CN113653291B

CN113653291B - Construction equipment

Info

Publication number: CN113653291B
Application number: CN202110961016.9A
Authority: CN
Inventors: 赵国增; 黎梓健; 许辉芳; 王焕捷
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2022-09-16
Anticipated expiration: 2041-08-20
Also published as: CN113653291A

Abstract

The invention discloses building construction equipment which comprises a transverse moving part, a vertical telescopic part, a multi-joint mechanical arm and an operation part, wherein the transverse moving part is arranged on the vertical telescopic part; the vertical telescopic part is arranged on the transverse moving part and moves along the transverse direction under the action of the transverse moving part, and the vertical telescopic part and the transverse moving part define a containing space together when moving to one side of the transverse moving part; one end and the vertical flexible portion of articulated arm rotate to be connected, and the other end and the operation portion of articulated machinery rotate to be connected, and all lie in same vertical storage plane with vertical flexible portion when accommodating space is accomodate to articulated arm and operation portion. According to the arrangement, the storage size of the building construction equipment can be reduced, the miniaturization of the building construction equipment is facilitated, and the situation that the building construction equipment with larger size needs to be designed due to the fact that the storage plane of the operation part and the storage plane of the multi-section joint mechanical arm are arranged in a staggered mode is avoided.

Description

Construction equipment

Technical Field

The invention relates to the technical field of building construction, in particular to building construction equipment.

Background

A construction robot generally includes a machine body, a multi-joint robot arm, and a working section provided as a corresponding working tool according to the type of construction work, for example: when spraying operation is carried out, the operation part is set as a spray head; when plastering work is performed, the working section is set as a scraper.

When the construction robot performs construction work, the construction robot controls the multiple joints of the multi-joint robot arm to expand so that the working section reaches a preset working position. After the construction work is finished, the construction robot controls the joints of the multi-joint robot arm to be stored in the same storage plane so that the working unit is located at the storage position.

However, the storage position of the working portion is protruded from the storage plane where the multi-joint robot arm is located, so that the construction robot is large in size when being stored, and thus improvement is needed.

Disclosure of Invention

The invention provides a building construction equipment, which aims to reduce the storage size of the building construction equipment and is beneficial to the miniaturization of the building construction equipment.

In order to achieve the above object, the present invention provides a construction equipment, which includes a traverse portion, a vertical telescopic portion, a multi-joint robot arm, and an operation portion; wherein the content of the first and second substances,

the vertical telescopic part is arranged on the transverse moving part and moves along the transverse direction under the action of the transverse moving part, and the vertical telescopic part and the transverse moving part define an accommodating space together when moving to one side of the transverse moving part;

one end of the multi-joint mechanical arm is rotatably connected with the vertical telescopic part, the other end of the multi-joint mechanical arm is rotatably connected with the operation part, and the multi-joint mechanical arm and the operation part are accommodated in the accommodating space and are positioned in the same vertical accommodating plane with the vertical telescopic part.

In some embodiments of the present invention, the traverse portion includes a base extending in the transverse direction and a moving seat mounted on the base, the moving seat being capable of moving relative to the base in the transverse direction, the vertical expansion portion being connected to the moving seat, the vertical expansion portion being further disposed in the vertical storage plane with the base and the moving seat.

In some embodiments of the present invention, the building construction equipment further includes a self-moving robot having an accommodating space formed by partially recessing a side surface thereof, and the traverse section and the vertical telescopic section are installed in the accommodating space and are capable of forming the accommodating space in the accommodating space.

In some embodiments of the present invention, the accommodating space is disposed to extend in a lateral direction through a side surface of the self-moving robot and to extend in a vertical direction through a top surface of the self-moving robot.

In some embodiments of the present invention, the vertical storage plane is not disposed beyond a side surface of the self-moving robot.

In some embodiments of the invention, the working part is accommodated in the vertical accommodating plane without exceeding a side surface of the self-moving robot.

In some embodiments of the present invention, the building construction equipment further includes an adjusting mechanism connecting the multi-joint mechanical arm and the working part, the adjusting mechanism has a first rotating surface rotatably connected to the multi-joint mechanical arm and a second rotating surface rotatably connected to the working part, the first rotating surface is disposed at an included angle with the working surface of the working part, and the first rotating surface is further disposed at an included angle with the second rotating surface.

In some embodiments of the invention, the working portion includes a spray head and a scraping piece, the spray head and the scraping piece are oppositely disposed on the second rotating surface, the spray head and the scraping piece can be switched to use along with the rotation of the second rotating surface, and the spray head and the scraping piece are simultaneously located in the vertical receiving plane when being received in the receiving space.

In some embodiments of the present invention, the multi-joint mechanical arm includes a swing arm extending along a vertical plane, a swing plane of the swing arm is vertically disposed, the first rotation plane is disposed perpendicular to the swing plane of the swing arm, and the second rotation plane is disposed parallel to the swing plane of the swing arm.

In some embodiments of the invention at least one of said swing arms is also able to telescope along its length.

According to the technical scheme, two ends of the multi-joint mechanical arm are respectively connected with the vertical telescopic part and the operation part in a rotating mode, so that the multi-joint mechanical part and the operation part can rotate to be located in the same vertical containing plane with the vertical telescopic part, the containing size of the building construction equipment can be reduced, the building construction equipment is miniaturized, and the building construction equipment with large size needs to be designed due to the fact that the containing plane of the operation part and the containing plane of the multi-joint mechanical arm are arranged in a staggered mode.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of the multi-joint robot arm of the present invention during storage;

FIG. 2 is a schematic structural view of a multi-joint robot arm according to another embodiment of the present invention;

FIG. 3 is a schematic structural view of another embodiment of the multi-joint robot arm of the present invention during storage;

FIG. 4 is a schematic structural view of a multi-joint robot arm according to yet another embodiment of the present invention;

FIG. 5 is a schematic structural view of a multi-joint robot arm according to yet another embodiment of the present invention;

FIG. 6 is a schematic diagram of an embodiment of the multi-joint robotic arm of the present invention in an extended configuration;

FIG. 7 is a schematic diagram of a multi-joint robotic arm of the present invention in an extended configuration;

FIG. 8 is a schematic diagram of another embodiment of the multi-joint robotic arm of the present invention in an extended configuration;

FIG. 9 is a schematic diagram of a further embodiment of the multi-joint robotic arm of the present invention in an extended configuration;

FIG. 10 is a schematic structural diagram of an embodiment of the mobile chassis of the present invention;

FIG. 11 is a schematic view of the construction of one embodiment of the head box of the present invention.

The reference numbers illustrate:

the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The invention provides building construction equipment, which can enable a multi-joint mechanical arm, an operation part and a vertical telescopic part to be accommodated in the same vertical accommodating plane, can reduce the accommodating size of the building construction equipment, and is beneficial to miniaturization of the building construction equipment, so that the problem that the large-size building construction equipment needs to be designed due to the fact that the accommodating plane of the operation part and the accommodating plane of the multi-joint mechanical arm are arranged in a staggered mode is avoided.

Referring to fig. 1 and 2, the construction equipment 1000 according to the present invention includes a traverse portion 100, a vertical telescopic portion 200, a multi-joint robot 300, and a working portion 400.

The traverse portion 100 is a linear transmission structure for driving an object to move in a transverse direction, and the linear transmission structure may be a screw linear transmission module, a cylinder linear transmission module, a slide linear transmission module, or the like. The extending direction of the traverse portion 100 may be straight in the lateral direction, or the extending direction of the traverse portion 100 may be inclined in the lateral direction.

The vertical telescopic part 200 is a telescopic structure for driving an object to be vertically telescopic, and the telescopic structure may be an electric push rod telescopic transmission module, a cylinder hydraulic rod telescopic transmission module, or the like. The extending direction of the vertical expansion portion 200 may be vertically straight, or the extending direction of the vertical expansion portion 200 may be vertically inclined.

The vertical expansion part 200 is mounted on the traverse part 100 and moves in the transverse direction under the action of the traverse part 100, and when the vertical expansion part 200 moves to one side of the traverse part 100, the vertical expansion part 200 and the traverse part 100 define a containing space, and one side of the containing space far away from the traverse part 100 and one side of the containing space far away from the vertical expansion part 200 are both open.

When the vertically stretchable and contractible portion 200 is moved to one side of the traverse portion 100, the vertically stretchable and contractible portion 200 may be positioned at the lateral limit position of the traverse portion 100, or the vertically stretchable and contractible portion 200 may be positioned at any position between the lateral limit positions of the traverse portion 100.

The multi-joint robot 300 is configured to drive the working portion 400 to move to a predetermined working area, and the multi-joint robot 300 includes two or more mechanical joint structures movably connected in sequence and a swing arm 310 connected between every two adjacent mechanical joints.

The working unit 400 is used for building construction work, the working unit 400 is provided with corresponding working tools according to the type of the building construction work, the working unit 400 is provided with one or more (two or more) working tools such as a spray head for spraying work, a scraper for plastering work, a grinding device for grinding work, a measuring device for map construction work, a 3D camera, and a painting device for painting wall surface, so that one or more working tools can be selected to form the working unit 400 according to the requirement of the building construction work.

One end of the multi-joint mechanical arm 300 is rotatably connected with the vertical telescopic part 200, the other end of the multi-joint mechanical arm is rotatably connected with the working part 400, and the multi-joint mechanical arm 300 and the working part 400 are both positioned in the same vertical storage plane 1000a with the vertical telescopic part 200 when being stored in the storage space.

Obviously, the number of the vertical expansion portions 200 may be one or more, the number of the vertical expansion portions 200 is equal to the number of the multi-joint robot arms 300 and the number of the working portions 400, the vertical expansion portions 200 correspond to the multi-joint robot arms 300 one by one, and the multi-joint robot arms 300 correspond to the working portions 400 one by one. When the vertical stretching portion 200 is plural, each vertical stretching portion 200 defines one accommodation space together with the traverse portion 100.

Through the technical scheme, when building construction work is carried out, the transverse moving part 100, the vertical telescopic part 200 and the multi-joint mechanical arm 300 are used in a matched mode, the working part 400 is driven to move to a preset working area, and the building construction work is carried out according to a preset working path; after the construction work is completed, the traverse portion 100 drives the vertical expansion portion 200 to move to one side of the traverse portion 100, the multi-joint robot 300 and the working portion 400 rotate respectively until the multi-joint robot 300 and the working portion 400 are accommodated in the accommodating space, and the multi-joint robot 300, the working portion 400 and the vertical expansion portion 200 are located in the same vertical accommodating plane 1000 a. With this arrangement, the storage size of the construction equipment 1000 can be reduced, which is advantageous for the miniaturization of the construction equipment 1000 to improve the passing performance of the construction equipment 1000 at the time of transition.

In the actual storage process, the transverse moving part 100 drives the vertical telescopic part 200 to move to the limit position of the transverse moving part 100 in the transverse direction, the vertical telescopic part 200 is contracted to the shortest length, and the transverse moving part 100, the vertical telescopic part 200, the multi-joint mechanical arm 300 and the working part 400 are positioned in the same vertical storage plane 1000 a.

In addition, when the working portion 400 works in a narrow space, the vertical telescopic portion 200 and the articulated robot 300 can be in a contracted or partially contracted state, and the construction work in the narrow space can be realized without interference. In addition, the multiple joints of the multi-joint robot 300 cooperate with each other to swing the swing arm 310 in the working space to form multiple angles, so that the complex adjustment of the working space can be achieved when the working unit 400 performs work, for example, when the working unit 400 is a spray head, the spraying of primer and finish on a flat wall, a ceiling, a room beam, and a column can be achieved, thereby effectively replacing manual work, improving the construction efficiency and quality, and reducing the labor cost. Meanwhile, compared with the spraying quality controlled by manual skill, the spraying quality of automatic spraying is more balanced and better.

Referring to fig. 1 and 2, there are many types of the traverse portion 100, in some embodiments of the invention, the traverse portion 100 includes a base 110 extending in a transverse direction and a movable base 120 mounted on the base 110, the movable base 120 can move relative to the base 110 in the transverse direction, a vertical expansion portion 200 is connected to the movable base 120, and the vertical expansion portion 200 is further disposed in a vertical storage plane 1000a with the base 110 and the movable base 120, so that the vertical expansion portion 200 can be driven to move in the transverse direction, and the traverse portion 100, the vertical expansion portion 200, the multi-joint robot 300, and the working portion 400 can be stored in the same vertical storage plane 1000a, thereby reducing the storage size of the construction equipment 1000.

Specifically, the base 110 is provided with a linear transmission structure for driving the movable base 120 to move in a transverse direction relative to the base 110, and the specific form of the linear transmission structure is set forth with reference to the linear transmission structure in the above-mentioned embodiment. When the number of the vertical telescopic parts 200 is two, the number of the movable base 120 may be one, the two vertical telescopic parts 200 are partially disposed on both sides of the movable base 120 in the horizontal direction, the number of the movable base 120 may be two, and the two vertical telescopic parts 200 are correspondingly mounted on the two movable bases 120.

Referring to fig. 1 and 2, in view of the fact that the traverse unit 100, the vertical telescopic unit 200, the multi-joint robot 300, and the working unit 400 need to be moved to a place for construction work and perform construction work in practical application, in order to facilitate the movement of the traverse unit 100, the vertical telescopic unit 200, the multi-joint robot 300, and the working unit 400, in some embodiments of the present invention, the construction equipment 1000 further includes a self-moving robot 500 recessed from a side surface portion of the self-moving robot 500 to form an accommodating space, and the traverse unit 100 and the vertical telescopic unit 200 are installed in the accommodating space and can form an accommodating space in the accommodating space.

The connection manner of the traverse unit 100 and the inner wall of the accommodating space is various, and the traverse unit and the inner wall of the accommodating space may be welded, screwed, clamped, etc., and is not limited in particular.

The number of the accommodating spaces may be one or more. When the number of the accommodating spaces is plural, the traverse portion 100, the vertical telescopic portion 200, the articulated robot 300, and the working portion 400 form one working group, the number of the working groups is the same as the number of the accommodating spaces, the working groups are installed in the accommodating spaces, and the number of the working groups installed in the accommodating spaces may be the same or different. A plurality of work groups may also be distributed on different sides of the building construction equipment.

Through the technical scheme, on one hand, the traverse section 100, the vertical telescopic section 200, the multi-joint mechanical arm 300 and the working section 400 can be moved conveniently by driving the traverse section 100, the vertical telescopic section 200, the multi-joint mechanical arm 300 and the working section 400 to move by the self-moving robot 500; on the other hand, the traverse section 100 and the vertical telescopic section 200 form an accommodation space in the accommodation space so that both the articulated robot arm 300 and the working section 400 can be accommodated in the accommodation space, thereby reducing the accommodation size of the self-moving robot 500.

Referring to fig. 1 and 2, considering that the vertical size and the horizontal size of the storage space are fixed values, the movement ranges of the traverse unit 100, the vertical telescopic unit 200, the multi-joint robot 300, and the working unit 400 are limited, and it is inconvenient for the traverse unit 100, the vertical telescopic unit 200, the multi-joint robot 300, and the working unit 400 to move, in view of this, in some embodiments of the present invention, the storage space is disposed to penetrate through the side surface of the self-moving robot 500 in the horizontal direction and penetrate through the top surface of the self-moving robot 500 in the vertical direction, so that it is convenient for the traverse unit 100, the vertical telescopic unit 200, the multi-joint robot 300, and the working unit 400 to move.

The accommodating space may be a side surface penetrating the self-moving robot 500 in the lateral direction on one side in the lateral direction, or may be two side surfaces penetrating the self-moving robot 500 in the lateral direction on both sides in the lateral direction, respectively, and is not limited in particular.

It is understood that when the traverse unit 100, the vertical expansion unit 200, the multi-joint robot 300, and the working unit 400 are accommodated in the same vertical accommodation plane 1000a, the traverse unit 100, the vertical expansion unit 200, the multi-joint robot 300, and the working unit 400 may be partially accommodated in the accommodation space, and the traverse unit 100, the vertical expansion unit 200, the multi-joint robot 300, and the working unit 400 may be entirely accommodated in the accommodation space, but the accommodation of all of the traverse unit 100, the vertical expansion unit 200, the multi-joint robot 300, and the working unit 400 in the accommodation space may further reduce the accommodation size of the self-moving robot 500, compared to the accommodation of all of the traverse unit 100, the vertical expansion unit 200, the multi-joint robot 300, and the working unit 400 in the accommodation space, and in some embodiments of the present invention, the vertical accommodation plane 1000a is not disposed beyond the side surface of the self-moving robot 500, in this way, the traverse section 100, the vertical telescopic section 200, the articulated robot 300, and the working section 400 are all housed in the housing space.

Specifically, the vertical storage plane 1000a being disposed not to exceed the side surface of the self moving robot 500 means being disposed not to exceed the side surface of the self moving robot 500 in the lateral direction and the side surface of the self moving robot 500 in the longitudinal direction. Further, the vertical storage plane 1000 may be provided not to exceed one of a side surface of the self-moving robot 500 in the lateral direction and a side surface of the self-moving robot 500 in the longitudinal direction.

It should be noted that the vertical storage plane 1000a does not exceed the side surface of the self-moving robot 500 adjacent to the storage space may be that the vertical storage plane 1000a is flush with the side surface of the self-moving robot 500 adjacent to the storage space, and the vertical storage plane 1000a does not exceed the side surface of the self-moving robot 500 adjacent to the storage space may also be that there is a gap between the vertical storage plane 1000a and the side surface of the self-moving robot 500 adjacent to the storage space.

Further, in some embodiments of the present invention, the working unit 400 is accommodated in the vertical accommodation plane 1000a without being disposed beyond a side surface of the self-moving robot 500, and is disposed such that the working unit 400 is entirely located in the accommodation space when accommodated.

Specifically, the working section 400 is disposed not to exceed the side surface of the self-moving robot 500 when housed in the vertical housing plane 1000a means that it is disposed not to exceed the side surface of the self-moving robot 500 in the lateral direction and the side surface of the self-moving robot 500 in the longitudinal direction. Further, the work section 400 may be housed in the vertical housing plane 1000a without protruding beyond one of the lateral surface of the self-moving robot 500 in the lateral direction and the lateral surface of the self-moving robot 500 in the longitudinal direction.

Referring to fig. 1 and 2, in order to increase the flexibility of the operation of the working section 400, in some embodiments of the present invention, the construction equipment 1000 further includes an adjusting mechanism 600 connecting the articulated robot 300 and the working part 400, the adjusting mechanism 600 having a first rotating surface 610 rotatably connected to the articulated robot 300 and a second rotating surface 620 rotatably connected to the working part 400, the first rotating surface 610 being disposed at an angle to the working surface of the working part 400, the first rotating surface 610 being further disposed at an angle to the second rotating surface 620, so disposed, by using the rotation of the first rotating surface 610 and the rotation of the second rotating surface 620 in cooperation, the position of the working unit 400 can be controlled on both the first rotating surface 610 and the second rotating surface 620, further, the flexibility of the operation of the working unit 400 is increased, so that the working unit 400 has a small operational limitation and a high operational flexibility, for example: when the working section 400 is a nozzle, the entire coverage of the coating can be ensured for small areas such as hallway, secondary plaster line, bay window, and the like, which have complicated shapes.

The multi-joint mechanical arm 300 is provided with a rotating structure for driving the second rotating surface 620 to rotate, the adjusting mechanism 600 is provided with a rotating structure for driving the first rotating surface 610 to rotate, and the rotating structure can be a motor, a motor gear rotating module, a motor belt pulley rotating module, a rotating cylinder rotating module and other rotating modules.

Specifically, the first rotating surface 610 and the second rotating surface 620 are arranged perpendicularly, so that the first rotating surface 610 and the second rotating surface 620 are convenient to machine. In addition, the included angle between the first rotating surface 610 and the second rotating surface 620 may be set at other angles such as 30 degrees, 45 degrees, and 60 degrees.

The number of the second rotation surface 620 may be one or more. When the number of the second rotation surfaces 620 is plural, one working unit 400 is rotatably connected to each of the second rotation surfaces 620.

Referring to fig. 1 and 2, there are many types of the working units 400, in some embodiments of the invention, the working unit 400 includes a nozzle and a scraping member, the nozzle and the scraping member are oppositely disposed on the second rotating surface 620, the nozzle and the scraping member can be switched to use as the second rotating surface 620 rotates, and the nozzle and the scraping member are disposed in the vertical receiving plane 1000a when being received in the receiving space.

Through the above technical solution, on the one hand, the spray head and the scraping element are integrated on the second rotating surface 620, and the second rotating surface 620 rotates to drive the spray head and the scraping element to be switched for use, so that the working part 400 can be switched for use between the spraying operation and the plastering operation, for example: the working section 400 performs the spraying work and the plastering work in sequence; on the other hand, by virtue of the fact that the head and the wiper are accommodated in the accommodating space while being positioned in the vertical accommodating plane 1000a, the working part 400 is configured such that the head and the wiper do not affect the accommodating size of the construction equipment 1000.

Referring to fig. 1 and 2, in some embodiments of the present invention, the multi-joint robot arm 300 includes a swing arm 310 extending along a vertical plane, the swing plane of the swing arm 310 is vertically disposed, a first rotation plane 610 is disposed perpendicular to the swing plane of the swing arm 310, and a second rotation plane is disposed parallel to the swing plane of the swing arm 310, such that the working unit 400 can be driven to move vertically and in the longitudinal direction by driving the swing arm 310 to swing, and the working unit 400 and the swing arm 310 can be rotated to be accommodated in the same vertical accommodation plane 1000a by virtue of the second rotation plane 620 being disposed parallel to the swing plane of the swing arm 310.

It should be noted that the swing arm 310 may swing straight vertically, and the swing arm 310 may also swing obliquely vertically. The power source for driving the swing arm 310 to perform the swing motion is provided with reference to the rotating structure in the above-described embodiment.

The multi-joint mechanical arm 300 may include one or more swing arms 310, and in actual use, the number of the swing arms 310 is selected according to the movement range of the working part 400 in the vertical direction, for example: a large range of movement of the working unit 400 in the vertical direction is required, and the number of swing arms 310 is appropriately increased, as follows: when the range of movement of the working unit 400 in the vertical direction needs to be large, the number of swing arms 310 is appropriately reduced.

Specifically, the multi-joint robot arm 300 includes a plurality of swing arms 310 and link arms 320, two adjacent swing arms 310 are connected by one link arm 320, one swing arm 310 located at an end of the plurality of swing arms 310 is also connected to the vertical telescopic portion 200 by the link arm 320, another swing arm 310 located at an end of the plurality of swing arms 310 is connected to the adjusting mechanism 600, and each link arm 320 is correspondingly provided with a power source for driving the corresponding swing arm 310 to perform a swing motion.

Referring to fig. 1 and 2, in order to further increase the range of motion of the working unit 400 in the vertical direction, in an embodiment of the present invention, at least one swing arm 310 is also capable of extending and retracting along the length direction thereof.

When the number of the swing arms 310 is plural, at least one swing arm 310 of the plural swing arms 310 can be extended and contracted in the longitudinal direction thereof. The specific structure of the swing arm 310 extending and contracting is provided with reference to the specific structure of the vertical telescopic part 200 in the above embodiment.

Referring to fig. 6 to 9, the multi-joint robot in fig. 6 to 9 is extended to different degrees, and when the multi-joint robot 300 is fully extended, the limit height of the working portion 400 is 4000mm, which meets the floor height requirement of commercial floors in the market and the floor height requirement of most underground garages. Moreover, the multi-joint mechanical arm 300 is large in expansion range and high in extension speed, can work in a large operation range under the condition of small floor area, and obviously improves efficiency.

When the articulated robot 300 is completely retracted, the traverse unit 100, the vertical telescopic unit 200, the articulated robot 300, and the working unit 400 are housed in the same vertical housing plane 1000a, and the floor space occupied by the mobile robot 500 is minimized. Preferably, the height and width of the self-moving robot 500 is 780 × 680 × 1500mm, and the self-moving robot can be transported by a small truck when in long-distance transition; and the station can be transferred between the construction buildings through objects or freight ladders. The working in small house type has excellent passing performance.

Referring to fig. 9, there are many types of the self-moving robot 500, in some embodiments of the present invention, the self-moving robot 500 includes a moving chassis 510, a rack 520, and an electric control cabinet 530, the rack 520 is mounted on one side of the moving chassis 510 and defines an accommodating space together with the moving chassis 510, the traverse unit 100 is mounted on the moving chassis 510, the electric control cabinet 530 is mounted in the rack 520, and the electric control cabinet 530 is in communication connection with the traverse unit 100, the vertical telescopic unit 200, the multi-joint robot 300, the working unit 400, and the moving chassis 510.

Referring to fig. 10, the mobile chassis 510 is used for driving the self-moving robot 500 to move. The mobile chassis 510 comprises a frame 511 and four mecanum wheels 512, the four mecanum wheels 512 are correspondingly mounted at four corners of the bottom of the frame 511, and the four mecanum wheels 512 are respectively controlled by motors.

Preferably, the width of the frame 511 is less than or equal to 680mm, and the length of the frame 511 is less than or equal to 780mm, so that the elevator can meet the requirement of entering and exiting of elevators (people elevators and goods elevators) of residential buildings of the market, and can enter and exit a narrow area smaller than the size of the frame 511.

When the working unit 400 is set as a spray head, the raw material tank 540 and the spraying machine 550 are installed in the frame 520, the raw material tank 540 is used for storing spraying raw materials, the input end of the spraying machine 550 is communicated with the raw material tank 540, the output end of the spraying machine 550 is communicated with the spray head through a hose, the spraying machine 550 is also electrically connected with the electric control cabinet 530, and thus the control cabinet can control the spraying machine 550 to work, so that the spraying raw materials in the raw material tank 540 are conveyed to the spray head and sprayed out by the spray head.

Referring to fig. 11, the raw material tank 540 includes a tank body 541, a discharge pipe 542, a discharge pipe 543 and a liquid level detector 544, the discharge pipe 542 is connected to the tank body 541 and the spraying machine 550, the discharge pipe 543 is connected to the tank body 541 and is used for discharging the spraying raw material remaining in the tank body 541, the liquid level detector 544 is mounted on the tank body 541 and is used for detecting the liquid level in the tank body 541, and the liquid level detector 544 is in communication connection with the electric control cabinet 530.

Through the above technical solution, on one hand, when the spraying raw material is added into the box 541, it can be determined whether the spraying raw material is filled in the box 541, that is, when the liquid level of the box 541 detected by the liquid level detector 544 is higher than or equal to the first preset reference value, the electric control cabinet 530 receives the detection signal of the liquid level detector 544 and sends an alarm signal to warn that the spraying raw material in the box 541 is filled; on the other hand, the condition of material storage in the box body 541 can be judged in the spraying operation process, when the liquid level detector 544 detects that the liquid level of the liquid level is lower than the second preset reference value, it indicates that the material liquid in the box body 541 is insufficient, and the electric control cabinet 530 receives the detection signal of the liquid level detector 544 and sends out a reminding signal to remind feeding; by such an arrangement, the use condition of the guniting raw material in the box body 541 can be known in real time.

Obviously, the liquid level detector 544 may be replaced with a gravity sensor for detecting the weight of the tank 541 and comparing the detected weight with a preset reference weight value, so as to determine the stock of the spraying material in the tank 541.

Referring to fig. 9 and 10, the self-moving robot 500 further includes an audible and visual alarm mechanism 560 and a navigation mechanism 570 both communicatively connected to the electric control cabinet 530, wherein the audible and visual alarm mechanism 560 is mounted on the top of the frame 520 to warn and remind people around the construction work to avoid the self-moving robot 500 for safe operation.

The navigation mechanism 570 is mounted on the mobile chassis 510, the navigation mechanism includes a navigator 571 and a protective cover 572, and the navigator 571 is in communication connection with the electric control cabinet 530. The navigator 571 constructs a map according to the terrain of the construction site, compares the map with the information of the virtual map model of the building in the electric control cabinet 530 to determine the specific position of the map, transmits the position information to the electric control cabinet 530, processes the position information and feeds the processed position information back to the motor on the mobile chassis 510, and accurately controls the mobile chassis 510 to travel according to a preset route, so that the working part 400 completes construction work. The protective cover 572 is used to cover the navigator 571, so that the navigator 571 can be effectively protected from being polluted by the sprayed dust.

Referring to fig. 9, the self-moving robot 500 further includes two obstacle-avoidance radars 580, and the two obstacle-avoidance radars 580 are respectively installed at the front end and the rear end of the moving chassis 510, so as to effectively ensure the safety of the moving chassis 510 during movement, ensure the safety of the self-moving robot 500 and others, and prevent people from colliding and objects from colliding.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The building construction equipment is characterized by comprising a transverse moving part, a vertical telescopic part, a multi-joint mechanical arm and an operation part; wherein, the first and the second end of the pipe are connected with each other,

the vertical telescopic part is arranged on the transverse moving part and moves transversely under the action of the transverse moving part, and the vertical telescopic part and the transverse moving part define a containing space together when moving to one side of the transverse moving part;

one end of the multi-joint mechanical arm is rotatably connected with the vertical telescopic part, the other end of the multi-joint mechanical arm is rotatably connected with the operation part, and the multi-joint mechanical arm and the operation part are positioned in the same vertical accommodating plane with the vertical telescopic part when accommodated in the accommodating space;

the building construction equipment further comprises an adjusting mechanism connected with the multi-joint mechanical arm and the operation part, the adjusting mechanism is provided with a first rotating surface rotationally connected with the multi-joint mechanical arm and a second rotating surface rotationally connected with the operation part, the first rotating surface and the working surface of the operation part are arranged at an included angle, and the first rotating surface and the second rotating surface are also arranged at an included angle;

the operation portion comprises a spray head and a scraping piece, the spray head and the scraping piece are arranged on the second rotating surface in a relative mode, the spray head and the scraping piece can be switched to use along with the rotation of the second rotating surface, and the spray head and the scraping piece are contained in the containing space and are simultaneously located in the vertical containing plane.

2. The construction equipment according to claim 1, wherein the traverse portion includes a base extending in the transverse direction and a moving seat mounted on the base, the moving seat being movable relative to the base in the transverse direction, the vertical expansion portion being connected to the moving seat, the vertical expansion portion being further provided in the vertical storage plane with the base and the moving seat.

3. The construction equipment according to claim 1, further comprising a self-moving robot having an accommodation space formed by being recessed in comparison with a side surface portion thereof, wherein the lateral-moving portion and the vertical telescopic portion are installed in the accommodation space and are capable of forming the accommodation space in the accommodation space.

4. The construction equipment according to claim 3, wherein the housing space is provided to penetrate a side surface of the self-moving robot in a lateral direction and penetrate a top surface of the self-moving robot in a vertical direction.

5. The construction equipment according to claim 3, wherein the vertical storage plane is not disposed beyond a side surface of the self-moving robot.

6. The construction equipment according to claim 3, wherein the working section is disposed so as not to extend beyond a side surface of the self-moving robot when being housed in the vertical housing plane.

7. The construction equipment according to claim 1, wherein said articulated robot arm includes a swing arm extending along a vertical plane, a swing plane of said swing arm being vertically disposed, said first rotation plane being disposed perpendicular to the swing plane of said swing arm, and said second rotation plane being disposed parallel to the swing plane of said swing arm.

8. Construction equipment according to claim 7, wherein at least one of said swing arms is also telescopic along its length.