CN114102549B

CN114102549B - Intelligent climbing, carrying and sorting device for steel structure construction

Info

Publication number: CN114102549B
Application number: CN202111403534.5A
Authority: CN
Inventors: 陆通; 王帅; 游�明; 李文祥; 王明昭
Original assignee: Wuhan Construction Engineering Co Ltd
Current assignee: Wuhan Construction Engineering Co Ltd
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2023-06-20
Anticipated expiration: 2041-11-24
Also published as: CN114102549A

Abstract

The invention discloses an intelligent climbing, carrying and sorting device for steel structure construction, which comprises a bracket system, wherein the bracket system is used for supporting the whole carrying and sorting device; the crawler-type moving system is used for driving the whole carrying and sorting device to move; the mechanical arm system comprises a four-claw mechanical arm structure, a double-claw mechanical arm structure, a fork-claw mechanical arm structure, a felling mechanical arm structure and an excavating mechanical arm structure; the waste sorting system is used for sorting the materials picked up by the mechanical arm system; the hoisting system is arranged above the waste sorting system and used for carrying sorting boxes of the waste sorting system; and the stair climbing system is arranged on two sides of the bracket system and used for driving the whole carrying and sorting device to realize climbing among floors. The invention can solve the problems of low manual efficiency and low safety of material conveying and sorting, can rapidly and accurately convey and sort materials, and can realize sorting of different waste materials and climbing among floors.

Description

Intelligent climbing, carrying and sorting device for steel structure construction

Technical Field

The invention belongs to the field of constructional engineering, and particularly relates to an intelligent climbing, carrying and sorting device for steel structure construction.

Background

When the steel structure is constructed, the construction materials and the components are required to be carried by machinery and equipment so as to be convenient for installation, welding and other operations, a plurality of working conditions of high-altitude operations exist, larger components are required to be carried, some components are arranged outside a main body of the structure, a crane can be used for installation, and for some components which are heavy in the structure, the components are usually required to be operated by manpower in cooperation with the machinery. Meanwhile, due to construction operation, materials such as waste steel, bricks, tiles, broken stone, wood and the like are scattered on site frequently, and the materials need to be carried, sorted and collected, and the construction problems are carried mechanically and manually in a traditional mode, so that potential safety hazards exist on one hand, the materials are carried and sorted by a small mechanical arm structure, the manpower loss is reduced to a certain extent, a certain technical requirement is met for constructors, and the construction efficiency is affected.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problem to be solved by the invention is to provide an intelligent climbing, carrying and sorting device for steel structure construction, which solves the problems of low manual efficiency and low safety of carrying and sorting materials, can rapidly and accurately carry and sort the materials, and can realize classification of different wastes and climbing among floors.

In order to achieve the above object, the present invention adopts the following technical measures:

the invention relates to an intelligent carrying and sorting device capable of climbing in a steel structure building, which comprises:

a rack system providing support for the entire handling and sorting apparatus;

the crawler-type moving system is arranged at the bottom of the bracket system and is used for driving the whole carrying and sorting device to move;

the mechanical arm system is positioned on the bracket system and is divided into a four-claw mechanical arm structure, a double-claw mechanical arm structure, a fork-claw mechanical arm structure, a felling mechanical arm structure and an excavating mechanical arm structure, which are respectively used for clamping the uneven brick and tile objects, the long-strip-shaped objects, the cylindrical objects, the wood objects and the broken stone block objects which are identified by the intelligent identification system;

the waste sorting system is positioned on the bracket system and is opposite to the mechanical arm system, and is used for sorting materials picked up by the mechanical arm system;

the hoisting system is arranged above the waste sorting system and is used for carrying sorting boxes of the waste sorting system;

and the stair climbing system is arranged on two sides of the bracket system and used for driving the whole carrying and sorting device to realize climbing among floors.

Preferably, the bracket system comprises a front support plate and a rear support plate; the upper surfaces of the front supporting plate and the rear supporting plate are respectively provided with a rotary supporting seat for supporting and rotating the mechanical arm system and the waste sorting system; the lower surface of the front supporting plate is provided with a crawler supporting plate for supporting a crawler power shaft of the crawler type moving system; the upper surface of the rear supporting plate is provided with a supporting plate for supporting a conveying belt of the waste sorting system.

Further, the crawler-type moving system comprises a front crawler and a rear crawler which are respectively positioned below the front supporting plate and the rear supporting plate, and a front crawler overhanging bracket and a rear crawler overhanging bracket which are respectively matched with the front crawler and the rear crawler and are installed together; the front crawler overhanging bracket and the rear crawler overhanging bracket are respectively connected with two groups of guide rails which are oppositely arranged; each group of guide rails comprises three guide rails which are arranged side by side, the top and the bottom of each guide rail are covered with end covers, two guide rails which are arranged oppositely and positioned at the middle position are connected with one universal shaft a through two movable support posts b, two universal shafts b, two support posts and one oil cylinder, the two guide rails which are arranged oppositely and positioned at the left side and the right side are connected with one another through two movable support posts a, and the turning of a crawler-type movable system is realized through the difference of the telescopic lengths of the oil cylinders at the left side and the right side.

Furthermore, the movable support post b is of a steel structure, the upper end and the lower end of the movable support post b are matched and installed with the end covers through tension springs, and the left end and the right end of the movable support post b are respectively matched and installed with the rolling bearings and the rollers, so that the movable support post can conveniently move in two guide rails which are oppositely arranged and positioned in the middle position; the two movable support posts b are connected through the universal shaft a; the movable support column a is of a steel structure, the upper end and the lower end of the movable support column a are matched and installed with the end covers through tension springs, and the left end and the right end of the movable support column a are respectively matched and installed with the rolling bearings and the rollers, so that the movable support column a can conveniently move in two guide rails which are oppositely arranged at the left side and the right side; and two ends of the oil cylinder are respectively connected with the two movable struts a through the struts and the universal shafts b.

Further, the mechanical arm system comprises a large rotary chassis structure, five mechanical arm structure supports and an electric rotating device, wherein the large rotary chassis structure is installed in a matched mode with a rotary supporting seat positioned on the front supporting plate, the five mechanical arm structure supports are rotatably installed on the large rotary chassis structure, and the electric rotating device drives the mechanical arm structure supports to rotate; the electric rotating device comprises a motor, a worm connected with the motor through a coupler and a circular gear meshed with the worm, wherein the circular gear is fixedly installed with a support through a bolt, the support is installed with a mechanical arm structure support through the bolt in a matched mode, the worm drives the circular gear to rotate through the motor, and then the circular gear drives the support and the mechanical arm structure support to rotate.

Further, the fork claw mechanical arm structure comprises a fork claw mechanical arm part arranged on one mechanical arm structure support, a mechanical arm electric rotating device connected with the fork claw mechanical arm part, a fork claw support arranged on the mechanical arm electric rotating device, and two fork claws which are arranged on the fork claw support in a rotating manner and are opposite to each other; the fork claw mechanical arm part comprises a mechanical arm big arm a and a mechanical arm big arm b which are connected in a hinged manner, wherein the mechanical arm big arm a and the mechanical arm big arm b are connected through an oil cylinder b, and the swing of the mechanical arm big arm b is realized through a control oil cylinder b; the large arm a of the mechanical arm is connected with the mechanical arm structure support through an oil cylinder a, and the swing of the large arm a of the mechanical arm is realized through controlling the oil cylinder a; the two fork claws are respectively matched with the fork claw support through a fork claw oil cylinder a and a fork claw oil cylinder b, and the two fork claws are opened and closed through controlling the expansion and the contraction of the fork claw oil cylinder a and the fork claw oil cylinder b.

Preferably, the felling mechanical arm structure comprises a felling support seat arranged on one mechanical arm structure support seat, an electric rotary table fixed on the felling support seat, an electric saw arranged on the electric rotary table through bolts, and two hooks rotatably connected on the felling support seat through a hook claw oil cylinder; the electric turntable is powered by an electric turntable motor to realize the swing of the electric saw; swing of the two hooks is realized by controlling the extension and retraction of the hook oil cylinder; an electric rotating wheel support is arranged at the bottom of the felling support in a matched mode, an electric rotating wheel oil cylinder is connected between the electric rotating wheel support and the felling support, and swing of the electric rotating wheel support is achieved through controlling the expansion and the contraction of the electric rotating wheel oil cylinder; the electric rotating wheel is arranged on the electric rotating wheel support, and is driven by the electric rotating wheel motor to rotate, so that the picked wood objects do ascending motion, and the electric saw is convenient to cut.

Preferably, the waste sorting system comprises a sorting box and a conveying belt connected with the sorting box, wherein one end of the conveying belt is arranged above the sorting box through a material separating plate, and the other end of the conveying belt is provided with a feeding device for placing waste picked up by the mechanical arm system; the classifying box is arranged on a rotary supporting seat positioned on a rear supporting plate through a classifying box base, the inside of the classifying box is divided into a plurality of independent spaces by a partition plate, and the bottom of the classifying box is provided with a classifying box bottom plate for sealing each space.

Preferably, the stair climbing system comprises a stair climbing guide rail, a supporting arm a and a supporting arm b which are arranged at two sides of the bottom of the stair climbing guide rail, a movable support a and a movable support b which are installed in a matched manner with the stair climbing guide rail through a T-shaped groove structure, and a lifting arm a and a lifting arm b which are respectively connected with the movable support a and the movable support b; the lifting oil cylinder is arranged in the stair climbing guide rail, the telescopic end of the lifting oil cylinder is matched with the movable support, idler wheel chain wheels are arranged on two sides of the movable support, the idler wheel chain wheels are matched with a chain, and the chain is matched with the movable support a and the movable support b to realize up-and-down movement of the movable support a and the movable support b; the inner parts of the supporting arm a and the supporting arm b are provided with the idler wheels b, and the idler wheels can be matched with grooves in the front supporting plate and the rear supporting plate to realize the moving function of the front supporting plate and the rear supporting plate.

Further, the bottom supports of the front crawler belt a and the rear crawler belt b are provided with brackets in a matched mode, and the middle part of each bracket is provided with a crane in a matched mode through bolts; the hook lock part of the crane is connected with a pull ring of the magnetic crane; the upper surface of the magnetic force crane is matched with the electric guide rail through a bolt, the movable support of the electric guide rail is matched with the base through a bolt, the sleeve is matched with the rocker of the magnetic force crane, the other end of the sleeve is matched with the base, the base is driven to move left and right through the movement of the movable support of the electric guide rail, the left and right swinging of the rocker of the magnetic force crane is realized, and the opening and closing of the magnetic force crane are realized.

By the invention, the characteristics of the steel bars, the bricks, the tiles, the crushed stones and the wood can be identified, five special mechanical arms are combined to carry and sort the steel bars, the bricks, the crushed stones and the wood, and the carrying and sorting efficiency is improved. The carrying and sorting mechanism for carrying and sorting the waste is provided behind the carrying and sorting mechanism, the sorting and recycling of the waste are realized by the image recognition system, and the replacement and recycling of the sorting box are realized by the lifting system; through magnetic force hoisting accessory and climbing building system, realize the climbing function at all steel construction building. When construction transport and sorting material, intelligent discernment material, accurate pick up material get into corresponding construction place, combine arm and recognition system ingenious, realize automaticly, greatly improved construction transport and sorting material inefficiency, the speed is slow, the condition that the manpower is consumed much.

Compared with the prior art, the invention has the following advantages and effects:

1, adopted intelligent identification system to carry and sort construction material, quick accurate transport and sort the material.

2, assembling the mechanical arm and the intelligent recognition system through a rotatable platform, thereby realizing the requirement of isotacticity.

And 3, arranging oil cylinders on the mechanical arms, and improving the flexibility of the mechanical arms through the expansion and contraction of the oil cylinders.

And 4, combining the chassis with the rotatable platform, wherein the chassis adopts an excavator type tire to forcefully support the carried mechanical arm and provide powerful hydraulic power.

And 5, the whole device is simple and convenient to operate, convenient for workers to operate, and capable of realizing automatic carrying and sorting, effectively reducing the manual labor of personnel and improving the safety of the personnel.

6, this device possess hoist and mount system and waste material classification system, can realize the classification to different waste materials to a device has two classification casees, improves the capacity of waste material.

7, this device can be realized in the building of all steel construction, need not to realize climbing between the floor with the help of other devices.

Drawings

In order to more clearly illustrate the technical solutions of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of the device of the present invention capable of climbing, transporting and sorting in a steel structure building;

FIG. 2 is a perspective view of the stent system of the present invention;

FIG. 3 is a schematic view of the connection of the rear support plate to the rear track of the present invention;

FIG. 4 is a side view of the stent system of the present invention;

FIG. 5 is a schematic view of the track support plate and swivel support mount of the present disclosure mounted to a front support plate;

FIG. 6 is a schematic view of a rotary support base according to the present invention;

FIG. 7 is a schematic diagram of a power system according to the present invention;

FIG. 8 is a schematic diagram of a power system according to a second embodiment of the present invention;

FIG. 9 is a schematic view of the crawler-type mobile system of the present invention;

FIG. 10 is a schematic view of the structure of the track outrigger and rail connection of the present invention;

FIG. 11 is a schematic view of the structure of the front and rear track connection of the present invention;

fig. 12 is a schematic structural view of the connection of the moving strut a and the guide rail a of the present invention;

fig. 13 is a schematic view showing the structure of the connection of the moving strut a and the guide rail b of the present invention;

FIG. 14 is a schematic view of the connection of the cylinder of the present invention to the cardan shaft b, the support and the moving support a on both sides thereof;

fig. 15 is a schematic view showing the structure of the connection of the moving strut b and the guide rail a of the present invention;

Fig. 16 is a schematic view showing the structure of the connection of the moving strut b and the guide rail b of the present invention;

FIG. 17 is a schematic view showing the structure of the joint of the universal shaft a and the moving struts b on both sides thereof;

FIG. 18 is a schematic diagram of a robotic arm system of the present invention;

FIG. 19 is a schematic view of the connection of the large swivel chassis structure and the mechanical arm structure support of the present invention;

FIG. 20 is a schematic view of the connection of the mechanical arm structure support and the electric rotating device of the present invention;

FIG. 21 is a schematic view of a fork arm structure of the present invention;

FIG. 22 is a schematic view of the structure of a fork arm part of the present invention;

FIG. 23 is a schematic diagram of a large arm b of a mechanical arm according to the present invention;

FIG. 24 is a second schematic diagram of the large arm b of the mechanical arm of the present invention;

FIG. 25 is a front view of two prongs of the present invention;

FIG. 26 is a perspective view of two prongs of the present invention;

FIG. 27 is a schematic view of the structure of the felling arm of the present invention;

FIG. 28 is a schematic view of the structure of two fingers of the present invention;

FIG. 29 is a schematic view of the structure of the electric turntable of the present invention;

FIG. 30 is a schematic view of the mounting structure of the electric turntable of the present invention;

FIG. 31 is a schematic view of the logging tool of the present invention;

FIG. 32 is a schematic diagram of a dual-jaw robot structure according to the present invention;

FIG. 33 is a second schematic structural view of the dual-jaw robot of the present invention;

FIG. 34 is a schematic diagram of a four-jaw robot structure according to the present invention;

FIG. 35 is a second schematic diagram of a four-jaw robot structure according to the present invention;

FIG. 36 is a schematic view of an excavating mechanical arm structure of the present invention;

FIG. 37 is a schematic view of the bucket of the present invention;

FIG. 38 is a schematic structural view of the hydraulic station structure of the present invention;

FIG. 39 is a schematic view of an electric rotating device according to the present invention;

FIG. 40 is an exploded view of the electric rotating device of the present invention;

FIG. 41 is an assembled schematic view of an electric rotating device of the present invention;

FIG. 42 is a schematic view of the connection of the support and cap ends of the present invention;

FIG. 43 is a schematic view of the waste sorting system of the present invention;

FIG. 44 is a schematic view of the structure of the sorting bin of the present invention;

FIG. 45 is a schematic view of the conveyor belt of the present invention;

FIG. 46 is a schematic view of the structure of a conveyor belt barrier of the present invention;

FIG. 47 is a schematic illustration of the connection of a conveyor belt flight to a stripper plate in accordance with the present invention;

FIG. 48 is a schematic view of the connection of the sorting bin floor, rear support plate and rear track of the present invention;

FIG. 49 is a schematic diagram of a panoramic system of the present invention;

FIG. 50 is a schematic diagram of a panoramic system of the present invention;

FIG. 51 is a schematic diagram of a control system of the present invention;

FIG. 52 is a control flow chart of the control system of the present invention;

FIG. 53 is a schematic view of the stair climbing system of the present invention;

FIG. 54 is a perspective view of a stair climbing rail of the present invention;

FIG. 55 is a front view of the stair climbing rail of the present invention;

FIG. 56 is a schematic illustration of the connection of a lift cylinder and a traveling strut of the present invention;

FIG. 57 is a schematic view of the engagement of the chain and stair climbing rail of the present invention;

FIG. 58 is a schematic view of the connection of the moving struts and their two-sided rolling bearings to the rollers of the present invention;

FIG. 59 is a schematic view of the construction of the lift cylinder of the present invention within a stair climbing rail;

FIG. 60 is a top view of a stair climbing rail of the present invention;

FIG. 61 is a schematic view of the structure of the support arm of the present invention;

FIG. 62 is a schematic view of the drive shaft and V-belt engagement in the support arm of the present invention;

FIG. 63 is a schematic view of a lift arm according to one embodiment of the present invention;

FIG. 64 is a second schematic view of a lift arm according to the present invention;

FIG. 65 is a schematic view of a lift arm of the present invention;

FIG. 66 is a schematic view of a solenoid valve switch of the present invention;

FIG. 67 is a schematic diagram of the solenoid valve switch and support plate combination of the present invention;

FIG. 68 is a schematic view of the construction of the crane of the present invention;

FIG. 69 is a schematic view of the connection of the base and sleeve of the present invention;

FIG. 70 is a schematic view of the magnetic crane of the present invention;

FIG. 71 is a schematic view of the structure of the crane of the present invention mounted on the bottom support of the track;

FIG. 72 is a schematic view of a hoisting system according to the present invention;

FIG. 73 is a schematic view of the connection of the vertical supports and cross beams of the present invention;

FIG. 74 is a schematic view of the structure of the crane of the present invention mounted on a cross beam;

fig. 75 is a schematic view of the installation of the crane of the present invention.

Wherein: 100-bracket system, 101-front support plate, 102-rear support plate, 103-slewing support seat, 104-turntable bearing, 105-conveyor belt front support plate, 106-conveyor belt rear support plate, 107-worm, 108-worm support, 109-hydraulic motor, 110-support plate strut, 111-rolling bearing, 112-track support plate, 113-rolling bearing;

200-power system, 201-three-phase motor a, 202-speed reducer a, 203-chain, 204-sprocket, 205-diesel generator, 206-three-phase motor b, 207-speed reducer b;

300-crawler travel system, 301 a-front crawler, 301-rear crawler, 302-front crawler power shaft a, 303-front crawler power shaft b, 305-front crawler outrigger, 306-rear crawler outrigger, 307-guide rail a, 308-guide rail b, 309-cylinder, 310-cardan shaft a, 311-end cap, 312-moving strut a, 313-rolling bearing, 314-roller, 315-cardan shaft b, 316-tension spring, 317-strut, 318-moving strut b;

400-robotic arm system;

4100-large rotating chassis structure, 4101-large rotating chassis, 4102-mechanical arm structure support, 4103-electric rotating device, 4104-motor, 4105-worm support, 4106-support, 4107-cover end, 4108-circular gear, 4109-pressure bearing, 4110-worm, 4111-rolling bearing, 4112-coupling, 4113-base;

4200-double-jaw mechanical arm structure, 4201-two-jaw support, 4202-two-jaw a, 4203-two-jaw b, 4204-two-jaw cylinder, 4205-cylinder support, 4206-two-jaw support;

4300-fork claw mechanical arm structure, 4301-mechanical arm big arm a, 4302-mechanical arm big arm b, 4304-mechanical arm electric rotating device, 4305-fork claw support, 4306-fork claw a, 4307-fork claw b, 4308-camera support, 4309-camera, 4310-cylinder a, 4311-cylinder b, 4312-cylinder c, 4313-fork claw cylinder a, 4314-fork claw cylinder b, 4315-motor, 4316-big arm support a, 4317-big arm support b, 4318-mechanical arm electric rotating device support, 4319-fork claw support;

4400-felling mechanical arm structure, 4401-felling support, 4402-claw a, 4403-claw b, 4404-electric rotating wheel, 4405-electric saw, 4406-claw oil cylinder, 4407-electric rotating wheel oil cylinder, 4408-electric rotating wheel support, 4409-electric rotating wheel motor, 4410-electric rotating wheel support post, 4411-oil cylinder post, 4412-electric saw motor, 4413-electric rotating disc, 4414-electric rotating disc motor;

4500-four-jaw mechanical arm structure, 4501-four-jaw a, 4502-four-jaw b, 4503-four-jaw c, 4504-four-jaw d, 4505-four-jaw cylinder, 4506-cylinder prop, 4507-four-jaw prop, 4508-four-jaw prop;

4600-excavating arm structure, 4601-bucket, 4602-bucket mount, 4603-bucket post;

4700-hydraulic station structure, 4701-hydraulic station, 4702-electromagnetic valve, 4703-hydraulic servo system;

500-waste classification system, 501-classification box, 502-conveyor belt, 503-conveyor belt baffle, 504-feeder, 505-camera mounting bracket, 506-camera, 507-feeder bracket, 508-bracket post, 509-conveyor belt post, 510-motor, 511-anchor bolt, 512-distributor plate, 513-classification box bottom plate, 514-classification box base;

600-panoramic system, 601-pillar, 602-chassis, 603-wireless camera;

700-a control system, 701-a Plc control system, 702-an intelligent recognition system;

800-stair climbing system, 801-stair climbing guide rail, 802-movable support a, 803-movable support b, 804-lifting arm a, 805-lifting arm b, 806-supporting arm a, 807-supporting arm b, 809-motor a, 810-motor b, 811-lifting cylinder, 812-motor c, 813-rolling bearing, 814-idler sprocket, 815-chain, 816-roller a, 817-roller b, 818-prop, 819-bracket, 820-magnetic hoist, 821-base, 822-sleeve, 823-hoist, 824-electric guide rail, 825-movable prop, 826-fixed seat, 827-anchor bolt, 828-supporting seat, 829-motor, 830-supporting plate, 831-lead screw, 832-small supporting plate, 833-baffle, 834-fixed plate, 835-triangular belt, 836-transmission shaft, 837-telescopic link, 838-fixed plate, 839-coil, 840-telescopic link fixed box, 841-hoist fixed support, 842-hoist, 843-supporting bracket;

900-hoisting system, 901-vertical support, 902-cross beam, 903-big triangular support, 904-small triangular support, 905-antifriction bearing, 906-crane, 907-motor support, 908-roller, 909-mounting support, 910-motor.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1 to 75, the intelligent transportation and sorting apparatus capable of climbing in a steel structure building of the present invention mainly comprises eight parts: a rack system 100, a power system 200, a crawler-type moving system 300, a mechanical arm system 400, a waste sorting system 500, a panoramic system 600, a control system 700, a stair climbing system 800, and a hoisting system 900.

Wherein the rack system 100 provides support for the entire handling and sorting apparatus. The crawler-type moving system 300 is formed by reforming the lower half part of the excavator, and wheels wrapped by the crawler provide power to realize steering and loading work. The crawler-type moving system 300 is installed at the bottom of the rack system 100, and can drive the whole carrying and sorting device to move.

The mechanical arm system 400 is installed on the bracket system 100 and is composed of five parts, wherein the first part is a four-claw mechanical arm structure and is used for clamping uneven objects of bricks and tiles; the second part is a double-claw mechanical arm structure and is used for clamping bar-shaped objects such as steel bars and the like; the third part is a fork claw mechanical arm structure and is used for clamping a wood cylindrical object; the fourth part is a felling mechanical arm structure and is used for treating waste materials such as wood and the like which need to be cut; the fifth part is an excavating mechanical arm structure used for processing broken stone block-shaped objects.

The invention also comprises an intelligent recognition system which is composed of an intelligent recognition circuit, combines an electronic code and a recognition camera to perform characteristic recognition on the material, and realizes the control automation of the mechanical arm.

As shown in fig. 1 to 6, the stand system 100 of the present invention is mainly composed of a front support plate 101, a rear support plate 102, a swivel support base 103, a turntable bearing 104, a conveyor belt front support plate 105, a conveyor belt rear support plate 106, a worm 107, a worm support 108, a hydraulic motor 109, a support plate stay 110, a rolling bearing 111, a track support plate 112 and a rolling bearing 113, and plays a role of fixed support for the whole apparatus.

The front supporting plate 101 is of a steel structure, the upper surface of the front supporting plate is concentrically matched with the rotary supporting seat 103 and the turntable bearing 104, the rotary supporting seat 103 is arranged above the turntable bearing 104 and plays a role in supporting the rotation of five mechanical arms, and the four supports of the lower half part are arranged together with the front crawler 301a through welding and play a role in supporting.

The rear supporting plate 102 is of a steel structure, the upper surface of the rear supporting plate is concentrically matched with the rotary supporting seat 103 and the turntable bearing 104, wherein the rotary supporting seat 103 is arranged above the turntable bearing 104 and plays a role in supporting and rotating the classifying box base 514, and the lower half part of the rear supporting plate is matched with the rotary supporting seat of the rear crawler 301 to realize the rotating function of the rear supporting plate 102.

The front belt support plate 105 and the rear belt support plate 106 are steel structures, are mounted on the rear support plate 102 by welding, are mounted in cooperation with the support plate support posts 110, and serve to support the conveyor belt 502.

The rotary support base 103 and the turntable bearing 104 are concentrically matched and installed to play a role in supporting rotation.

The track support plate 112 is of steel structure and is mounted below the front support plate 101 by welding, and is supported by being mounted in cooperation with the rolling bearing 113 and the

track power shafts

302, 303.

The worm support 108 is of a steel structure, is fixed on the

support plates

101 and 102 through bolts and nuts, is matched with the rolling bearings 111 and the worm 107 to support the worm 107, and is matched with the hydraulic motor 109 at the other end to be powered by the hydraulic motor 109.

The worm 107 is of a steel structure, is meshed with a gear of the rotary support base 103, and plays a role in transmitting power to drive the rotary support base 103 to rotate. The rolling bearing 111 is a standard part, is of the model BCHA-A45-D85 and is mounted on the worm support 108, and the rolling bearing 111 is matched with the worm 107 to play a supporting role. The rolling bearing 113 is a standard component, and is in the model of BCHA-A80-D140 and matched with the

crawler power shafts

302 and 303 to play a supporting role.

The hydraulic motor 109 is a standard part, and is of the type YM-B67B-JF, and is matched with the worm 107 to provide power.

As shown in fig. 7 to 8, the power system 200 is mainly composed of a three-phase motor a201, a speed reducer a202, a chain 203, a sprocket 204, a diesel generator 205, a three-phase motor b206, and a speed reducer b 207. The power system 200 provides power to the equipment and the transfer of power.

The three-

phase motors

201 and 206 and the

speed reducers

202 and 207 are standard components, the three-phase motor and the

speed reducers

202 and 207 are installed and fixed on the front supporting plate 101, the output shaft end of the three-phase motor a201 is connected with the speed reducer a202, the other end of the speed reducer a202 is installed in a matched mode with the chain wheel 204, the three-phase motor a201 provides power for equipment, and the speed reducer a202 is used for reducing the rotating speed of the three-phase motor a201 so as to improve torque. The output shaft end of the three-phase motor b206 is connected with a speed reducer b207, the other end of the speed reducer b207 is matched with the chain wheel 204, the three-phase motor b206 provides power for equipment, and the speed reducer b207 is used for reducing the rotating speed of the three-phase motor b206 so as to improve torque.

Chain 203 is a standard component, sprocket 204 is a standard component, model 72B-1_20_72_20, sprocket 204 is mounted on

speed reducers

202, 207 and on

track power shafts

302, 303, so that each matched sprocket is positioned in the same vertical plane, and power is transmitted through chain 203.

The diesel generator 205 is a standard, model Z9500KE, responsible for powering the three-

phase motors

201, 206 and the hydraulic station 4701.

Two three-

phase motors

201, 206 are mounted on the front support plate 101, and cooperate with a crawler-type moving system to achieve a steering function.

As shown in fig. 9-17, crawler travel system 300 includes a front crawler 301a, a rear crawler 301, a front crawler power shaft a302, a front crawler power shaft b303, a front crawler outrigger 305, a rear crawler outrigger 306, a rail a307, a rail b308, an oil cylinder 309, a cardan shaft a310, an end cap 311, a travel strut a 312, a rolling bearing 313, a roller 314, a cardan shaft b 315, a tension spring 316, a strut 317, and a travel strut b318.

The front crawler 301a is a standard, and is of the type SJ500A, and functions as a support and power transmission for the front support plate 101. The front track 301a is driven by the motor of the power system 200.

The rear crawler 301 is a standard component, and is of a model xcq1, and plays a role in supporting the rear supporting plate 102 and transmitting power. The rear track 301 carries a rotating support.

The front crawler outrigger 305 is a steel structure and is mounted in cooperation with the front crawler 301a by welding, and serves as a support during cornering.

The rear crawler outrigger 306 is a steel structure and is mounted together with the rear crawler 301 by welding to play a supporting role in turning.

The middle of the front crawler outrigger 305 and the rear crawler outrigger 306 are connected together by two guide rails a307 and b308 which are oppositely arranged and the moving strut b318 and the universal shaft a310 which are positioned at the middle position, the left side and the right side are respectively connected together by two guide rails a307 and b308 which are oppositely arranged and the moving strut a312, the oil cylinder 309, the strut 317 and the universal shaft b315 which are positioned at the left side and the right side, and the turning of the crawler-type moving system is realized by the different telescopic lengths of the oil cylinders 309 at the left side and the right side.

The end caps 311 are steel structures, and are mounted together by being matched with the two ends of the guide rail a307 and the guide rail b308 through screws. The tension spring 316 is of a steel structure, and two ends of the tension spring are connected with the end cover and the movable support a312 or the movable support b318, so that the impact is relieved, and the tension spring is stable.

The movable support column a312 is of a steel structure, the upper end and the lower end of the movable support column a312 are matched with the end cover 311 through the tension springs 316, and the left end and the right end of the movable support column a312 are respectively matched with the rolling bearings 313 and the rollers 314, so that the movable support column a312 can conveniently move in the guide rail a307 and the guide rail b 308.

The movable support b318 is of a steel structure, the upper end and the lower end of the movable support b318 are matched with the end cover 311 through the tension springs 316, and the left end and the right end of the movable support b318 are matched with the rolling bearings 313 and the rollers 314 respectively, so that the movable support b318 can conveniently move in the guide rail a307 and the guide rail b 308.

The universal shaft a310 is a standard part, the model is SWC620WD, and two ends of the universal shaft are respectively matched with the movable support b 318.

The universal shaft b315 is a standard component, and is of a SWC315WD type, one end of the universal shaft is matched with the movable support a312, the other end of the universal shaft is connected with the telescopic end of the oil cylinder 309, the other end of the universal shaft is matched with the movable support a312, and the other end of the universal shaft is matched with the support 317. The support 317 is a steel structure and is mounted with the bottom of the cylinder by a bolt structure. The cylinder 309 is a standard part, model DG-J-100-E-E1-GE-500. The rolling bearing 313 is a standard, model BCA-A40-D52-B7.

The guide rail a307, the guide rail b308, the oil cylinder 309, the universal shaft a310, the end cover 311, the movable support a312, the rolling bearing 313, the roller 314, the universal shaft b315, the tension spring 316, the support 317 and the movable support b318 form a connecting structure between the front crawler and the rear crawler, so that the whole device can adapt to rugged and stepped pavement.

The upper end of the guide rail a307 is matched and installed with the rear supporting plate 102 through a bolt and nut structure, the lower end of the guide rail a307 is matched and installed with the rear crawler overhanging bracket 306 through a taper pin, the upper end of the guide rail b308 is matched and installed with the front supporting plate 101 through a bolt and nut structure, and the lower end of the guide rail b308 is matched and installed with the front crawler overhanging bracket 305 through a taper pin, so that the guide rail a is convenient to detach.

As shown in fig. 18 to 37, the robot arm system 400 of the present invention is composed of a large rotary chassis structure 4100, a double-claw robot arm structure 4200, a fork-claw robot arm structure 4300, a felling robot arm structure 4400, a four-claw robot arm structure 4500, and an excavating robot arm structure 4600, and functions to collect waste materials. The four-claw mechanical arm structure 4500 can stably grasp uneven ground objects of bricks and tiles, and is convenient for grabbing materials such as bricks and tiles. The dual claw robot arm structure 4200 performs lateral gripping on long objects such as steel bars. The lumbering mechanical arm structure 4400 can clamp wood objects. The fork arm mechanism 4300 is mainly responsible for transversely grabbing objects such as steel bars and the like. The excavating robot arm structure 4600 can process crushed stone objects in batches and carry the crushed stone objects to a required place for operation.

As shown in fig. 19, 20, and 39-42, the large rotating chassis structure 4100 includes a large rotating chassis 4101, a mechanical arm structure support 4102, and an electric rotating device 4103, the electric rotating device 4103 includes a motor 4104, a worm support 4105, a support 4106, a cap end 4107, a circular gear 4108, a pressure bearing 4109, a worm 4110, a rolling bearing 4111, a coupling 4112, and a base 4113, and functions to support and rotate the mechanical arm structure support 4102.

The large rotary chassis 4101 is of steel structure, and is mounted together with the rotary support base 103 on the front support plate 101 by a bolt structure, so as to realize the rotary function.

As shown in fig. 39-42, the motorized rotary device 4103 is powered by a motor 4104, and the rotation function of a single mechanical arm is achieved by the mechanical arm structure support 4102. The motor 4104 drives the worm 4110 to rotate through the coupling 4112, the worm 4110 is meshed with the circular gear 4108, the worm 4110 drives the circular gear 4108 to rotate, the circular gear 4108 is fixedly installed with the support 4106 through bolts, and the circular gear 4108 drives the support 4106 to rotate.

Circular gear 4108 is a standard piece, model 011-30-500, and both upper and lower cooperate with pressure bearing 4109 to reduce frictional force. The worm support 4015 is of steel construction and is bolted to the base 4113, and the base 4113 is bolted to the large swivel chassis 4101.

The worm 4110 is a steel structure, and is provided with rolling bearings 4111 at both ends and then fitted with the worm support 4105. The cover end 4107 is of steel structure, and is mounted with the base 4113 and the worm 4110 support seat through bolts, so as to play a role of enclosing seal.

The support 4106 is mounted in cooperation with the mechanical arm structure support 4102 by bolts, and functions to support and rotate the mechanical arm structure support.

The rolling bearing 4111 is a standard, model BCA-A20-D27-B4. The coupling 4112 is a standard component, and is model CPCT-D56-A20-B20. The pressure bearing 4109 is a standard, model 51180.

The mechanical arm structure support 4102 is of a steel structure, the lower half part is matched with the electric rotating device 4103 to realize a rotating function, and the upper half part is matched with the mechanical arm structure to play a supporting role.

The fork arm structure 4300 of the present invention mainly comprises a mechanical arm big arm a4301, a mechanical arm big arm b4302, a mechanical arm electric rotating device 4304, a fork arm support 4305, a fork arm a4306, a fork arm b4307, a camera support 4308, a camera 4309, an oil cylinder a4310, an oil cylinder b4311, an oil cylinder c4312, a fork arm oil cylinder a4313, a fork arm oil cylinder b4314, a motor 4315, a big arm support a4316, a big arm support b4317, a mechanical arm electric rotating device support 4318 and a fork arm support 4319, and has the function of picking up waste materials.

The fork arm part is composed of a arm large arm a4301, an arm large arm b4302, an arm electric rotating device 4304, a camera support 4308, a camera 4309, an oil cylinder a4310, an oil cylinder b4311, an oil cylinder c4312, a motor 4315, a large arm support post a4316, a large arm support post b4317, an arm electric rotating device support post 4318, and a fork arm support post 4319.

The large mechanical arm a4301 and the large mechanical arm b4302 are of steel structures, the bottom of the large mechanical arm a4301 is matched and installed with the mechanical arm structure support 4102 through the large arm support a4316 to play a role in supporting, the top of the large mechanical arm is matched and installed with the large mechanical arm b4302 through the large arm support b4317, the large mechanical arm a and the large mechanical arm b are connected through the oil cylinder b4311 and the large mechanical arm support b4317, and swing of the large mechanical arm b4302 is realized through the control oil cylinder b 4311. The arm large arm a4301 is connected with the arm structure support 4102 through an oil cylinder a4310 and a large arm support b4317, and the swing of the arm large arm a4301 is realized through controlling the oil cylinder a 4310.

The mechanical arm electric rotating device 4304 is a standard part, the model is Y200RA200, the mechanical arm electric rotating device is driven by a motor 4315, the bottom is connected with the mechanical arm big arm b4302 through a big arm support post b4317, the other side is connected with the mechanical arm big arm b4302 through an oil cylinder c4312 and a mechanical arm electric rotating device support post 4318, and the swinging function of the mechanical arm electric rotating device 4304 is realized through controlling the oil cylinder c4312 to stretch and retract.

The camera support 4308 is of an L-shaped steel structure, is installed in the middle of the bottom of the large mechanical arm b4302 through welding, and the camera 4309 is installed on the camera support 4308 through bolts, so that mechanical arm images are obtained.

The fork claw support 4305 is of a steel structure, and is mounted in a matched manner with the mechanical arm electric rotating device 4304 through bolts, so that the fork claw is supported.

The fork a4307 and the fork b4306 are steel structures, and are mounted in a matched manner through a fork post 4319 and a protruding structure on the inner side of the fork support 4305, in addition, the fork a4307, the fork b4306 and the fork support 4305 are mounted in a matched manner through a fork cylinder a4313, a fork cylinder b4314 and a fork post 4319, and the opening and closing of the two forks are realized through controlling the expansion and the contraction of the fork cylinder a4313 and the fork cylinder b 4314.

The oil cylinder a4310 is a standard part, and the model is DG-J-100-E-E1-E2-1000. The oil cylinder b4311 is a standard part, and the model is DG-J-100-E-E1-E2-800. The oil cylinder c4312 is a standard part, and the model is DG-J-100-E-E1-E2-1000. The camera 4309 is a standard, model number candy ZT-F1. Motor 4315 is a standard, model Y112M-2. The fork claw cylinder a4313 and the fork claw cylinder b4314 are standard components, and the model is DG-J-50-E-E1-E2-400.

The felling mechanical arm structure 4400 mainly comprises a felling support 4401, a claw a4402, a claw b4403, an electric rotating wheel 4404, an electric saw 4405, a claw oil cylinder 4406, an electric rotating wheel oil cylinder 4407, an electric rotating wheel support 4408, an electric rotating wheel motor 4409, an electric rotating wheel support prop 4410, an oil cylinder prop 4411, an electric saw motor 4412, an electric rotating disc 4413 and an electric rotating disc motor 4414, and realizes collection and pickup of waste materials such as timber.

The felling arm structure 4400 has the same arm portion as the fork arm 4300.

The felling support 4401 is of a steel structure, the top platform part is provided with and fixed to the electric turntable 4413, and the electric turntable motor 4414 provides power to mount the electric saw 4405 on the electric turntable 4413 through bolts so as to swing the electric saw. The power saw 4405 is a standard, model number GNS-750.

The claw a 4402 and the claw b 4403 are of steel structures, are directly connected with the felling support 4401 through the oil cylinder support 4411, are connected with the felling support 4401 through the claw oil cylinder 4406 and the oil cylinder support 4411 on the other side, and swing of the claw a 4402 and the claw b 4403 is achieved through controlling the expansion and the contraction of the claw oil cylinder 4406.

The electric runner support 4408 is mounted through the bottom of the felling support 4401 in a matched manner through the electric runner support 4410, the electric runner support 4408 and the felling support 4401 are connected together through the oil cylinder support 4411 and the electric runner oil cylinder 4407, and the swinging of the electric runner support 4408 is achieved through controlling the expansion and the contraction of the electric runner oil cylinder 4407.

The electric rotating wheel 4404 is of a steel structure, the picked-up wood objects can be made to ascend through the rotation of the electric rotating wheel 4404, the electric saw 4405 can conveniently cut, the electric rotating wheel 4404 is fixed on the electric rotating wheel support 4408 through bolts, and the electric rotating wheel 4404 provides power through the electric rotating wheel motor 4409.

The electric turntable motor 4414 is a standard part, and is model Y112M-2. The electric wheel motor 4409 is a standard part, and the model is Y100L-2. The electric runner cylinder 4407 is a standard part and has the model DG-J-50-E-E1-E2-200. The claw cylinder 4406 is a standard part, and the model is DG-J-80-E-E1-E2-50.

The back of the felling support 4401 is fixed with the arm structure support 4102 by bolts so that the felling support 4401 can rotate.

The dual-jaw robot arm structure 4200 of the present invention is mainly composed of a two-jaw support 4201, a two-jaw a4202, a two-jaw b4203, a two-jaw cylinder 4204, a cylinder support 4205, and a two-jaw support 4206.

The arm portion of the dual-jaw arm structure 4200 is identical to the arm portion of the fork-jaw arm structure 4300.

The two-jaw support 4201 is of a steel structure, and the back is fixed with the mechanical arm structure support 4102 through a fixing bolt, so that the two-jaw support 4201 can rotate.

The two claws a4202 and the two claws b4203 are steel structures, the bottoms of the two claws a4202 and the two claws b4203 are mounted by the two claw supports 4206 in a matched manner with the protrusions on the inner side of the two claw support 4201, in addition, the two claws a4202 and the two claws b4203 are mounted by the two claw cylinders 4204 and the two claw supports 4206 in a matched manner with the protrusions on the outer side of the two claw support 4201, and the two claws a4202 and the two claws b4203 are swung by the telescopic movement of the two claw cylinders 4204.

The four-jaw arm structure 4500 of the present invention is mainly composed of four jaws a4501, b4502, c4503, d4504, cylinder 4505, cylinder post 4506, post 4507 and support 4508.

The arm portion of the four-jaw arm structure 4500 is the same as the arm portion of the fork-jaw arm structure 4300.

The four-jaw support 4508 is of a steel structure, and the bottom of the four-jaw support 4508 is fixed with the mechanical arm structure support 4102 through bolts, so that the four-jaw support 4508 can rotate.

The four claws a4501, b4502, c4503, d4504 are steel structures, and are mounted by the four claw support 4507 in cooperation with protrusions on the inner side of the four claw support 4508, and the four claws a4501, b4502, c4503, d4504 are mounted by the four claw cylinder 4505 and the cylinder support 4507 in cooperation with protrusions on the outer side of the four claw support 4508, and swing of the four claws a4501, b4502, c4503, d4504 is achieved by extension and contraction of the four claw cylinder 4505.

The excavating arm structure 4600 of the present invention is mainly composed of a bucket 4601, a bucket holder 4602 and a bucket post 4603.

The arm portion of the excavating arm structure 4600 is identical to the arm portion of the fork arm structure 4300.

The bucket seat 4602 is of a steel structure, and is mounted together with the arm b4302 and the cylinder c4312 through the arm support and the bucket support 4603, respectively, and the swing of the bucket seat 4602 is realized by controlling the extension and retraction of the cylinder c 4312.

The bucket 4601 is of a steel structure, and the bucket support 4603 and the bucket support 4602 are matched and installed together, so that the bucket support 4602 swings to drive the bucket 4601 to excavate.

As shown in fig. 38, the hydraulic station structure 4700 is constituted by a hydraulic station 4701, an electromagnetic valve 4702, and a hydraulic servo system.

The hydraulic station 4701 is a standard, model 20L-1HP-1R-02-1W. Solenoid valve 4702 is standard, model DSG-01-2B2B-A220-N1-50. The hydraulic station structure 4700 realizes the expansion and the contraction of the control oil cylinder and the rotation of the hydraulic motor through the control of the switch of the electromagnetic valve 4702 by the Plc control system 701 and the hydraulic servo system 4703, and the power is provided by the hydraulic station 4701.

As shown in fig. 43-48, the waste sorting system 500 is disposed on the rack system 100 and opposite to the robot arm system for sorting materials picked up by the robot arm system, and includes a sorting bin 501, a conveyor belt 502, a conveyor belt baffle 503, a feeding device 504, a camera mounting bracket 505, a camera 506, a feeding device bracket 507, a bracket strut 508, a conveyor belt strut 509, a motor 510, a foundation bolt 511, a sorting plate 512, a sorting bin bottom plate 513, and a sorting bin base 514, which are configured to perform the function of sorting the collected waste.

The classifying box 501 is of a steel structure, square holes are formed in the bottom of the classifying box, the disassembling, the installing and the rotating functions of the classifying box base are facilitated, foundation bolts 511 are installed at four corners of the top of the classifying box, and the classifying box 501 is convenient to hoist and move. The anchor bolts 511 are standard and are of the type AM8X160.

The classifying box bottom plate 513 is of a steel structure, is matched with a groove at the bottom of the classifying box 501, is convenient to detach, and can realize the function of singly discharging waste.

The classifying box base 514 is of a steel structure, the bottom is matched and installed with the rotary supporting seat 103 on the rear supporting plate 102 through bolts, and the top is matched and installed with a square opening at the bottom of the classifying box 501 through square struts, so that the rotation of the classifying box is controlled by the hydraulic motor 109.

The conveyor 502 is of steel construction and is powered by a motor 510 and is mounted in cooperation with the conveyor front support plate 105 and the conveyor rear support plate 106 via conveyor struts 509 to transport waste material.

The conveyor belt baffle 503 is of steel structure and is mounted on both sides of the conveyor belt by conveyor belt posts 509, which serves to prevent waste from falling.

The feeding device 504 is of a steel structure, one end of the feeding device is matched with the conveyor belt 502 through the conveyor belt support 509, the other end of the feeding device is matched with the conveyor belt front support plate 105 through the feeding device support 507 and the support 508 to play a supporting role, waste materials picked up by the mechanical arm can be placed at the feeding device 504, the feeding device 504 forms a certain angle, and the waste materials are sent to the sorting box 501 by the conveyor belt 502 under the action of gravity.

The material separating plate 512 is of a steel structure, and is matched and installed with the conveyor baffle 503 through the conveyor support 509, the bottom of the material separating plate 512 can be matched and fixed with the extending end of the tail end of the conveyor baffle 503, and the material separating plate can be folded, so that the sorting box 501 can be conveniently detached and installed.

The camera mounting bracket 505 is of a steel structure and is fixed to the middle upper portion of the conveyor baffle 503 by bolts, and serves to support and fix the camera 506.

The camera 506 is a standard component ZT-F1, the mechanical arm for throwing the waste is observed through the camera 506, then the hydraulic motor 109 on the rear supporting plate 102 is controlled by the control system 700 to rotate the sorting box to a corresponding position, and the waste is sent to a designated position through the conveyor belt 502.

As shown in fig. 49-50, the panoramic system 600 is mainly composed of a support 601, a chassis 602, and a wireless camera 603, and functions in the apparatus to observe the surrounding environment where the entire apparatus is located and to observe the relative position of the robot arm.

The strut 601 is a steel structure, the top end of which is fixed with the chassis 602 by welding, and the bottom end of which is welded with the large rotating chassis 4101, and functions as a support and fixing.

The chassis 602 is of a steel structure, the bottom is fixed with the support post 601 by welding, and the upper part is fixed with the wireless camera 603 by bolts.

As shown in fig. 51-52, the control system 700 includes a Plc control system 701 and a smart identification system 702. The Plc control system 701 implements control of the hydraulic and motor sections. The intelligent recognition system 702 controls the wireless camera to recognize images and control the movement of the mechanical arm.

As shown in fig. 53 to 71, the stair climbing system 800 mainly comprises a stair climbing guide 801, a movable support a 802, a movable support b 803, a lifting arm a 804, a lifting arm b 805, a supporting arm a 806, a supporting arm b 807, a motor a 809, a motor b 810, a lifting cylinder 811, a motor c 812, a rolling bearing 813, an idler sprocket 814, a chain 815, a roller a 816, a roller b817, a strut 818, a bracket 819, a magnetic crane 820, a base 821, a sleeve 822, a crane 823, an electric guide 824, a movable strut 825, a fixed seat 826, an anchor bolt 827, a supporting seat 828, a motor 829, a supporting plate 830, a screw 831, a small supporting plate 832, a baffle 833, a fixed plate 834, a triangle belt 835, a transmission shaft 836, a telescopic rod 837, a fixed plate 838, a coil 839, a telescopic rod fixed box 840, a winch fixed support 841, a winch 842 and a supporting bracket 843, and can realize movement of equipment between floors in an all-steel structure building without external devices.

The stair climbing guide 801 is of a steel structure, the right side of the bottom is matched with the support arm a806 through a support column 818, the left side of the bottom is matched with the support arm b807 through the support column 818, and the swing function of the support arm a806 and the support arm b807 is achieved through motors respectively.

The drive shaft 836 is of steel construction and serves as a drive. The V-belt 835 is a standard piece, model D-5000. The motor c812 drives the transmission shaft 836 to rotate, and the roller b817 is driven by the triangular belt 835 to rotate, so that the roller b817 drives the

support plate

101 or 102 to move on the support arm. For support arm a806 and support arm b807, both the upper and lower rollers are rotatable, and for lift arm a804 and lift arm b805, only the lower roller is actively rotatable and the upper roller is passively rotatable.

The supporting arm a806 and the supporting arm b807 are of steel structures, the roller b817 is internally installed and powered by the motor c812, and the roller can be installed in a matched mode with grooves on the front supporting plate 101 and the rear supporting plate 102, so that the moving function of the front supporting plate and the rear supporting plate is achieved. In addition, the outermost ends of the support arm a806 and the support arm b807 are provided with round openings, so that the support arms can be conveniently fixed on the front support plate 101 or the rear support plate 102 through cylindrical pins when climbing no stairs.

The movable support a802 and the movable support b803 are of steel structures, are installed in a matched mode with the stair climbing guide 801 through a T-shaped groove structure, and are installed in a matched mode with the movable support a802 and the movable support b803 through a chain 815, so that up-and-down movement of the movable support a802 and the movable support b803 is achieved.

The lifting arm a804 and the lifting arm b805 are of steel structures, a roller b817 is internally installed and powered by a motor c812, the roller can be installed in cooperation with grooves at the upper bottoms of the front supporting plate 101 and the rear supporting plate 102, the lifting arm a804 and the lifting arm b805 move up and down through the up and down movement of the movable supporting seat a802 and the movable supporting seat b803, and finally the up and down movement of the front supporting plate and the rear supporting plate is realized.

The lifting oil cylinder 811 is a standard part, the model is 100MF4MMARN14M-2000-M-11-00, the telescopic ends of the lifting oil cylinder are matched with the movable support 825, the rolling bearings 813 on two sides of the movable support 825 and the idler sprockets 814 on the inner sides of the idler wheels a816 are arranged, the idler sprockets 814 are DRCBW2060 and matched with a chain, and two end faces of the movable support 825 are respectively matched with the rolling bearings 813 and the idler wheels a816, so that the movable support 825 can move up and down in the stair climbing guide 801. The lifting distance of the movable support a802 and the movable support b803 can be twice as long as the lifting distance of the lifting oil cylinder 811 by utilizing the principle of the movable pulley, so that the effect of long moving distance can be realized by using the oil cylinder with short stroke, and the bottom of the lifting oil cylinder 811 is matched with the stair climbing guide 801 through bolts, so that the fixing effect is realized.

The rolling bearing 813 is a standard part, and the model number is BCA-A60-D78-B10; the roller a816 is of steel structure and is matched with the rolling bearing 813 to facilitate the movement of the movable support 825.

The support 819 is of a steel structure and is mounted together by welding in cooperation with the bottom supports of the front crawler 301a and the rear crawler 301, and the middle portion is mounted together by bolts in cooperation with the crane 823, so as to play a role in fixing.

The standard part of the crane 823 is PA1000, and the hooking and locking part is matched with the pull ring of the magnetic crane 820 to achieve the lifting effect.

The magnetic force hanging 820 is a standard part, the model is YC2000, the upper surface of the magnetic force hanging 820 is matched and installed with the electric guide rail 824 through bolts, the movable support of the electric guide rail 824 is matched and installed with the base 821 through bolts, the sleeve 822 is matched and installed with the rocker of the magnetic force hanging 820, the other end of the sleeve 822 is matched and installed with the base 821, the base 821 is driven to move left and right through the movement of the movable support of the electric guide rail 824, the left and right swinging of the rocker of the magnetic force hanging 820 is realized, and finally the opening and closing of the magnetic force hanging 820 are realized.

The motorized track 824 is a standard piece, model 1204-500MM. The chain 815 is a standard component, the model is A16, one end of the chain is connected with the movable support a802 and the movable support b 803, and the other end of the chain is connected with the fixed seat 826 of the stair climbing guide 801, so that the up-and-down movement function is realized.

Motor a809, motor b810, motor c812 are standard components, model Y112M-2.

The telescopic rod 837, the fixed plate 838 and the telescopic rod fixing box 840 are of steel structures, the supporting seat 828 is matched with the lifting arm a804 and the lifting arm b805 to be installed through welding, the bottom of the telescopic rod 837 is sleeved into the coil 839, and the telescopic rod 837 and the telescopic rod fixing box 840 are placed into a box formed by the fixed plate 838 and the telescopic rod fixing box 840 together to form an electromagnetic valve switch. The telescopic rod 837, the telescopic rod fixing box 840, the supporting seat 828 and the coil 839 jointly form a solenoid valve switch, the lifting and the descending of the telescopic rod 837 are controlled by controlling the energization of the coil 839, and after the telescopic rod 837 is lifted, the problem that the lifted part is easy to fall off in the lifting process is solved by matching with the holes at the grooves of the supporting

plates

101 and 102.

The small supporting plate 832, the baffle 833, the fixed plate 834 and the screw rod 831 are of steel structures, the small supporting plate 832, the baffle 833 and the fixed plate 834 form a diamond structure, the middle part of the small supporting plate 832 penetrates through the screw rod 831 to form a lifting mechanism, and power is provided by the motor 829. The lower end of the lower fixing plate 834 is matched and installed with the lifting arm through bolts, and the upper fixing plate 834 is matched and installed with the supporting plate 830 through bolts, so that the lifting function of the supporting plate 830 is controlled through a motor.

The supporting plate 830 is of a steel structure, the bottom of the supporting plate 830 is provided with the roller b817, the other end of the supporting plate is fixed with the supporting bracket 843 through welding, and the supporting bracket 843 is matched with an opening at the upper part of the lifting arm, so that the supporting plate 830 moves up and down along the track on the lifting arm a804 and the lifting arm b 805.

The hoist mount 841 is made of steel, and is mounted on the movable mount a802 and the movable mount b 803 by welding, thereby serving to fix the hoist 842. The winch 842 is a standard part, the model is PA1000, the top is fixed on the winch fixing support through bolts 841, and the bottom is connected with the anchor bolts 827, so that the lifting function after the device separation is realized. The anchor bolts 827 are standard components, and the model is AM8X160.

When the stair climbing system 800 is used, the front crawler belt part or the rear crawler belt part of the equipment is firstly moved into a building, the other part is arranged outside the building, the connecting part between the two crawler belts is detached, the crane 823 of the rear crawler belt part is controlled, the magnetic force crane 820 is put down, the electric guide rail 824 is controlled to open the magnetic force crane 820, and the magnetic force crane is contacted with a steel plate at the bottom of the building through the crane 823 because of the full steel structure building, and the magnetic force crane 820 is opened to be in close contact with the steel plate so as to fix the front crawler belt or the rear crawler belt part. The lifting arm b805 and the supporting arm a806 are controlled to be unfolded to be in a horizontal state by the motor b810 and the motor a809, the lifting oil cylinder 811 is controlled to enable the movable support a802 to descend, finally the lifting arm a804 is positioned on the lower surface of the front supporting plate 101, then the motor 829 is controlled to enable the supporting plate 830 to descend and clamp the front supporting plate 101, meanwhile, the control coil 839 is electrified, the telescopic rod 837 is lifted to pass through an opening at a groove of the supporting plate, the lifting oil cylinder 811 is controlled to ascend, the lifting arm a804 is enabled to ascend, meanwhile, the winch 842 is powered off and relaxed, the front crawler belt part is driven to integrally ascend, and after the front crawler belt part ascends to a certain height, the control motor a809 makes the lifting arm b805 and the lifting arm a804 located on the same straight line, meanwhile, the control coil 839 is powered off, the telescopic rod 837 is lowered away from the opening at the groove of the supporting plate, the control motor c812 drives the roller b817 to enable the front crawler part to move along the lifting arm a804 and the lifting arm b805 and finally move into the building, the lifting machine 823 of the front crawler part is controlled, the magnetic force crane 820 is put down, the electric guide rail 824 is controlled to open the magnetic force crane 820, the control coil 839 is powered on, the telescopic rod 837 is lifted to penetrate through the opening at the groove of the supporting plate, and the purpose is to fix the lifting arm and the supporting plate together. At this time, the magnetic crane 820 of the rear track section is closed, the motor b810 is controlled to align the support arm a806 with the support arm b807, the rear track section is moved along the support arm a806 and the support arm b807 by driving the track, the rear track section is moved out of the building, the lifting cylinder 811 is contracted while the hoist 842 is contracted, and the rear track section is lifted by contracting the lifting cylinder 811 and the hoist 842 because the rear track section 102 is not fixed to the ground but the front track section 101 is fixed to the building bottom steel plate of the upper layer, so that the entire apparatus is finally moved between floors.

As shown in fig. 72-75, the lifting system 900 is installed above the waste sorting system and is used for carrying sorting boxes of the waste sorting system, and is mainly composed of a vertical support 901, a cross beam 902, a large triangular support 903, a small triangular support 904, a rolling bearing 905, a lifting machine 906, a motor support 907, a roller 908, a mounting support 909 and a motor 910, and plays a role in facilitating equipment waste recovery.

The vertical support 901 is of a steel structure, is matched and installed with the rear supporting plate 102 through bolts, plays a role of fixed supporting, and the upper part and the middle part are respectively fixed with the large triangular support frame 903 and the small triangular support frame 904 through welding, so that a supporting role is played.

The cross beam 902 is of a steel structure, and the top is matched with the overhanging ends of the large triangular support 903 and the small triangular support 904 through bolts to play a role in supporting the lifting device.

The mounting support 909 is of a steel structure, is mounted together through the cooperation of bolts and the crane 906, plays a fixed role, is provided with the rolling bearings 905 and the rollers 908 on two sides, and is driven by the motor 910, the motor is mounted on the motor support 907, the motor support 907 is fixed together through the bolts and the mounting support 909, and the function of moving the crane on the cross beam is achieved through the movement of the rollers 908 driven by the motor.

The crane 906 realizes the recovery of the carrying of the waste through cooperation with the anchor bolts 511 on the sorting bins, and the two sorting bins can increase the storage capacity of the waste and improve the efficiency.

Rolling bearing 905 is a standard piece, model BCA-A25-D37-B7. The crane 906 is standard, model PA1000.

While the invention has been described with respect to specific embodiments thereof, it will be appreciated that the invention is not limited thereto, but is intended to cover modifications and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. Intelligent climbing, carrying and sorting device for steel construction, characterized by comprising:

a rack system providing support for the entire handling and sorting apparatus;

the mechanical arm system is positioned on the bracket system and is divided into a four-claw mechanical arm structure, a double-claw mechanical arm structure, a fork mechanical arm structure, a felling mechanical arm structure and an excavating mechanical arm structure, and is used for clamping uneven objects according to the result identified by the intelligent identification system, the double-claw mechanical arm structure is used for clamping long-strip-shaped objects, the fork mechanical arm structure is used for clamping cylindrical objects, the felling mechanical arm structure is used for clamping wood objects, and the excavating mechanical arm structure is used for clamping crushed stone block-shaped objects;

the stair climbing system is arranged at two sides of the bracket system and is used for driving the whole carrying and sorting device to realize climbing among floors;

the bracket system comprises a front support plate and a rear support plate;

the upper surfaces of the front supporting plate and the rear supporting plate are respectively provided with a rotary supporting seat for supporting and rotating the mechanical arm system and the waste sorting system;

the lower surface of the front supporting plate is provided with a crawler supporting plate for supporting a crawler power shaft of the crawler type moving system;

the upper surface of the rear supporting plate is provided with a supporting plate for supporting a conveying belt of the waste sorting system;

the crawler-type moving system comprises a front crawler belt and a rear crawler belt which are respectively positioned below the front supporting plate and the rear supporting plate, and a front crawler belt overhanging bracket and a rear crawler belt overhanging bracket which are respectively matched with the front crawler belt and the rear crawler belt and are installed together;

the front crawler overhanging bracket and the rear crawler overhanging bracket are respectively connected with two groups of guide rails which are oppositely arranged;

Each group of guide rails comprises three guide rails which are arranged side by side, the top and the bottom of each guide rail are covered with end covers, two guide rails which are arranged oppositely and positioned in the middle position are connected with a universal shaft a through two movable support posts b, two guide rails which are arranged oppositely and positioned at the left side and the right side are connected with an oil cylinder through two movable support posts a, two universal shafts b, two support posts and an oil cylinder, and the turning of a crawler-type movable system is realized through the difference of the telescopic lengths of the oil cylinders at the left side and the right side;

the stair climbing system comprises a stair climbing guide rail, a supporting arm a and a supporting arm b which are arranged on two sides of the bottom of the stair climbing guide rail, a movable support a and a movable support b which are installed in a matched manner with the stair climbing guide rail through a T-shaped groove structure, and a lifting arm a and a lifting arm b which are respectively connected with the movable support a;

the lifting oil cylinder is arranged in the stair climbing guide rail, the telescopic end of the lifting oil cylinder is matched with the movable support, idler wheel sprockets are arranged on two sides of the movable support, the idler wheel sprockets are matched with chains, and the movable support a and the movable support b are matched with each other through the chains to realize up-and-down movement of the movable support a and the movable support b;

the roller b is arranged in the support arm a and the support arm b, and is powered by the motor c, and the roller b is matched with grooves on the front support plate and the rear support plate to realize the movement function of the front support plate and the rear support plate;

The bottom supports of the front crawler belt and the rear crawler belt are provided with brackets in a matched mode, and the middle part of each bracket is provided with a crane in a matched mode through bolts; the hook lock part of the crane is connected with a pull ring of the magnetic crane;

the upper surface of the magnetic force crane is matched with the electric guide rail through a bolt, the movable support of the electric guide rail is matched with the base through a bolt, the sleeve is matched with the rocker of the magnetic force crane, the other end of the sleeve is matched with the base, the base is driven to move left and right through the movement of the movable support of the electric guide rail, the left and right swinging of the rocker of the magnetic force crane is realized, and the opening and closing of the magnetic force crane are realized.

2. The intelligent climbing, carrying and sorting device for steel structure construction according to claim 1, wherein: the movable support b is of a steel structure, the upper end and the lower end of the movable support b are matched with the end covers through tension springs, and the left end and the right end of the movable support b are respectively matched with the rolling bearings and the rollers, so that the movable support b can conveniently move in two guide rails which are oppositely arranged and are positioned in the middle position; the two movable support posts b are connected through the universal shaft a;

the movable support column a is of a steel structure, the upper end and the lower end of the movable support column a are matched and installed with the end covers through tension springs, and the left end and the right end of the movable support column a are respectively matched and installed with the rolling bearings and the rollers, so that the movable support column a can conveniently move in two guide rails which are oppositely arranged at the left side and the right side; and two ends of the oil cylinder are respectively connected with the two movable struts a through the struts and the universal shafts b.

3. The intelligent climbing, carrying and sorting device for steel structure construction according to claim 1, wherein: the mechanical arm system comprises a large rotary chassis structure, five mechanical arm structure supports and an electric rotating device, wherein the large rotary chassis structure is installed in a matched mode with a rotary supporting seat positioned on the front supporting plate, the five mechanical arm structure supports are rotatably installed on the large rotary chassis structure, and the electric rotating device is used for driving the mechanical arm structure supports to rotate;

the electric rotating device comprises a motor, a worm connected with the motor through a coupler and a circular gear meshed with the worm, the circular gear is fixedly installed with a first support through a bolt, the first support is installed with a mechanical arm structure support through the bolt in a matched mode, the worm drives the circular gear to rotate through the motor, and then the circular gear drives the first support and the mechanical arm structure support to rotate.

4. The intelligent climbing, carrying and sorting device for steel structure construction according to claim 3, wherein: the fork claw mechanical arm structure comprises a fork claw mechanical arm part arranged on one mechanical arm structure support, a mechanical arm electric rotating device connected with the fork claw mechanical arm part, a fork claw support arranged on the mechanical arm electric rotating device, and two fork claws which are arranged on the fork claw support in a rotating manner and are oppositely arranged;

The fork claw mechanical arm part comprises a mechanical arm big arm a and a mechanical arm big arm b which are connected in a hinged manner, wherein the mechanical arm big arm a and the mechanical arm big arm b are connected through an oil cylinder b, and the swing of the mechanical arm big arm b is realized through a control oil cylinder b; the large arm a of the mechanical arm is connected with the mechanical arm structure support through an oil cylinder a, and the swing of the large arm a of the mechanical arm is realized through controlling the oil cylinder a;

the two fork claws are respectively matched with the fork claw support through a fork claw oil cylinder a and a fork claw oil cylinder b, and the two fork claws are opened and closed through controlling the expansion and the contraction of the fork claw oil cylinder a and the fork claw oil cylinder b.

5. The intelligent climbing, carrying and sorting device for steel structure construction according to claim 3, wherein: the felling mechanical arm structure comprises a felling support seat arranged on one mechanical arm structure support seat, an electric rotary table fixed on the felling support seat, an electric saw arranged on the electric rotary table through bolts, and two hooks rotationally connected on the felling support seat through a hook claw oil cylinder; the electric turntable is powered by an electric turntable motor to realize the swing of the electric saw; swing of the two hooks is realized by controlling the extension and retraction of the hook oil cylinder;

an electric rotating wheel support is arranged at the bottom of the felling support in a matched mode, an electric rotating wheel oil cylinder is connected between the electric rotating wheel support and the felling support, and swing of the electric rotating wheel support is achieved through controlling the expansion and the contraction of the electric rotating wheel oil cylinder; the electric rotating wheel is arranged on the electric rotating wheel support, and is driven by the electric rotating wheel motor to rotate, so that the picked wood objects do ascending motion, and the electric saw is convenient to cut.

6. The intelligent climbing, carrying and sorting device for steel structure construction according to claim 1, wherein: the waste sorting system comprises a sorting box and a conveying belt connected with the sorting box, wherein one end of the conveying belt is arranged above the sorting box through a material dividing plate, and the other end of the conveying belt is provided with a feeding device for placing waste picked up by the mechanical arm system;

the classifying box is arranged on a rotary supporting seat positioned on a rear supporting plate through a classifying box base, the inside of the classifying box is divided into a plurality of independent spaces by a partition plate, and the bottom of the classifying box is provided with a classifying box bottom plate for sealing each space.