CN111075179B

CN111075179B - Robot scaffold for construction

Info

Publication number: CN111075179B
Application number: CN202010059381.6A
Authority: CN
Inventors: 王欲晓; 隗俊东
Original assignee: Neijiang Normal University
Current assignee: Neijiang Normal University
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-08-25
Anticipated expiration: 2040-01-19
Also published as: CN111075179A

Abstract

The invention discloses a robot scaffold for construction, which belongs to the field of building construction and comprises a workbench (100), a lifting frame (200) and a chassis (300), wherein the chassis is connected with the ground, the chassis can be fixed and moved relative to the ground, the lifting frame is connected with the workbench and the chassis, the lifting frame can raise or lower the height of the workbench, and an operator is positioned on the workbench to perform construction operation.

Description

Robot scaffold for construction

Technical Field

The invention relates to the field of building construction.

Background

Scaffolding refers to various supports erected on a construction site for workers to handle and solve vertical and horizontal transportation. The general term of the building industry refers to the places which cannot be directly constructed on the building site and are used for exterior wall, interior decoration or high floor height. Mainly for constructors to live up and down or for peripheral safety net enclosure, overhead installation components and the like, the scaffold is said to be made of bamboo, wood, steel pipes or synthetic materials. Some projects also use scaffolds as templates, and in addition, the scaffold is widely used in advertising, municipal administration, traffic roads and bridges, mines and other departments.

The scaffold has fixed type and removal type, and the scaffold of removal can the shift position as required, and present removal scaffold can only stand on the workstation by operating personnel, when need operate some bottom constructions, operates inconveniently.

Disclosure of Invention

The invention aims to: the utility model provides a robot scaffold for construction, includes workstation, crane and chassis, chassis and ground connection, the chassis can be fixed relatively ground and remove, workstation and chassis are connected to the crane, the crane can rise or reduce the height of workstation, operating personnel is located and carries out the construction operation on the workstation, the workstation including:

the frame is connected with the lifting frame, a first cavity, a second cavity and a third cavity are arranged on the frame, a first screw rod passing through the first cavity and the second cavity is further arranged in the frame, and a first motor driving the first screw rod to rotate is arranged in the third cavity;

the first working plate and the second working plate are fixed by the framework, a first sliding part and a second sliding part which are in threaded connection with the first screw rod are further arranged in the first cavity, the first sliding part, the second sliding part and the first working plate are fixedly connected, a third sliding part which is in threaded connection with the first screw rod is arranged in the second cavity, the third sliding part is connected with the second working plate through a rod piece (132), and when the first screw rod is driven to rotate, the moving speed of the first sliding part and the second sliding part is smaller than that of the third sliding part, so that when the first working plate moves, the second working plate rotates relative to the first working plate.

As an improvement, the axial direction of the first screw is a first direction, and two opposite side faces of the frame are respectively provided with a first screw, a first sliding piece, a second sliding piece, a third sliding piece and a rod piece which are opposite to each other so as to drive the first working plate and the second working plate together.

As an improvement, the first working plate comprises a first working plate body, the second working plate comprises a second working plate body, the first working plate body is hinged to the second working plate body, the axial direction of the hinge shaft is the second direction, and the second direction is perpendicular to the first direction.

As an improvement, the first cavity is opened towards the side, the second cavity is opened towards the upper part, the first sliding part and the second sliding part are connected with the side of the first working plate through the side opening, and the third sliding part is connected with the bottoms of the two sides of the second working plate through the upper opening.

As an improvement, the frame is provided with a connecting frame for fixing the first working plate and the second working plate.

As an improvement, the first motor is controlled by an operator.

As an improvement, the crane comprises: the lifting device comprises a first lifting rod, a second lifting rod, a third lifting rod and a fourth lifting rod, wherein one end of the first lifting rod is connected with a frame, the other end of the first lifting rod is hinged with a movable block, one end of the second lifting rod is hinged with the movable block, and the other end of the second lifting rod is connected with a chassis; one end of the third lifting rod is connected with the frame, the other end of the third lifting rod is hinged with the fixed block, one end of the fourth lifting rod is hinged with the fixed block, the other end of the fourth lifting rod is connected with the chassis, the fixed block is provided with a second motor, the second motor is fixedly connected with a second screw rod, the second screw rod is connected with the movable rod screw rod, and the second motor drives the second screw rod to rotate so as to drive the movable block to move relative to the fixed block and further lift the workbench.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a frame;

FIG. 3 is a schematic view of a second chamber;

FIG. 4 is a schematic view of a first work plate and a second work plate;

figure 5 is a schematic view of a crane;

figure 6 is a schematic view of a crane;

FIG. 7 is a schematic view of a stabilization unit;

FIG. 8 is a schematic view of a drive assembly;

FIG. 9 is a schematic view of a drive assembly;

fig. 10 is a schematic view of a living animal;

FIG. 11 is a schematic view of the moveable member;

FIG. 12 is a schematic view of a heavy object;

the labels in the figure are: 100-workbench, 110-frame, 111-first cavity, 112-second cavity, 113-third cavity, 114-first screw, 115-first motor, 120-first working plate, 121-first working plate, 122-first sliding member, 123-second sliding member, 130-second working plate, 131-second working plate, 132-rod, 133-third sliding member, 200-lifting frame, 210-first lifting rod, 220-second lifting rod, 230-third lifting rod, 240-fourth lifting rod, 250-movable block, 260-fixed block, 270-second screw, 280-second motor, 300-chassis, 400-stabilizing unit, 410-driving assembly, 411-shell, 412-third screw, 413-fourth slide, 414-third motor, 420-connecting rod, 430-movable object, 431-movable element, 4311-gear, 4312-movable shell, 4313-fourth motor, 432-connecting element, 433-heavy object.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.

As shown in figure 1, this embodiment discloses a robot scaffold for construction, including workstation 100, crane 200 and chassis 300, chassis and ground connect, the chassis is equipped with four gyro wheels, the chassis can be fixed and remove ground relatively, crane connection workstation and chassis, the crane can rise or reduce the height of workstation, operating personnel is located the workstation and carries out construction operation.

As shown in fig. 1, the workbench includes a frame 110, a first work plate 120 and a second work plate 130, the first work plate and the second work plate are fixed on the frame 110, and the frame 110 is connected with a crane 200.

As shown in fig. 2-3, the frame 110 is provided with a first cavity 111, a second cavity 112 and a third cavity 113, the frame is further provided with a first screw (114) passing through the first cavity and the second cavity, and the third cavity is provided with a first motor 115 driving the first screw to rotate;

as shown in fig. 4, a first sliding member 122 and a second sliding member 123 which are in threaded connection with the first screw rod are further arranged in the first cavity, the first sliding member, the second sliding member and the first working plate are fixedly connected, a third sliding member 133 which is in threaded connection with the first screw rod is arranged in the second cavity, the third sliding member is connected with the second working plate through a rod 132, and when the first screw rod is driven to rotate, the moving speed of the first sliding member and the second sliding member is smaller than that of the third sliding member, so that when the first working plate moves, the second working plate rotates relative to the first working plate. The speed of the first sliding part and the second sliding part can be half of the speed of the third sliding part when moving, as shown in fig. 5, in one state, the first working plate and the second working plate are parallel, and an operator can lie on the first working plate to operate the workpiece directly above the first working plate; when the operator needs to sit up, the second working plate is simply rotated relative to the first working plate as shown in the figure, and the gravity center of the operator can be greatly moved at the moment, so that the working frame is unstable. In this embodiment, the first, second and third sliding members are all driven by a screw to move, when needing to sit up, only an operator needs to control the first motor to rotate, the first and second sliding members will move at a lower speed, the third sliding member will move at a higher speed, and the second working plate will rotate at this time, for example, fig. 6 is a schematic structural diagram of the second working plate after rotating, so as to enable the operator to be more convenient. Specifically, the sliding part and the screw rod can be designed with different screw pitches so as to enable the sliding part to have different movement speeds.

Specifically, as shown in fig. 4, the axial direction of the first screw is the first direction (X direction), and two corresponding first screws, first sliding parts, second sliding parts, third sliding parts, and rod parts are respectively disposed on opposite sides of the frame to drive the first working plate and the second working plate together, which are distributed on two sides of the working plate to provide corresponding forces. The first working plate comprises a first working plate body 121, the second working plate comprises a second working plate body 131, the first working plate body is hinged to the second working plate body, the axial direction of the hinge shaft is the second direction (Y direction), and the second direction is perpendicular to the first direction.

In a preferred embodiment, as shown in fig. 2, the first cavity is open to the side, the second cavity is open to the upper, the first slider and the second slider are connected to the side of the first working plate through the side opening, and the third slider is connected to the bottom of the second working plate through the upper opening. As further shown in fig. 2, the frame is provided with a connecting frame for fixing the first working plate and the second working plate.

In a preferred embodiment, the operator holds a work panel and wirelessly controls the rotation of the first motor.

As further shown in fig. 6, the crane 200 includes: a first lifting rod 210, a second lifting rod 220, a third lifting rod 230 and a fourth lifting rod 240, wherein one end of the first lifting rod is connected with the frame, the other end of the first lifting rod is hinged with the movable block 250, one end of the second lifting rod is hinged with the movable block, and the other end of the second lifting rod is connected with the chassis 300; one end of the third lifting rod 230 is connected with the frame, the other end is hinged with the fixed block 260, one end of the fourth lifting rod is hinged with the fixed block, the other end is connected with the chassis 300, the fixed block is provided with a second motor 280, the second motor is fixedly connected with a second screw 270, the second screw is connected with a movable rod screw rod, and the second motor drives the second screw rod to rotate so as to drive the movable block to move relative to the fixed block and further lift the workbench 100. The second motor 280 on the lifting frame can be controlled by a panel held by an operator, and the operator can control the height of the workbench to adapt to different operation requirements when being positioned on the workbench.

The existing scaffold is easy to change the gravity center, so in an improved embodiment, the scaffold further comprises a central control device, the scaffold is provided with four rollers contacting with the ground, and the gravity center control device comprises:

sensors for respectively detecting the pressure applied to the four rollers;

a controller which receives pressure signals of the four sensors;

the stabilizing unit is provided with a heavy object and can be controlled by the controller so as to change the position of the heavy object according to pressure signals of the four sensors to inhibit the unbalance of the pressures borne by the four rollers.

The sensors are respectively connected with the four rollers to detect the pressure applied to the rollers, and the specific positions can be determined according to requirements.

In a preferred embodiment, as shown in fig. 7, the stabilizing unit includes two driving assemblies 410 disposed correspondingly and a connecting rod 420 connecting the two driving assemblies, an axial direction of the connecting rod is a first direction, a movable object 430 is disposed on the connecting rod, the movable object can be controlled by the controller to move on the connecting rod along the first direction, and the driving assemblies can be controlled by the controller to move the connecting rod along a second direction, which is perpendicular to the first direction.

As shown in fig. 8, the driving assembly includes a housing 411, a third screw 412 located in the housing, a fourth sliding member 413 in threaded connection with the third screw, and a third motor 414 for driving the third screw to rotate, wherein two ends of the connecting rod are respectively fixed on two fourth sliding members of the two driving assemblies.

As shown in fig. 10, the movable object 430 includes a movable member 431 capable of moving along the connection rod, a heavy member 433, and a connection member 432 connecting the movable member and the heavy member.

As shown in fig. 11, the movable member 431 includes a movable shell 4312, a gear 4311 located inside the movable shell, and a fourth motor 4313 fixed on the movable shell, the fourth motor drives the gear to rotate, a connecting rod is provided with a tooth portion, and the gear and the tooth portion cooperate to enable the movable member to move on the connecting rod when the gear is driven to rotate. The heavy object is a metal cylinder, such as an iron cylinder, and the connecting piece is one of a rope and a metal rod. The gear and the connecting piece are meshed, so that the structure and the moving part move more stably.

When the center of gravity of the scaffold deviates from the center, the pressure applied to the four rollers changes, the pressure data detected by the four sensors changes and is transmitted to the controller, the controller calculates the position of center of gravity deviation according to the pressure distribution of the four rollers, and controls the third motor and/or the fourth motor to work, so that the heavy objects move to further compensate the change of the center of gravity of the scaffold, and the scaffold can be more stable.

Claims

1. The utility model provides a robot scaffold for construction, includes workstation (100), crane (200) and chassis (300), chassis and ground connection, the chassis can be fixed relatively ground and remove, workstation and chassis are connected to the crane, the crane can rise or reduce the height of workstation, operating personnel is located and carries out construction operation on the workstation, a serial communication port, the workstation including:

the frame (110) is connected with the lifting frame, a first cavity (111), a second cavity (112) and a third cavity (113) are arranged on the frame, a first screw (114) passing through the first cavity and the second cavity is further arranged in the frame, and a first motor (115) driving the first screw to rotate is arranged in the third cavity;

the first working plate (120) and the second working plate (130) are fixed by the frame, a first sliding part (122) and a second sliding part (123) which are in threaded connection with the first screw rod are further arranged in the first cavity, the first sliding part, the second sliding part and the first working plate are fixedly connected, a third sliding part (133) which is in threaded connection with the first screw rod is arranged in the second cavity, the third sliding part is connected with the second working plate through a rod piece (132), and when the first screw rod is driven to rotate, the moving speed of the first sliding part and the second sliding part is smaller than that of the third sliding part, so that when the first working plate moves, the second working plate rotates relative to the first working plate;

the first working plate comprises a first working plate body (121), the second working plate comprises a second working plate body (131), the first working plate body is hinged with the second working plate body, the axial direction of a hinge shaft is a second direction, and the second direction is vertical to the first direction;

the scaffold still including focus controlling means, the scaffold is equipped with four and ground contact's gyro wheel, focus controlling means include:

sensors for respectively detecting the pressure applied to the four rollers;

a controller which receives pressure signals of the four sensors;

2. A construction robot scaffold according to claim 1, wherein said first screw has an axial direction in a first direction, and opposite sides of said frame are respectively provided with two opposite first screws, first sliding members, second sliding members, third sliding members, and bars for driving said first working plate and said second working plate together.

3. The construction robot scaffold according to claim 2, wherein the first cavity is open to the side, the second cavity is open to the upper, the first slider and the second slider are connected to the side of the first working plate through the side opening, and the third slider is connected to the bottoms of both sides of the second working plate through the upper opening.

4. A construction robot scaffold according to claim 3, wherein said frame is provided with a connecting frame for fixing said first work plate and said second work plate.

5. A construction robot scaffold according to claim 4, wherein said first motor is controlled by an operator.

6. The construction robot scaffold as claimed in claim 5, wherein the crane (200) comprises: the lifting device comprises a first lifting rod (210), a second lifting rod (220), a third lifting rod (230) and a fourth lifting rod (240), wherein one end of the first lifting rod is connected with the frame, the other end of the first lifting rod is hinged with a movable block (250), one end of the second lifting rod is hinged with the movable block, and the other end of the second lifting rod is connected with a chassis (300); one end and the frame attach of third lifter (230), the other end and fixed block (260) are articulated, fourth lifter one end and fixed block are articulated, the other end and chassis (300) are connected, be equipped with second motor (280) on the fixed block, second motor fixedly connected with second screw rod (270), second screw rod and movable rod lead screw are connected, second motor drive second screw rod rotates to the relative fixed block of drive movable block removes and then elevating platform (100).