CN114233016A - Full-process automation's wallboard installation robot - Google Patents
Full-process automation's wallboard installation robot Download PDFInfo
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- CN114233016A CN114233016A CN202111611043.XA CN202111611043A CN114233016A CN 114233016 A CN114233016 A CN 114233016A CN 202111611043 A CN202111611043 A CN 202111611043A CN 114233016 A CN114233016 A CN 114233016A
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- wallboard
- control module
- wall panel
- clamping jaw
- clamped
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/167—Tools or apparatus specially adapted for working-up plates, panels or slab shaped building elements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/167—Tools or apparatus specially adapted for working-up plates, panels or slab shaped building elements
- E04G21/168—Tools or apparatus specially adapted for working-up plates, panels or slab shaped building elements used for tilting, e.g. from horizontal to vertical position or vice versa
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/18—Adjusting tools; Templates
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/18—Adjusting tools; Templates
- E04G21/1841—Means for positioning building parts or elements
Abstract
The invention discloses a full-process automation wallboard installation robot, which comprises: the trolley comprises a trolley body, wherein the trolley body is provided with a walking driving mechanism, and the walking driving mechanism can drive the trolley body to move in any horizontal direction; the wallboard grabbing and lifting mechanism is arranged on the vehicle body and used for grabbing a horizontally laterally placed wallboard and driving the grabbed wallboard to rotate so that the grabbed wallboard is adjusted to be in a vertical state from a horizontal laterally placed state; the wallboard adjusting and aligning mechanism aligns the clamped wallboard in a vertical state with the installed wallboard, so that the clamped wallboard is aligned and spliced with the installed wallboard; the automatic oar squeezing mechanism can drive the aligned and spliced wallboard to move towards the direction of the installed wallboard, and carries out oar squeezing action. In the installation process of the wallboard, the whole process of grabbing, transporting, transferring, lifting, adjusting and aligning, installing and squeezing is mechanically realized.
Description
Technical Field
The invention relates to the technical field of building construction equipment, in particular to a full-process automation wallboard mounting robot.
Background
In the construction process of the current assembly type building, a large number of light slats are adopted for assembling the inner wall and the outer wall. For example, in the field assembly of autoclaved aerated concrete (ALC) which is widely used at present, the wall panels are required to be vertically arranged from the horizontal side, transported to the installation position, and subjected to position adjustment with the adjacent wall panels, and finally the extrusion of the joints between the wall panels is completed. The reliable connection between wallboard needs to be guaranteed in the installation, guarantees the roughness and the concatenation quality of whole piece wallboard. In the field construction of present light slat, the installation processes such as transport, adjustment and crowded thick liquid of wallboard all adopt artifical or supplementary simple and easy erection equipment to realize.
When the ALC wallboard leaves a factory, the standard size is 600mm in width, 2000-6000 mm in length and 100-300 mm in thickness; the density of a conventional ALC wallboard is 650kg/m3The weight of the fertilizer can reach 120-750 kg. For the ALC slat with the length of the slat exceeding 3500mm and the thickness of the slat larger than 150mm, 5-7 persons are generally needed to finish the installation together, and the risk of overturning the wallboard exists in the installation process of the wallboard, so that the potential safety hazard is large. Therefore, the existing ALC board is installed manually, so that the labor intensity of workers is high, the efficiency is low, the installation risk is high, the installation quality is greatly influenced by the subjective intention of workers, and the quality control of wallboard installation is not facilitated.
Based on the construction environment, the automatic realization of the whole process of grabbing the board, transporting the board, rotating the board, lifting the board, adjusting and aligning, installing the board, squeezing the pulp and the like is provided in the installation process of the light batten.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a wallboard mounting robot with full process automation, which can automatically complete the mounting of wallboards.
A full process automation wallboard installation robot according to the present invention comprises:
the trolley comprises a trolley body, wherein the trolley body is provided with a walking driving mechanism, and the walking driving mechanism can drive the trolley body to move in any horizontal direction;
the wallboard grabbing and lifting mechanism is arranged on the vehicle body and used for grabbing a horizontally laterally placed wallboard and driving the grabbed wallboard to rotate so that the grabbed wallboard is adjusted to be in a vertical state from a horizontal laterally placed state;
the wallboard adjusting and aligning mechanism aligns the clamped wallboard in a vertical state with the installed wallboard, so that the clamped wallboard is aligned and spliced with the installed wallboard;
the automatic oar squeezing mechanism can drive the aligned and spliced wallboard to move towards the direction of the installed wallboard, and carries out oar squeezing action.
The wall plate installation robot with the full process automation according to the embodiment of the invention at least has the following beneficial effects: in the installation process of the wallboard, the whole process of grabbing, transporting, transferring, lifting, adjusting and aligning, installing and squeezing is mechanically realized.
According to some embodiments of the invention, the wallboard gripping and lifting mechanism comprises a crane, a first drive device, a swivel base and a wallboard gripper;
the lifting frame is provided with a mounting surface, a lifting rail is arranged on the mounting surface, the lifting frame is provided with a first position and a second position, the lifting rail is vertically vertical to the horizontal ground at the first position, and the lifting rail and the horizontal ground are arranged at an included angle at the second position;
the first driving device is arranged on the vehicle body and is in transmission connection with the lifting frame, and the lifting frame can be driven to move between the first position and the second position;
the rotating surface of the rotating seat is parallel to the mounting surface, the rotating seat is arranged on the lifting track, the rotating seat has a third position and a fourth position on the lifting track, the third position is below the fourth position, and the rotating seat can move between the third position and the fourth position;
the wallboard clamping jaw sets up on the roating seat the third position, the wallboard clamping jaw can the horizontal wallboard of putting of centre gripping side, and make the face of assembling of wallboard exposes the fourth position, the roating seat drives the wallboard clamping jaw and rotates for the wallboard of centre gripping is put the state adjustment by the level side and is vertical state of putting immediately.
According to some embodiments of the invention, the wallboard gripper comprises a support plate having a support surface, a clamping plate having a clamping surface parallel to the plane of the lifting rail, the clamping surface being disposed towards the support surface, and a second drive arrangement driving the clamping surface of the clamping plate to move towards or away from the support surface to clamp or unclamp a wallboard
According to some embodiments of the invention, further comprising an automatic wallboard gripping control system comprising a first ranging sensor, a second ranging sensor, a vision sensor, and a first control module;
the first distance measuring sensor is used for detecting the horizontal distance from the wallboard clamping jaw to a wallboard to be clamped, the first distance measuring sensor is electrically connected with the first control module, and the first control module is electrically connected with the walking driving mechanism;
the second distance measuring sensor is used for detecting the vertical distance from the wallboard clamping jaw to a wallboard to be clamped, the second distance measuring sensor is electrically connected with the first control module, and the first control module is electrically connected with the rotating base;
the vision sensor is used for detecting the center line of the wallboard to be clamped, and the vision sensor is electrically connected with the first control module.
According to some embodiments of the present invention, the wallboard adjusting and aligning mechanism includes a position sensor, a gyroscope and a second control module, the position sensor is installed on the crane, when the clamped wallboard is adjusted from a horizontal side-placing state to a vertical side-placing state, the position sensor is used for measuring a horizontal distance between the clamped wallboard and an installed wallboard, and a horizontal angle and a vertical angle of the installed wallboard, the gyroscope is used for measuring a vertical angle of the clamped wallboard, the position sensor and the gyroscope are both electrically connected with the second control module, the first driving device is electrically connected with the second control module, and the walking driving mechanism is electrically connected with the second control module.
According to some embodiments of the invention, the automatic paddle squeezing mechanism comprises a guide seat and a third driving device, the guide seat is mounted on the rotating seat, a paddle squeezing guide rail is arranged on the guide seat, the guide stroke of the paddle squeezing guide rail is perpendicular to the assembly surface of the clamped wallboard, the wallboard clamping jaw is mounted on the paddle squeezing guide rail, and the third driving device is in transmission connection with the wallboard clamping jaw to drive the wallboard clamping jaw to move along the paddle squeezing guide rail.
According to some embodiments of the present invention, the automatic squeezing mechanism further comprises a squeezing force control system, the squeezing force control system comprises a pressure sensor and a third control module, the pressure sensor is used for monitoring the squeezing force applied to the third driving device, the pressure sensor is electrically connected to the third control module, and the third control module is electrically connected to the third driving device.
According to some embodiments of the invention, the lifting frame is provided with a hinged end, the lifting frame is hinged with the vehicle body through the hinged end, the lifting track extends from the hinged end to the other end, and the first driving device drives the lifting frame to rotate around the hinged end to drive the lifting frame to move between the first position and the second position.
According to some embodiments of the invention, the obstacle avoidance system comprises an obstacle avoidance radar and a fourth control module, the obstacle avoidance radar is arranged around the vehicle body, the obstacle avoidance radar is electrically connected with the fourth control module, and the fourth control module is electrically connected with the walking driving mechanism.
According to some embodiments of the invention, the remote control system further comprises a remote control system, the remote control system comprises a mobile terminal, a vehicle-mounted signal receiver and a fifth control module, the vehicle-mounted signal receiver is arranged on the vehicle body, signal interaction can be realized between the mobile terminal and the vehicle-mounted signal receiver, the vehicle-mounted signal receiver is electrically connected with the fifth control module, and the fifth control module is electrically connected with the walking driving mechanism.
According to some embodiments of the present invention, the traveling road detection system further comprises a ground detection sensor and a sixth control module, the ground detection sensor is disposed on the vehicle body and is used for detecting whether a traveling road surface exists, the ground detection sensor is electrically connected to the sixth control module, and the sixth control module is electrically connected to the traveling driving mechanism.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of a fully automated wall panel installation robot of an embodiment of the present invention with the crane in a second position;
FIG. 2 is a schematic view of the connection structure of the wallboard gripper on the crane;
fig. 3 is a schematic view of a wall plate mounting robot with automation in the whole process according to the embodiment of the present invention, where the crane is at the second position, the swivel base moves to the fourth position, and the swivel base drives the wall plate jaw to rotate from the horizontal state to the vertical state;
FIG. 4 is a perspective view of a wall panel held by the wall panel clamp jaws in a horizontal side-on position;
FIG. 5 is a front schematic view of the wallboard gripper clamp moving downward to grip a wallboard lying on a horizontal side;
FIG. 6 is a side view of the wallboard jaw clamping on the horizontal side placing the wallboard;
FIG. 7 is a schematic view of the crane moving to a second position after the wallboard gripper grips a wallboard;
FIG. 8 is a schematic view of the swivel base rotated to a fourth position after the wallboard gripper grips a wallboard;
FIG. 9 is a schematic view showing the wall plate clamping jaw moving to a fourth position after clamping the wall plate, and the rotating base driving the wall plate clamping jaw to rotate from a horizontal state to a vertical state;
FIG. 10 is a schematic view of a robot gripping a wall panel and aligning the wall panel with an installed wall panel;
FIG. 11 is a schematic view of a robot gripping a wall panel and completing alignment with an installed wall panel;
FIG. 12 is a schematic front view of the wall panel of FIG. 11 when held by the robot;
FIG. 13 is a schematic view of a robot gripping a wall panel and squeezing with an installed wall panel;
fig. 14 is an enlarged schematic view of a portion a in fig. 13.
Reference numerals:
100. a vehicle body; 110. a travel drive mechanism;
200. a lifting frame; 210. a mounting surface; 220. a lifting rail; 230. a hinged end;
300. a first driving device;
400. a rotating base;
500. a wallboard jaw; 510. a support plate; 511. a support surface; 520. a clamping plate; 521. a clamping surface; 530. a second driving device;
600. a wallboard; 610. assembling the noodles; 620. plate surface; 630. an upper surface;
700. an automatic paddle squeezing mechanism; 710. a guide seat; 711. a paddle-squeezing guide rail; 720. a third driving device;
801. a pressure sensor; 802. obstacle avoidance radar; 803. a first ranging sensor; 804. a second ranging sensor; 805. a vision sensor; 806. a position sensor; 807. vehicle-mounted signal receiver.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 3, a full process automation wall panel installation robot according to an embodiment of the present invention includes:
the vehicle comprises a vehicle body 100, wherein the vehicle body 100 is provided with a walking driving mechanism 110, and the walking driving mechanism 110 can drive the vehicle body 100 to move in any horizontal direction;
the wallboard grabbing and lifting mechanism is arranged on the vehicle body 100 and used for grabbing the horizontally laterally placed wallboard 600 and driving the grabbed wallboard 600 to rotate, so that the grabbed wallboard 600 is adjusted from a horizontally laterally placed state to a vertically placed state;
the wallboard adjusting and aligning mechanism aligns the clamped wallboard in the vertical state with the installed wallboard, so that the clamped wallboard 600 is aligned and spliced with the installed wallboard 600;
the automatic oar squeezing mechanism can drive the aligned and spliced wallboard to move towards the direction of the installed wallboard, and carries out oar squeezing action.
In the installation process of the wallboard, the whole process of grabbing, transporting, transferring, lifting, adjusting and aligning, installing and squeezing is mechanically realized.
In some embodiments of the invention, the wallboard gripping and lifting mechanism comprises a crane 200, a first drive device 300, a swivel 400 and a wallboard gripper 500;
the lifting frame 200 is provided with a mounting surface 210, a lifting track 220 is arranged on the mounting surface 210, the lifting frame 200 is provided with a first position and a second position, the lifting track 220 is vertically vertical to the horizontal ground at the first position, and the lifting track 220 and the horizontal ground form an included angle at the second position;
the first driving device 300 is arranged on the vehicle body 100, and the first driving device 300 is in transmission connection with the lifting frame 200 and can drive the lifting frame 200 to move between a first position and a second position;
the rotating base 400, the rotating surface of the rotating base 400 is parallel to the mounting surface 210, the rotating base 400 is arranged on the lifting track 220, the rotating base 400 has a third position and a fourth position on the lifting track 220, the third position is below the fourth position, and the rotating base 400 can move between the third position and the fourth position;
the wallboard clamping jaw 500 is arranged on the rotating seat 400, at the third position, the wallboard clamping jaw 500 can clamp the horizontally and laterally placed wallboard 600 and enable the splicing surface 610 of the wallboard 600 to be exposed, and at the fourth position, the rotating seat 400 drives the wallboard clamping jaw 500 to rotate, so that the clamped wallboard 600 is adjusted to be in a vertical and vertical state from a horizontal and laterally placed state;
automatic crowded oar mechanism 700 is connected with wallboard clamping jaw 500 transmission, and automatic crowded oar mechanism 700 can drive wallboard clamping jaw 500 towards the face 610 direction motion of the concatenation of the wallboard 600 of centre gripping.
In this embodiment, the travel driving mechanism 110 has a dual-steering wheel structure, and can achieve flexible adjustment such as forward movement, backward movement, left-right lateral movement, rotational forward movement, and angle adjustment of the vehicle body 100.
When the wallboard installation robot of the present invention is in an idle state, the crane 200 is in the second position, reducing the space occupied by the wallboard installation robot. Wherein, in the second position, the horizontal included angle between the lifting rail 220 and the horizontal ground may be 0-90 °.
Referring to fig. 4 to 6, the wall panel 600 to be clamped is previously laid on the ground horizontally on its side. When the wallboard 600 is clamped, the walking driving mechanism 110 moves to the wallboard 600 to be clamped. The crane 200 is moved from the second position to the first position by the first driving means 300. By the movement of the travel drive mechanism 110, the position of the vehicle body 100 is adjusted so that the wallboard gripper 500 is aligned with the clamped portion of the wallboard 600 to be clamped. The swivel 400 is then moved down the lifting rail 220 to a third position and the wallboard gripper 500 grips the wallboard 600.
As shown in fig. 7, after the wallboard gripper 500 grips the wallboard 600, the crane 200 moves from the second position to the first position under the action of the first driving device 300, so that the wallboard 600 also becomes a tilting state, and a rotation space is reserved for the rotation of the rear wallboard 600. The larger the inclination angle of the wall plate 600 is, the larger the rotation space of the wall plate 600 is, especially when the wall plate 600 is very long, the wall plate 600 can be effectively prevented from touching the ground in the rotation process.
As shown in fig. 8, the rotary base 400 moves upward on the lifting rail 220 to a fourth position in preparation for the rotary base 400 to rotate the wall plate 600. The height position of the fourth position is required to satisfy that the wall plate 600 does not touch the ground during the rotation process.
As shown in fig. 9, after the rotary base 400 moves to the fourth position, the rotary base 400 starts to rotate, driving the wallboard clamping jaw 500 and the clamped wallboard 600 to rotate, so that the clamped wallboard 600 is adjusted from a horizontal side-placing state to a vertical side-placing state.
As shown in fig. 10 to 12, the driving mechanism 110 drives the wall board 600 to move to the installation site of the wall. Under the action of the first driving device 300, the lifting frame 200 moves from the first position to the second position, so that the wall board 600 is adjusted from the inclined state to the upright state.
The vehicle body 100 is driven by the travel driving mechanism 110 to rotate so that the clamped wall panel 600 is parallel to the surface of the installed wall panel 600, and then the vehicle body 100 moves forward or backward so that the two are aligned. Subsequently, the vehicle body 100 is moved in the lateral direction to splice the clamped wall panel 500 with the installed wall panel 500.
As shown in fig. 13, after the assembly surface 610 of the clamped wall panel 600 is aligned with and close to the assembly surface of the installed wall panel 600, under the action of the automatic paddle squeezing mechanism 700, the automatic paddle squeezing mechanism 700 drives the wall panel clamping jaw 500 to move towards the assembly surface 610 of the clamped wall panel 600, so as to drive the clamped wall panel 600 and the installed wall panel 600 to perform squeezing movement, thereby completing the paddle squeezing action.
In some embodiments of the present invention, the wallboard gripper 500 includes a support plate 510, a clamping plate 520, and a second driving device 530, the support plate 510 has a support surface 511, the clamping plate 520 has a clamping surface 521, the support surface 511 is parallel to the plane of the lifting rail 220, the clamping surface 521 is disposed toward the support surface, the clamping plate 520 is connected with the second driving device 530, and the second driving device 530 drives the clamping surface 521 of the clamping plate 520 to move closer to or away from the support surface 511 to clamp or release the wallboard 600.
Specifically, as shown in fig. 6, the plane where the supporting surface 511 is parallel to the lifting rail 220 can be used to clamp the wall board 600 when the lifting rail 220 moves to the vertical position, and the supporting surface 511 is also in the vertical state, so that it can be ensured that the wall board clamping jaw 500 is parallel to the surface of the wall board 600 in the lowering process. When the wallboard clamping jaw 500 clamps the wallboard 600, the supporting plate 510 and the clamping plate 520 are clamped on two plate surfaces of the wallboard 600 under the action of the second driving device 530, so that the assembled surface 610 of the wallboard 600 is not blocked by an object, and the subsequent splicing with the installed wallboard 600 is not influenced.
In some embodiments of the present invention, the wallboard gripping and lifting mechanism further comprises an automatic wallboard gripping control system comprising a first ranging sensor 803, a second ranging sensor 804, a vision sensor 805, and a first control module (not shown in the figures);
the first distance measuring sensor 803 is used for detecting the horizontal distance from the wallboard clamping jaw 500 to the wallboard 600 to be clamped, specifically, the horizontal distance from the supporting surface 511 to the board surface 620 of the wallboard 600 to be clamped, the first distance measuring sensor 803 is electrically connected with the first control module, and the first control module is electrically connected with the walking driving mechanism 110;
the second distance measuring sensor 804 is used for detecting the vertical distance from the wallboard clamping jaw 500 to the wallboard 600 to be clamped, specifically, the vertical distance from the supporting surface 511 to the upper surface 630 of the wallboard 600 to be clamped, the second distance measuring sensor 804 is electrically connected with the first control module, and the first control module is electrically connected with the rotating base 400;
the vision sensor 805 is used for detecting the center line of the wallboard 600 to be clamped, and the vision sensor 805 is electrically connected with the first control module.
As shown in fig. 4 to 6, the driving mechanism 110 moves to the wall plate 600 to be clamped. The horizontal distance from the supporting surface 511 to the board surface 620 of the wallboard 600 to be clamped is detected through the first distance measuring sensor 803, and the detected signal is transmitted to the first control module, and the first control module controls the walking driving mechanism 110 to move back and forth, so that the horizontal distance between the supporting surface 511 and the board surface 620 of the wallboard 600 is zero. Here, the first distance measuring sensor 803 may also detect the horizontal distance between the wallboard gripper 500 and other reference frames of the wallboard 600 to be clamped, and determine the horizontal distance between the two reference frames, and it can be determined that the wallboard gripper 500 is moved to the position as long as the two reference frames are moved to the set distance.
The vertical distance from the supporting surface 511 to the upper surface 630 of the wallboard 600 to be clamped is detected through the second distance measuring sensor 804, the detected signal is transmitted to the first control module, and the first control module controls the rotating base 400 to move downwards along the lifting track until the supporting surface 511 is lowered to be attached to the board surface 620 of the wallboard 600. Here, the second distance measuring sensor 804 may also detect the vertical distance between the wallboard gripper 500 and another reference frame of the wallboard 600 to be gripped, and determine the vertical distance between the two reference frames, and it can be determined that the wallboard gripper 500 is moved in place as long as the two reference frames are moved to the set vertical distance.
Detect the central line of waiting to centre gripping wallboard 600 through vision sensor 805, give first control module with the signal transmission that detects, first control module control walking drive mechanism 110 lateral shifting for wallboard clamping jaw 500 centre gripping is in wallboard 600 middle part, avoids the position of centre gripping to cross partially, leads to automobile body 100 atress uneven, turns on one's side easily to appear in the formation process, and wallboard 600 also is easy because left and right sides asymmetry in rotatory process, appears touching with ground.
In some embodiments of the invention, the crane 200 is provided with a hinged end 230, the crane 200 is hinged with the vehicle body 100 through the hinged end 230, the lifting track 220 extends from the hinged end 230 to the other opposite end, the first driving device 300 drives the crane 200 to rotate around the hinged end 230, and the crane 200 is driven to move between the first position and the second position.
Specifically, as shown in fig. 1, the crane 200 is hinged to the vehicle body 100 through a hinge end 230, and the lifting rail 220 extends from the hinge end 230 to the opposite end, that is, the lifting rail 220 extends from bottom to top. The crane 200 can be driven to move between the first position and the second position by the first driving device 300.
In some embodiments of the present invention, the automatic paddle squeezing mechanism 700 includes a guide seat 710 and a third driving device 720, the guide seat 710 is installed on the rotating seat 400, a paddle squeezing guide rail 711 is provided on the guide seat 710, a guide stroke of the paddle squeezing guide rail 711 is perpendicular to the assembling surface 610 of the clamped wall panel 600, the wall panel clamping jaw 500 is installed on the paddle squeezing guide rail 711, and the third driving device 720 is in transmission connection with the wall panel clamping jaw 500 to drive the wall panel clamping jaw 500 to move along the paddle squeezing guide rail 711.
When the paddle squeezing action is performed, the third driving device 720 drives the wallboard clamping jaw 500 to move along the paddle squeezing guide rail 711, and the wallboard clamping jaw 500 drives the clamped wallboard 600 to move towards the installed wallboard 600, so that the paddle squeezing action is completed.
In a further embodiment of the present invention, the automatic squeezing mechanism 700 further includes a squeezing force control system, the squeezing force control system includes a pressure sensor 801 and a third control module (not shown in the figure), the pressure sensor 801 is used for monitoring the squeezing force applied to the third driving device 720, the pressure sensor 801 is electrically connected to the third control module, and the third driving device 720 is electrically connected to the third control module.
Through setting up pressure sensor 801, pressure sensor 801 monitors the extrusion force that third drive arrangement 720 received to transmit the extrusion force signal that receives for the third control module, the action of third control module control third drive arrangement 720 ensures that the extrusion force is in the within range of setting for, realizes the automatic crowded thick liquid of installation wallboard piece, guarantees the board seam bonding quality.
In some embodiments of the present invention, the obstacle avoidance system further includes an obstacle avoidance radar 802 and a fourth control module (not shown in the figure), the obstacle avoidance radar 802 is disposed around the vehicle body 100, the obstacle avoidance radar 802 is electrically connected to the fourth control module, and the fourth control module is electrically connected to the walking driving mechanism 110.
As shown in fig. 1, by providing the obstacle avoidance system, the installation robot can feel the surrounding environment in the walking process, and the installation robot is prevented from colliding with a foreign object. Specifically, obstacle avoidance radars 802 are arranged around the vehicle body 100, the obstacle avoidance radars 802 detect the environment of the vehicle body 100 in the movement process, and transmit received signals to a fourth control module, and the fourth control module controls the walking of the walking driving mechanism 110 according to the fed-back signals, so that the mounting robot is prevented from colliding with foreign objects.
In some embodiments of the present invention, the wallboard adjusting and aligning mechanism includes a position sensor 806, a gyroscope and a second control module (not shown in the figure), the position sensor 806 is installed on the crane 200, when the clamped wallboard 600 is adjusted from the horizontal side-placing state to the vertical side-placing state, the position sensor 806 is used for measuring the horizontal distance between the clamped wallboard 600 and the installed wallboard 600, and the horizontal angle and the vertical angle of the installed wallboard 600, the gyroscope is used for measuring the vertical angle of the clamped wallboard 600, the position sensor 806 and the wallboard clamping jaw 500 are electrically connected with the second control module, the first driving device 300 is electrically connected with the second control module, and the walking driving mechanism 110 is electrically connected with the second control module.
As shown in fig. 10 and 11, when the clamped wall panel 600 is aligned with the installed wall panel 600, the vertical angle of the clamped wall panel 600 is obtained by testing the vertical angle of the wall panel clamping jaw 500 through a gyroscope, and the measured angle is fed back to the second control module. The gyroscope can obtain the vertical angle of the clamped wall panel 600 by testing the vertical angle of the crane 200.
The horizontal distance between the held wall panel 600 and the installed wall panel 600, and the horizontal angle and the vertical angle of the installed wall panel 600 are measured by the position sensor 806, and the detected signals are transmitted to the travel driving mechanism 110 and the first driving means 300.
The first driving means 300 controls the crane 200 to rotate about the hinge end 230, thereby adjusting the verticality of the clamped wall panel 600 such that the verticality of the clamped wall panel 600 is the same as the vertical angle of the installed wall panel 600.
Thereafter, the vehicle body 100 is driven by the travel driving mechanism 110 to rotate so that the horizontal angle between the clamped wall panel 600 and the installed wall panel 600 is the same, and the clamped wall panel 600 and the installed wall panel 600 are kept parallel.
And then advanced or retracted by the vehicle body 100 according to the horizontal distance between the clamped wall panel 600 and the installed wall panel 600 so that they are aligned. Subsequently, the vehicle body 100 is moved in the lateral direction to splice the clamped wall panel 600 with the installed wall panel 600.
In this embodiment, the position sensor 806 includes 4 laser ranging sensors, and 4 laser ranging sensors are arranged in the crane 200 in a matrix, and the laser light emitted from 4 laser ranging sensors is irradiated on the surface of the installed wall board 600, and when the distances measured by 4 laser ranging sensors are equal, it is described that the horizontal angle and the vertical angle between the clamped wall board 600 and the installed wall board 600 are the same. When the clamped wallboard 600 aligns with the installed wallboard 600, the distance measured by the laser ranging sensor is determined, as long as the distance measured by the 4 laser ranging sensors is consistent with the data by adjusting the position of the vehicle body 100, the clamped wallboard 600 can be determined to align with the installed wallboard 600.
In some embodiments of the present invention, a remote control system is further included, the remote control system includes a mobile terminal, a vehicle-mounted signal receiver 807 and a fifth control module (not shown in the figure), the vehicle-mounted signal receiver 807 is disposed on the vehicle body 100, signal interaction can be realized between the mobile terminal and the vehicle-mounted signal receiver 807, the vehicle-mounted signal receiver 807 and the fifth control module are electrically connected, and the fifth control module is electrically connected to the travel driving mechanism 110. Through setting up remote control system, each process operator accessible cell-phone or dull and stereotyped remote control wallboard installation robot, the operator can freely remove near the installation wallboard, avoids the equipment rack to obstruct the operation sight.
In some embodiments of the present invention, the present invention further comprises a walking road surface detection system, wherein the walking road surface detection system comprises a ground detection sensor and a sixth control module (not shown in the figure), the ground detection sensor is disposed on the vehicle body 100 and is used for detecting whether a walking road surface exists or not, the ground detection sensor is electrically connected to the sixth control module, and the sixth control module is electrically connected to the walking driving mechanism 110.
In the use process of the wallboard mounting robot, construction on a high floor is sometimes needed, and the situation that the wallboard mounting robot exits from a safety plane may occur. In order to avoid the above situation, by providing the ground detection sensor, the ground detection sensor can detect whether the walking road surface of the wall panel mounted robot exists in the running process, and transmit the detected signal to the sixth control module, and the sixth control module controls the walking of the walking driving mechanism 110 according to the obtained signal.
The automatic grabbing and identifying system comprises a weight sensor and a seventh control module, the weight sensor is used for monitoring the weight of the wallboard clamping jaw 500, the weight sensor is electrically connected with the seventh control module, and the seventh control module is electrically connected with the seventh driving device.
Detect wallboard clamping jaw 500 through weight sensor, after wallboard clamping jaw 500 gripped wallboard 600, when the weight that weight sensor detected for wallboard clamping jaw 500 dead weight adds wallboard 600's weight, judge that wallboard clamping jaw 500 gripped wallboard 600. When the weight detected by the weight sensor is less than the self weight of the wallboard clamping jaw 500 plus the weight of the wallboard 600, it is determined that the wallboard clamping jaw 500 is not clamping the wallboard 600. The seventh control module controls the second drive to apply a greater force to ensure that the wallboard gripper 500 grips the wallboard 600.
In a specific embodiment, the full process automation wallboard installation robot of the present invention can be used for the installation of interior and exterior walls of light wallboards of fabricated buildings.
For ALC ribbon boards with the length exceeding 3500mm and the thickness exceeding 150mm, 5-7 workers are generally needed to install the ALC ribbon boards at the same time, each team and group transports the ribbon boards to the site and completes primary positioning for about 5 minutes, after alignment is completed, the workers need to adopt tools such as crowbars and the like to level the boards, the flatness of the board installation is ensured, and the leveling time needs 3-8 minutes. Compare in artifical installation, adopt wallboard installation robot from grabbing board to dress board and accomplishing overall process such as crowded thick liquid only need 2 workman can accomplish the operation, wherein 1 people is responsible for remote operation control, in addition 1 people is responsible for work such as connecting piece installation, plastering, installation time 3 ~ 5 minutes, nevertheless its roughness of slat that adopts wallboard installation robot to install compares in artifical installation reliable assurance, the roughness of wallboard can be guaranteed only to the later stage need the fine setting, the fine setting time is about 2 minutes. Therefore, compared with manual installation, the ALC wallboard installation is carried out by adopting the wallboard installation robot, the labor can be greatly reduced, and the installation quality of the wallboard is improved.
For an ALC ribbon board with a board length of about 3000mm, although workers are installed on site for about 3 groups of workers, the leveling time of the wall board after being in place is greatly influenced by the technology of the workers, and the leveling time needs 3-8 minutes or even longer; if the wallboard is used for the outer wall installation, the workman need carry out supplementary installation work on the outer frame in the wallboard outside, has great potential safety hazard. Therefore, the ALC outer wall installation is carried out by adopting the wallboard installation robot, the safety problem in the wallboard installation process can be solved, and the installation time of the wallboard is saved.
Compared with manual installation, the ALC slat installation is carried out by adopting the developed wallboard installation robot, the wallboard installation quality and construction safety can be guaranteed, the working hour and working efficiency level of wallboard installation is greatly improved, the specific improvement range is related to the length, thickness and the like of the installed board, and the improvement level can reach 50% -200% through field measurement.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A full process automation's wallboard installation robot, its characterized in that includes:
the trolley comprises a trolley body, wherein the trolley body is provided with a walking driving mechanism, and the walking driving mechanism can drive the trolley body to move in any horizontal direction;
the wallboard grabbing and lifting mechanism is arranged on the vehicle body and used for grabbing a horizontally laterally placed wallboard and driving the grabbed wallboard to rotate so that the grabbed wallboard is adjusted to be in a vertical state from a horizontal laterally placed state;
the wallboard adjusting and aligning mechanism aligns the clamped wallboard in a vertical state with the installed wallboard, so that the clamped wallboard is aligned and spliced with the installed wallboard;
the automatic oar squeezing mechanism can drive the aligned and spliced wallboard to move towards the direction of the installed wallboard, and carries out oar squeezing action.
2. The full process automation wall panel installation robot of claim 1, wherein: the wallboard grabbing and lifting mechanism comprises a lifting frame, a first driving device, a rotating seat and a wallboard clamping jaw;
the lifting frame is provided with a mounting surface, a lifting rail is arranged on the mounting surface, the lifting frame is provided with a first position and a second position, the lifting rail is vertically vertical to the horizontal ground at the first position, and the lifting rail and the horizontal ground are arranged at an included angle at the second position;
the first driving device is arranged on the vehicle body and is in transmission connection with the lifting frame, and the lifting frame can be driven to move between the first position and the second position;
the rotating surface of the rotating seat is parallel to the mounting surface, the rotating seat is arranged on the lifting track, the rotating seat has a third position and a fourth position on the lifting track, the third position is below the fourth position, and the rotating seat can move between the third position and the fourth position;
the wallboard clamping jaw sets up on the roating seat the third position, the wallboard clamping jaw can the horizontal wallboard of putting of centre gripping side, and make the face of assembling of wallboard exposes the fourth position, the roating seat drives the wallboard clamping jaw and rotates for the wallboard of centre gripping is put the state adjustment by the level side and is vertical state of putting immediately.
3. The full process automation wall panel installation robot of claim 2, wherein: the wallboard clamping jaw includes backup pad, grip block and second drive arrangement, the backup pad has the holding surface, the grip block has the clamping face, the holding surface is parallel the plane at lift track place, the clamping face orientation the holding surface sets up, the grip block with second drive arrangement connects, the drive of second drive arrangement the clamping face of grip block is close to or keeps away from the holding surface motion to the centre gripping or unclamp the wallboard.
4. The full process automation wall panel installation robot of claim 3, wherein: the automatic wallboard clamping control system comprises a first distance measuring sensor, a second distance measuring sensor, a vision sensor and a first control module;
the first distance measuring sensor is used for detecting the horizontal distance from the wallboard clamping jaw to a wallboard to be clamped, the first distance measuring sensor is electrically connected with the first control module, and the first control module is electrically connected with the walking driving mechanism;
the second distance measuring sensor is used for detecting the vertical distance from the wallboard clamping jaw to a wallboard to be clamped, the second distance measuring sensor is electrically connected with the first control module, and the first control module is electrically connected with the rotating base;
the vision sensor is used for detecting the center line of the wallboard to be clamped, and the vision sensor is electrically connected with the first control module.
5. The full process automation wall panel installation robot of claim 2, wherein: the wallboard is adjusted counterpoint mechanism and is included position sensor, gyroscope and second control module, position sensor installs on the crane, when the wallboard of centre gripping was put the state adjustment by the level side and is the vertical state of putting immediately, position sensor is used for measuring the horizontal distance between the wallboard of centre gripping and the wallboard of having installed to and the horizontal angle and the vertical angle of wallboard of having installed, the gyroscope is used for testing the vertical angle of the wallboard of centre gripping, position sensor, gyroscope all with second control module electric connection, first drive arrangement with second control module electric connection, walking actuating mechanism with second control module electric connection.
6. The full process automation wall panel installation robot of claim 2, wherein: automatic crowded oar mechanism includes guide holder and third drive arrangement, the guide holder is installed on the roating seat, be equipped with crowded oar guide rail on the guide holder, the direction stroke of crowded oar guide rail is perpendicular with the face of assembling of centre gripping wallboard, the wallboard clamping jaw is installed on crowded oar guide rail, third drive arrangement with the transmission of wallboard clamping jaw is connected, in order to drive the wallboard clamping jaw is followed crowded oar guide rail motion.
7. The full process automation wall panel installation robot of claim 6, wherein: automatic crowded oar mechanism still includes extrusion force control system, extrusion force control system includes pressure sensor and third control module, pressure sensor is used for the monitoring the extrusion force that third drive arrangement received, pressure sensor with third control module electric connection, third control module with third drive arrangement electric connection.
8. The full process automation wall panel installation robot of claim 2, wherein: the crane is equipped with the hinged end, the crane pass through the hinged end with the automobile body is articulated, the lift track by the hinged end extends to the relative other end and sets up, a drive arrangement drive the crane round the hinged end rotates, drives the crane move between the first position with the second position.
9. The full process automation wall panel installation robot of claim 1, wherein: the obstacle avoidance system comprises an obstacle avoidance radar and a fourth control module, the obstacle avoidance radar is arranged around the vehicle body, the obstacle avoidance radar is electrically connected with the fourth control module, and the fourth control module is electrically connected with the traveling driving mechanism.
10. The full process automation wall panel installation robot of claim 1, wherein: the remote control system comprises a mobile terminal, a vehicle-mounted signal receiver and a fifth control module, wherein the vehicle-mounted signal receiver is arranged on the vehicle body, signal interaction can be realized between the mobile terminal and the vehicle-mounted signal receiver, the vehicle-mounted signal receiver is electrically connected with the fifth control module, and the fifth control module is electrically connected with the walking driving mechanism.
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| CN202111611043.XA CN114233016A (en) | 2021-12-27 | 2021-12-27 | Full-process automation's wallboard installation robot |
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| GB2623289A (en) * | 2022-08-18 | 2024-04-17 | Ecor Ltd | Apparatus and methods for manufacturing a building structure |
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