed
System is X-axis, Y-axis, Z-direction, and Multi-shaft mechanical arm 44 can carry out various dimensions movement in solid space, and Multi-shaft mechanical arm 44 plays
The effect of coordinate compensation.Specifically, telescopic rod 41 or connecting rod 46 and row hang 23 spiral shell of support that trolley 2 passes through trolley side
It tethers and connects, the support 23 and row hang trolley 2 and be rigidly connected with steel plate.It is hung by the connection rectangular co-ordinate tie-rod 41 of support 23 and row small
Vehicle 2 keeps its stable connection secured, is hardly damaged.Preferably, it is arranged in telescopic rod 41 for Multi-shaft mechanical arm 44 or machine for building
The first connection unit 43 that device people 42 connects, when robot 42 for building is connect by Multi-shaft mechanical arm 44 with telescopic rod 41,
Multi-shaft mechanical arm 44 is connect with robot 42 for building by the second connection unit 45.
No matter which kind of above-mentioned embodiment, all so that this kind of embodiment can for building field control it is difficult
Topic.But we are more preferably second scheme.Because the synergy of Multi-shaft mechanical arm and telescopic rod, significantly increases me
Climb device for hoisting and row device for hoisting combination superiority so that control dimension greatly increase.
Preferably, as shown in Fig. 6 to Figure 13, Multi-shaft mechanical arm 44 includes mechanical arm main unit, is set to mechanical arm master
The first connection unit 43 at the top of body unit and the second connection unit 45 for being set to mechanical arm main unit bottom；This first
Mechanical arm main unit is installed on row crane system by connection unit 43, and the modularization for being achieved in mechanical arm and row crane system connects
It connects and installs；The external robot for building of second connection unit 45, the robot for building can be used for row and hang construction, and according to not
It can be with external construction robot, such as screeding machines people, floating robot, binding robot, crawl machine with purpose
People strikes off robot etc., using the second connection unit again such that realizing that modularization connects between mechanical arm and robot for building
It connects and installs；Using above-mentioned mechanical arm scheme, so that row crane system can be with external robot for building, to improve in construction
Operating efficiency expands application range, reduction manual labor amount, reduction construction cost that row is hung.Preferably, in conjunction with above scheme,
As shown in Fig. 6 to Figure 13, in the present embodiment, mechanical arm main unit is Multi-shaft mechanical arm 44；Multi-shaft mechanical arm 44 includes a plurality of
Mechanical arm, and a plurality of mechanical arm pivot center is not on the same line, it is possible thereby to realize multi-direction, various dimensions, mostly freely
The construction space and coordinate of degree compensate；Further, it is rotatablely connected between a plurality of mechanical arm by motor shaft, it is each with reality
The rotation of different dimensions, different directions between mechanical arm；Under the induced effect of respective motor shaft, each mechanical arm can be along water
Square to or vertical direction rotation；Specifically, as shown in figure 8, motor shaft can drive mechanical arm to do 360 ° of rotations in the horizontal plane；
Or as shown in figure 9, motor shaft can drive mechanical arm to do pendulum model rotation in vertical direction, to realize each dimension and direction
Rotation.
Specifically, mechanical arm includes first mechanical arm 53, second mechanical arm 55 and third machine as shown in Fig. 6 to Figure 13
Tool arm 57；Wherein, 43 one end of first mechanical arm is connect with the first connection unit 43, and 53 other end of first mechanical arm passes through the first electricity
Arbor 54 is rotatably connected with 55 one end of second mechanical arm；First motor axis 54 is horizontally placed on first mechanical arm 53 and the second machine
It at 55 rotation connection of tool arm, and is sequentially connected with first motor, so that second mechanical arm 55 can be 54 turns around first motor axis
It is dynamic；55 other end of second mechanical arm is rotatably connected by the second motor shaft 56 and 57 one end of third mechanical arm；Third mechanical arm
57 other end connects the second connection unit 45；Second motor shaft 56 is horizontally placed on second mechanical arm 55 and third mechanical arm 57
It at rotation connection, and is connected with the second motor drive, so that third mechanical arm 57 can be rotated around the second motor shaft 56；Specifically
The axis of ground, the axis of first motor axis 54 and the second motor shaft 56 is horizontal direction, to make second mechanical arm 55 and
Three-mechanical arm 57 can do pendulum model rotation in the vertical direction, i.e. first motor axis 54 drives second mechanical arm 55 along the vertical direction
Do pendulum model rotation；Second motor shaft 56 drives third mechanical arm 57 to do pendulum model rotation along the vertical direction.It further can also be excellent
Choosing, mechanical arm further includes the 4th mechanical arm 50；4th mechanical arm, 50 one end passes through third motor shaft and first mechanical arm 53
Bottom driving connection, 50 other end of the 4th mechanical arm rotatably connect with by first motor axis 54 with 55 one end of second mechanical arm
It connects；Third motor shaft is set in first mechanical arm 53, and is connected with third motor drive；In this way, first mechanical arm 53 passes through
Third motor shaft drives the 4th mechanical arm 50 to rotate in the horizontal direction, i.e., as shown in figure 8, third motor shaft can drive the 4th machinery
Arm 50 does 360 ° of rotations in the horizontal plane, and the 4th mechanical arm 50 can drive second mechanical arm 55 to do 360 ° of rotations in the horizontal plane
Turn.
To above-mentioned mechanical arm preferred embodiment, as shown in Fig. 6 to Figure 13, three motor shafts are operated alone, first motor axis
54 connection first motors, the second motor shaft 56 connect the second motor, third motor axis connection third motor；Make the first electricity in this way
Arbor 54, the second motor shaft 56, third motor shaft can simultaneously or independently be driven, to realize turn in respective angle and space
It is dynamic.
It is the connection of more flexible realization Multi-shaft mechanical arm in the present embodiment, a multi-spindle machining is connected by telescopic rod
First connection unit of arm 44, to further realize the work of the coordinate compensation and greater room of 44 construction location of Multi-shaft mechanical arm
The handling of dynamic range, more various dimensions；Telescopic rod is detachably connected with the first connection unit, so that telescopic rod is needing to install
It can be convenient disassembly and replacement when robot or mechanical arm；Specifically, in the present embodiment, telescopic rod and the first connection unit
It is bolted or is connected by flanged joint or by sliding rail；Further, the first connection unit 43 is fixedly installed on
Mechanical arm main unit can be installed on row crane system by one mechanical arm, 53 top, such first mechanical arm 53 by telescopic rod 3；
Specifically, 3 one end of telescopic rod is connect with the first connection unit 43, and the other end is connected on the row crane of row crane system；Specifically,
Since row is hung, itself the walking error and structure stress deformation of telescopic rod, the robot construction that second connecting portion part is external is caused
When there may be position inaccurate or designated position can not be run to, which hangs for row, telescopic rod provides coordinate
It compensates, guarantee that external robot can reach specified coordinate, the freedom degree of range construction can also be provided for outer welding robot, subtracted
Few row is hung and the movement of trolley.
Multi-shaft mechanical arm 44 its further include controller and power module；Power module respectively with controller and driving mechanical arm
The first motor of the first motor axis of main unit, the second motor for driving the second motor shaft, the third for driving third motor shaft
Motor electrical connection；Controller is connect with first motor, the second motor, third communications respectively；Controller controls multi-spindle machining
Arm 44 reaches specified coordinate, and obtains multiple degrees of freedom boundary of works area and coordinate compensation；Using the above scheme, it can be realized row loop wheel machine
Mostly free, the multi-direction progress exact position construction of tool arm, efficiency are higher.
Preferably, in conjunction with above scheme, as shown in Fig. 6 to Figure 13, in the present embodiment, on the side of mechanical arm main unit
Equipped with external-connected port unit 52；Further, the external-connected port unit 52 is for the communication connection of interim and external connection electrical apparatus equipment；Outside
Circuit closer equipment is detector or encoder；Detector or coding can carry out detection or interim adjustment to mechanical arm, can also other than
Connect the data port of relatively large equipment, such as trowelling machine, aluminum dipping form fitting machine end machine.
Preferably, in conjunction with above scheme, as shown in Fig. 6 to Figure 13, in the present embodiment, the second external unit 45 is fixedly installed
Robot for building in the bottom of third electromechanical arm 57, for removably external different purposes；The robot for building
It can be screeding machines people, smooth out robot, bind robot, grab robot or strike off robot；Using the above scheme, machine
Tool arm body unit connects the robot of different role and function by the second outside elements interface, to construct.
Preferably, in conjunction with above scheme, as shown in Fig. 6 to Figure 13, in the present embodiment, the first connection unit 43 and/or
Two connection units 45 are connecting plate；Specifically, the surrounding of connecting plate is respectively equipped with bolt hole, in this way connection can by bolt hole with
External device or robot modularized connection for building and installation；Specifically, the center of connecting plate is reserved with cable tray
Or data-interface 60, so that connection unit can be connect with external device communication by cable tray or data-interface or electricity
Connection, to realize that power supply supply is connected with communication control.
Construction system further includes that controller, position memory and several inductors, inductor are hung for induction line
Cart, row hang the position coordinates of trolley, robot for building.
A kind of preferred embodiment of the control method of construction system of the present invention is as follows, which includes climbing frame
The control method moved in the vertical direction, row hangs cart and row hangs the mobile control method of trolley, and telescopic rod is in vertical direction
The control method of upper flexible controlling party and robot for building.
As shown in figure 14, the control method that climbing frame moves in the vertical direction includes that control system is by initialization, control
System self-test, whether judging result is normal, if it is not, then alarm is shut down, if it is, detection load, if overload, stops
Alertness report, does not overload, then climbing frame climbs, while carrying out seat in the plane detection, and each seat in the plane is if more than 2cm, then artificial leveling, judgement are
It is no to reach designated position, it such as reaches, then terminates.It is specific:
Climbing frame 5 is climbed by the control of dedicated controller, is instructed when controller issues, the climbing frame 5 on single building carries out
It is promoted, the power of promotion may be from electric block and chain or hydraulic jacking device etc..Predetermined position is risen to when climbing frame 5 is whole
When, it climbs and is automatically stopped, after the mechanical connection of artificial progress climbing frame 5 and stair is fixed, 5 hoisting mechanism of climbing frame enters relaxation state
No longer stress.
It, can autostop if load overloads when climbing frame 5 climbs.When the first support post row is with the second support post row's
When difference in height reaches 2 centimetres, 5 autostop of climbing frame；After needing manual intervention to level after shutdown, machine is again started up.
As shown in figure 15, control row hangs cart and row hangs the mobile method of trolley comprising following steps:
Step S3: the input planning track route parameter, stop place parameter in controller；
Step S4: controller sending instruction starting row hangs cart motor and hangs trolley motor, cart motor and small vehicle and horse with capable
Up to respectively driving, row hangs cart and row hangs trolley and walks by planning path；
Step S5: row hangs cart and row when hanging carriage walking, hangs cart to row using inductor and where row hangs trolley
Position monitors in real time and feeds back to controller；
Step S6: row hangs cart to controller based on the received and row hangs trolley position data, determines that row is hung greatly
Vehicle and row hang whether trolley reaches default stop place, when row hangs cart and row hangs trolley and reaches default stop place, control
Device issues instruction control cart motor and trolley motor is out of service.
Preferably, further include following steps after step S6:
Step S7: row hang cart and row hang trolley stop after, controller starts timing, reaches stopping for setting when the residence time
After staying the time, controller assigns instruction restarting cart motor and trolley motor；
Step S8: controller is carried out according to the position data and setting destination locations information of inductor Real-time Feedback
Matching, when detect row hang cart and row hang trolley reach programme path terminal after, controller issue instruction control cart motor
It is out of service with trolley motor.
Preferably, it is expert at and hangs cart and during row hangs moving of car, the data judgement that controller feed back according to inductor
Row hangs cart and row hangs trolley whether on programme path, if not then controller assigns finger to cart motor and trolley motor
It enables, driving row hangs cart and row hangs trolley and returns correct travel route.
As shown in figure 16, it is preferred that control method further includes that the control method for the telescopic rod being arranged on trolley is hung to row,
Include the following steps:
Step S9: recording the initial position and Multi-shaft mechanical arm moving radius data of telescopic rod, and by position data and
Multi-shaft mechanical arm moving radius data import controller；
Step S10: acquiring the operating distance data of Multi-shaft mechanical arm and material using the 4th inductor in real time, and by work
Range data is sent to controller；
Step S11: controller compares operating distance data and moving radius data, when moving radius data are more than or equal to work
When making range data, controller assigns the first operation acts of instruction execution to Multi-shaft mechanical arm and robot for building；
Step S12: when moving radius data are less than operating distance data, it is dynamic to telescopic rod that controller sends enabling signal
Force system, telescopic rod dynamical system driving telescopic rod move down, and mobile distance is a moving radius length；Controller is again
Secondary comparing motion radius data and operating distance data, and recycle and execute step 34, until controller detects that moving radius is long
Degree is according to more than or equal to operating distance data.
Preferably, after step S11, controller continues to determine whether that the need to be implemented there are telescopic rod second work is dynamic
Make, controller circulation executes step S10, step S11 and step S12 if it exists；Controller issues release signal and gives if it does not exist
The dynamical system of telescopic rod, telescopic rod dynamical system driving telescopic rod restore to initial position.
Preferably, control method further includes the control method of machine man-hour for building, is included the following steps:
Step S13: the operating coordinates location information of robot for building is input in controller, inductor acquisition building
With robot current position coordinates information, and location information is fed back into controller；
Step S14: controller calculates robot for building according to operating coordinates location information and current position coordinates information
Amount of movement on X-axis, Y-axis and Z axis, controller issue control instruction to cart motor, trolley motor and telescopic rod dynamical system
System；
Step S15: feedback of the controller according to the first inductor, the second inductor, third inductor, real time monitoring building
With the position of robot, after determining that robot for building reaches operating position, controller issues work order and drives machine for building
Device people executes operation acts.First inductor is used to monitor the position that row hangs cart, and the second inductor hangs trolley for monitoring row
Position, third inductor is used to monitor the position of robot for building；The monitoring of first, second, third inductor Real-time Feedback
As a result controller is given.
Multi-shaft mechanical arm 44 provided by the invention, can be specific to wrap according to the external robot 42 for building of different implementation purposes
It includes:
When construction layer needs to carry out aluminum dipping form installment work, second connecting portion part can external aluminum dipping form grab robot, pass through
The feedback positions information such as the positioning system of external robot for building to row hangs-trolley-telescopic rod-mechanical arm control system
In, need moving coordinate that aluminum dipping form is transported to required position and stopped by calculating, by artificial or other mechanical equipments to aluminum dipping form
It is installed；This transport and positioning function, significantly mitigation worker are carrying the physical demands in aluminum dipping form, are improving labour peace
Entirely, while precise positioning improves the quality and speed of aluminum dipping form installation；
When construction layer needs to carry out reinforcing bar binding work, second connecting portion part can external reinforcing bar binding machine device people, pass through
Identification device in external robot for building, feedback coordinates information to row hang-trolley-telescopic rod-mechanical arm control system
In, angle is rotated by calculating moving coordinate and Multi-shaft mechanical arm 44, lashing equipment is drawn to assigned work area, reinforcing bar is tied up
Tying point is bound, lashing equipment by the rotation of the second motor shaft, can plate muscle to horizontal plane, vertical plane wall column muscle carry out
Binding, has been saved manually by automatic binding；
When construction layer needs to carry out to concrete distributing, second connecting portion part can external crawl robot, to material distributing machine
Front end hose is grabbed and is drawn, and realizes the movement of construction plane；It is calculated by the cloth amount before construction or other equipment is surveyed
Amount concrete pours height, is previously entered or Real-time Feedback move is hung to row and trolley, realizes to casting area accurate
Cloth；
When construction layer need carry out strike off to concrete, smooth out the stage when, second connecting portion part can external screeding machines people,
Robot is smoothed out, by the vertically oriented device etc. of external robot for building, feedback information to row hangs-trolley-telescopic rod-machine
In the control system of tool arm, the flexible of telescopic rod is controlled, guarantees that leveling, the vertical coordinate of floating robot are stable, to guarantee
The quality that concrete strikes off, flattens, it is labor-saving while improving concrete flatness, facilitate subsequent aluminum dipping form formwork to install
And floor tile, floor paving；
When constructing using above-mentioned external robot for building, need to guarantee that vertical direction coordinate is certain, abswolute level movement
When, in addition to the vertical coordinate location device feedback control information to control system of external robot for building, also need control first
Motor shaft and the second motor shaft rotate same angle, guarantee the levelness of second connecting portion part, to guarantee external machine for building
The level of device people；Except the vertically oriented system of external robot for building itself, Multi-shaft mechanical arm 44 can also pass through multiplex roles device
It is external to position robot for building or itself integrate such robot for building.
Construction can be understood as simple manipulator with robot, or the manipulator with mechanical arm or with machinery
The robot of arm manipulator.
The above, only presently preferred embodiments of the present invention not do limitation in any form to the present invention.It is any ripe
Those skilled in the art is known, without departing from the scope of the technical proposal of the invention, all using technology contents described above
Many possible changes and modifications or equivalent example modified to equivalent change are made to technical solution of the present invention.Therefore, all
It is the content without departing from technical solution of the present invention, any change modification made to the above embodiment of technology according to the present invention,
Equivalent variations and modification belong to the protection scope of the technical program.
Claims (19)
1. a kind of robot equipped system for building comprising climbing scaffold system and row crane system, the climbing scaffold system and row hang and be
System is connected by support post, and the support post is arranged on the main body frame of the climbing scaffold system, and the row crane system is set
It sets on support post, the support post includes the first support post row and the second support post row that front and back is arranged；It is described
Row crane system includes the first row hanger rail road being supported on the first support post row and is supported on second support post
The second row hanger rail road on row is erected between the first row hanger rail road and the second row hanger rail road and can be along described first
Row hanger rail road, the second row hanger rail road movement row hang cart, setting be expert at hang on cart and can opposing rows hang cart movement
Row hang trolley, it is characterised in that: the row hangs on trolley the telescopic rod that setting one can stretch in vertical direction, described to stretch
The lower end of the detachably connected Multi-shaft mechanical arm in the lower end of contracting bar, the Multi-shaft mechanical arm is used for dismountable connecting building machine
Device people.
2. robot equipped system for building as described in claim 1, it is characterised in that: the robot for building can also be straight
It connects and is connect with the telescopic rod.
3. robot equipped system for building as claimed in claim 2, it is characterised in that: the machine for building is artificially simple
Manipulator or the manipulator with mechanical arm or the intelligent robot with mechanical arm, manipulator.
4. robot equipped system for building as described in any one of claims 1-3, it is characterised in that: the row hangs trolley
The direction of motion hangs that the direction of motion of cart is vertical with row, and the row hangs that cart, row hangs trolley, the direction of motion relationship of telescopic rod is
X-axis, Y-axis, Z-direction, the Multi-shaft mechanical arm can carry out various dimensions movement in solid space.
5. robot equipped system for building according to claim 4, it is characterised in that: the row, which hangs trolley, rides and be located at row
It hangs on cart.
6. robot equipped system for building according to claim 5, it is characterised in that: it includes one horizontal that the row, which hangs cart,
Beam, the rear and front end of crossbeam is installed with the first wheel, the second wheel, corresponding to be installed on corresponding the first row hanger rail road and second
On row hanger rail road, moving track is provided on the crossbeam.
7. robot equipped system for building according to claim 6, it is characterised in that: it includes car body that the row, which hangs trolley,
And wheel, the section of the car body be it is inverted U-shaped, the groove inner top of the wheel setting car body, the row hangs trolley and is erected at
When on the crossbeam, the wheel is just as on the moving track.
8. robot equipped system for building according to claim 7, it is characterised in that: the row hang trolley be configured with
Row hangs the trolley motor of car wheel drive connection；The row hangs cart and is configured with the cart for hanging cart wheel drive connection with row
Motor.
9. robot equipped system for building according to claim 8, it is characterised in that: the telescopic rod bottom setting can
The first connection unit and/or the Multi-shaft mechanical arm bottom connected for the Multi-shaft mechanical arm or robot for building is provided with
For the second connection unit being connect with robot for building.
10. robot equipped system for building according to claim 9, it is characterised in that: the first/second connection is single
Member is accomplished that rigid connection.
11. a kind of control method of such as described in any item robot equipped systems for building of claim 1-10, feature exist
In: the control method includes the control method that climbing frame moves in the vertical direction comprising following steps:
Step S1: controller issues instruction, and process of climbing starts, when climbing frame integrally rises to predetermined position, stopping of climbing, and people
After the mechanical connection of work progress climbing frame and building is fixed, the climbing device of climbing frame enters relaxation state no longer stress.
Step S2: the first support post of control, the second support post are gone up and down to suitable position, install row loop wheel machine structure.
12. the control method of robot equipped system for building according to claim 11, it is characterised in that: climbing frame climbs
When, it, can autostop if load overloads；It is more than 2cm when climb altitude difference occurs for any two hoisting mechanism of climbing frame itself, climbs
Frame autostop is again started up after needing manual intervention to level after shutdown.
13. the control method of robot equipped system for building according to claim 12, it is characterised in that: when climbing frame is climbed
When rising, row loop wheel machine structure is moved to third, near the 4th support post, third, the 4th support post are hydraulic linkage, collaboration
Climbing frame rises to it and provides support force, mitigates the resistance of climbing frame uplink.
14. the control method of robot equipped system for building according to claim 11, it is characterised in that: the controlling party
Method further includes transporting the control method of material in the plane comprising following steps:
Step S3: input planning track route parameter, stop place parameter within the control module；
Step S4: control module sending instruction starting row hangs cart motor and hangs trolley motor, cart motor and trolley motor with capable
Respectively drive that row hangs cart and row hangs trolley and walks by planning path；
Step S5: row hangs cart and row when hanging carriage walking, hangs cart to row using inductor and row hangs position where trolley
It monitors in real time and feeds back to control module；
Step S6: row hangs cart to control module based on the received and row hangs trolley position data, determines that row hangs cart
It hangs whether trolley reaches default stop place with row, when row hangs cart and row hangs trolley and reaches default stop place, controls mould
Block issues instruction control cart motor and trolley motor is out of service.
15. the control method of robot equipped system for building according to claim 14, it is characterised in that: in step S6
Afterwards, further include following steps:
Step S7: the row hangs cart and the row is hung after trolley stops, and control module starts timing, sets when the residence time reaches
After the fixed residence time, control module assigns instruction restarting cart motor and trolley motor；
Step S8: position data and setting destination locations information progress of the control module according to inductor Real-time Feedback
Match, when detect row hang cart and row hang trolley reach programme path terminal after, control module issue instruction control cart motor
It is out of service with trolley motor.
16. the control method of robot equipped system for building according to claim 14 or 15, it is characterised in that: be expert at
Hang cart and during row hangs moving of car, data that control module feed back according to inductor judgement row hangs cart and capable hangs trolley
Whether on programme path, if not then control module assigns instruction to cart motor and trolley motor, driving row hang cart with
Row hangs trolley and returns correct travel route.
17. the control method of robot equipped system for building according to claim 11, it is characterised in that: the control
Method further includes that the control method for the telescopic rod being arranged on trolley is hung to row comprising following steps:
Step S9: the initial position and manipulator motion radius data of telescopic rod are recorded, and position data and mechanical arm are transported
Dynamic radius data imports control module；
Step S10: using the operating distance data of third inductor real-time collection machinery arm and material on mechanical arm, and by institute
It states operating distance data and is sent to control module；
Step S11: the control module operating distance data and the moving radius data, when moving radius data are greater than
When equal to operating distance data, control module assigns the first operation acts of instruction execution to mechanical arm and manipulator；
Step S12: when moving radius data are less than operating distance data, control module sends enabling signal and gives telescopic rod power
System, the telescopic rod dynamical system driving telescopic rod move down, and mobile distance is a moving radius length；Control mould
Block comparing motion radius data and operating distance data again, and recycle and execute step 34, until control module detects movement
Radius length data are more than or equal to operating distance data.
18. the control method of robot equipped system for building according to claim 17, it is characterised in that: in step
After S11, control module continues to determine whether the second operation acts needed to be implemented there are telescopic rod, and control module recycles if it exists
Execute step S10, step S11 and step S12；If it does not exist control module issue release signal to telescopic rod dynamical system,
The telescopic rod dynamical system driving telescopic rod restores to initial position.
19. the system control method of construction system according to claim 11, it is characterised in that: control method further includes machine
Control method when tool is made by hand, includes the following steps:
Step S13: the operating coordinates location information of manipulator is input in controller, inductor collection machinery hand current location
Coordinate information, and location information is fed back into controller；
Step S14: controller according to operating coordinates location information and current position coordinates information computer tool hand X-axis, Y-axis and
Amount of movement on Z axis, controller issue control instruction to cart motor, trolley motor and telescopic rod dynamical system；
Step S15: controller monitors manipulator in real time according to the feedback of the first inductor, the second inductor, third inductor
Position, after determining that manipulator reaches operating position, controller issues work order driving manipulator and executes operation acts.
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| CN201910108073.5A CN109719698A (en) | 2019-02-02 | 2019-02-02 | A kind of robot equipped system for building and control method |
| PCT/CN2020/074181 WO2020156560A1 (en) | 2019-02-02 | 2020-02-03 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
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| CN201910108073.5A CN109719698A (en) | 2019-02-02 | 2019-02-02 | A kind of robot equipped system for building and control method |
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| CN111203750A (en) * | 2020-01-21 | 2020-05-29 | 正德职业技术学院 | Automatic rapid chip removing device for numerical control machining tool and chip removing method thereof |
| WO2020156560A1 (en) * | 2019-02-02 | 2020-08-06 | 广东博智林机器人有限公司 | Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor |
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| CN111923013A (en) * | 2020-09-06 | 2020-11-13 | 上海建冶科技工程股份有限公司 | Ten-axis type large-stroke anti-corrosion intelligent robot |
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