CN114536296A - Multifunctional robot platform for building construction - Google Patents
Multifunctional robot platform for building construction Download PDFInfo
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- CN114536296A CN114536296A CN202210342347.9A CN202210342347A CN114536296A CN 114536296 A CN114536296 A CN 114536296A CN 202210342347 A CN202210342347 A CN 202210342347A CN 114536296 A CN114536296 A CN 114536296A
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- 238000009435 building construction Methods 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 149
- 238000010276 construction Methods 0.000 claims abstract description 63
- 238000004886 process control Methods 0.000 claims abstract description 53
- 238000009434 installation Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 abstract description 14
- 238000005553 drilling Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 238000011161 development Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
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- 238000011160 research Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses a multifunctional robot platform for building construction, which comprises a walking mechanism, a supporting upright post, a mechanical arm assembly and a control system, wherein the mechanical arm assembly comprises a first mechanical arm and a second mechanical arm, the starting end of the first mechanical arm is arranged at the top end of the supporting upright post through a first joint mechanism, the tail end of the first mechanical arm is connected with the starting end of the second mechanical arm through a second joint mechanism, the tail end of the second mechanical arm is connected with a third joint mechanism, the third joint mechanism is provided with a mounting interface, and the mounting interface is used for mounting an executing mechanism matched with construction requirements; the control system comprises a process control host and a bottom layer control host, wherein the process control host obtains the movement track of the actuating mechanism according to the construction requirement; the bottom layer control host controls the first joint mechanism, the second joint mechanism and the third joint mechanism to act according to the moving track. The scheme can replace the actuating mechanism and the process control module according to procedures related to construction requirements, and achieves the universalization of the robot platform.
Description
Technical Field
The application relates to the technical field of construction robots, in particular to a multifunctional robot platform for building construction.
Background
Construction is typically a labor intensive industry and one of the lowest mechanized and automated industries in many industries. Under the conditions that building labor is increasingly tense and labor cost is increased year by year, the problems that mechanization and automation levels of building construction are improved and the amount of workers is reduced are urgently needed to be solved.
At present, the mode of improving the automation of building construction is mainly to adopt a building robot to assist construction, but the research of the building robot is in a starting stage, most building robots are designed only aiming at single functions and single procedures, the whole construction process needs a large number of robots of different types to be completed in a cooperation mode, high cost is required to be invested once, and the problems of complex operation and difficult scheduling exist when multiple types of robots are coordinated.
Disclosure of Invention
The technical problem that this application will be solved is the problem of current construction robot function singleness, process singleness, for this reason, this application has proposed a multi-functional robot platform for construction.
In view of the above technical problems, the present application provides the following technical solutions:
some embodiments of this application provide a multi-functional robot platform for construction, including running gear, set up in last support post, the robotic arm subassembly and the control system of running gear, wherein:
the mechanical arm assembly comprises a first mechanical arm and a second mechanical arm, the starting end of the first mechanical arm is arranged at the top end of the supporting upright post through a first joint mechanism, the tail end of the first mechanical arm is connected with the starting end of the second mechanical arm through a second joint mechanism, the tail end of the second mechanical arm is connected with a third joint mechanism, the third joint mechanism is provided with an installation interface, and the installation interface is used for installing an execution mechanism matched with construction requirements;
the control system comprises a process control module and a bottom layer control module; the process control module comprises a process control host, wherein the process control host is used for acquiring the construction requirement and executing the movement track of the mechanism according to the construction requirement; the bottom layer control module comprises a bottom layer control host, the bottom layer control host receives the moving track sent by the process control host, and controls the first joint mechanism, the second joint mechanism and the third joint mechanism to move according to the moving track.
In the multifunctional robot platform for building construction provided in some embodiments of the present application, the bottom control host controls the first joint mechanism, the second joint mechanism and/or the third joint mechanism to move, and then the movement track of the installation interface is always located in a set vertical plane.
In the multifunctional robot platform for building construction provided in some embodiments of the present application, the bottom control host controls the third joint mechanism to act so that the posture of the execution mechanism is adapted to the construction requirement.
In the multifunctional robot platform for building construction provided in the embodiments of the present application, a height difference between a highest position point and a lowest position point of a movement track of the installation interface enables the movement track of the execution mechanism to cover an indoor height interval; and/or the distance difference between the limit position point at one side and the limit position point at the other side of the moving track of the mounting interface enables the moving track coverage area of the actuating mechanism to be larger than the width of the vehicle body of the walking mechanism.
According to the multifunctional robot platform for building construction provided by the embodiment of the application part, when the mechanical arm assembly is retracted, the whole height of the mechanical arm assembly is smaller than that of the support upright post, and the mechanical arm assembly is fully retracted into the vehicle body of the travelling mechanism in the horizontal direction.
In the multifunctional robot platform for building construction provided in the embodiments of the present application, the traveling mechanism is an automatic navigation vehicle;
and the bottom layer control host controls the automatic navigation vehicle to move according to the path.
According to the multifunctional robot platform for building construction provided in some embodiments of the application, the process control host acquires the set path according to the construction requirement and sends the set path to the bottom control host.
In some embodiments of the present application, the multifunctional robot platform for building construction further includes:
an execution aid adapted to the actuator;
the process control host and the bottom layer control host are cooperatively controlled, and when the bottom layer control host controls the first joint mechanism, the second joint mechanism and/or the third joint mechanism to act, the process control host controls the execution auxiliary equipment to execute corresponding auxiliary actions.
In the multifunctional robot platform for building construction provided in some embodiments of the present application, the bottom control module is disposed on the traveling mechanism, the process control module is disposed on the bottom control module, and the bottom control module and the process control module have the same cross section;
the integral height of the bottom layer control module and the process control module is smaller than the height of the supporting upright post.
In some embodiments of the present application, a multi-function robot platform for building construction is provided, wherein the actuator includes, but is not limited to, one of a grinding mechanism and a tile mechanism; and the actuating mechanism is provided with a fixed interface matched with the mounting interface.
Compared with the prior art, the technical scheme of the application has the following technical effects:
the application provides a multi-functional robot platform for construction, through the installation interface and the technology control module of the required actuating mechanism of the different construction demands of mechanical arm group cooperation, can change actuating mechanism and technology control module according to the process that the construction demand involved to realize the universalization of robot platform, reduce the development cost of construction robot, shorten development cycle, its comprehensive cost is far less than the robot of single function.
Drawings
The objects and advantages of this application will be appreciated by the following detailed description of the preferred embodiments thereof, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a multifunctional robot platform for building construction according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a robotic arm assembly of a multi-purpose robotic platform for construction according to an embodiment of the present application in a stowed position;
fig. 3 is a schematic control relationship diagram of a multifunctional robot platform for building construction according to an embodiment of the present application.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
The embodiment provides a multifunctional robot platform for building construction, which comprises a travelling mechanism 10, a support upright post 20 arranged on the travelling mechanism 10, a mechanical arm assembly and a control system, as shown in fig. 1 to 3. The mechanical arm assembly comprises a first mechanical arm 51 and a second mechanical arm 52, wherein the starting end of the first mechanical arm 51 is arranged at the top end of the support upright post 20 through a first joint mechanism 61, the tail end of the first mechanical arm 51 is connected with the starting end of the second mechanical arm 52 through a second joint mechanism 62, the tail end of the second mechanical arm 52 is connected with a third joint mechanism 63, and the third joint mechanism 63 is configured with an installation interface which is used for installing an execution mechanism 402 matched with construction requirements. The control system comprises a process control module 40 and a bottom layer control module 30; the process control module 40 comprises a process control host 401, wherein the process control host 401 is used for acquiring the construction requirement and obtaining the movement track of the execution mechanism 402 according to the construction requirement; the bottom layer control module 30 includes a bottom layer control host 301, and the bottom layer control host 301 receives the movement track sent by the process control host 401, and controls the first joint mechanism 61, the second joint mechanism 62, and the third joint mechanism 63 to move according to the movement track.
The construction requirement is determined according to a construction procedure, a project and the like, and may be imported to the process control host 401 by an operator, where the construction requirement may include a size of an indoor space, a construction project, a construction position, a construction range, a trajectory plan of the actuator 402, and the like. The process control mainframe 401 and the floor control mainframe 301 may have a unified spatial coordinate system therein, and when an indoor space is input, the position of the traveling mechanism 10 in the spatial coordinate system and the position of the construction position in the spatial coordinate system may be confirmed, and then the coordinates in the spatial coordinate system may be referred to when controlling the operation of each component. The traveling mechanism 10 in the above solution can be automatically planned by the control system and controlled to move along the planned path, or can be remotely controlled by an operator to change the position by using other remote control devices. When the operator remotely controls the traveling mechanism 10, the traveling mechanism 10 can be controlled to move to a target position according to actual construction needs. If the control system automatically controls the traveling mechanism 10, the process control host 401 obtains the planned path of the traveling mechanism 10 according to the construction requirement, and then sends the planned path to the bottom control host 301, and the bottom control host 301 automatically controls the traveling mechanism 10 to move according to the planned path.
After receiving the construction requirement, the process control host 401 can plan the path of the traveling mechanism 10 and the trajectory of the execution mechanism 402. For example, if the construction item is a drilling hole, the execution mechanism 402 selects a drilling machine, the size of the drilling machine itself, and the relative position relationship between the end of the drilling machine and the installation interface after the drilling machine is connected with the installation interface are stored in the process control host 401, and the construction requirement includes the size of the indoor space, the position of the drilling hole, and the drilling depth. According to the construction requirements, the process control host 401 can determine the initial position of the drilling machine, and the process control host 401 sends the initial position of the drilling machine to the bottom layer control host 301. The bottom layer control host 301 can determine the target position of the walking mechanism and the target position of the mounting interface, so that the first joint mechanism 61, the second joint mechanism 62 and the third joint mechanism 63 can be controlled to act, and the position of the mounting interface can be adjusted until the drilling machine reaches the required position. In the above example, the position of the drilling machine may not be moved during drilling, and at this time, the first joint mechanism 61, the second joint mechanism 62, and the third joint mechanism 63 may be operated to a fixed state. For some construction processes, such as polishing, floor tile laying, etc., the actuator 402 needs to move according to a set path, for example, the actuator for floor tile laying needs to move from one side of an indoor floor to the other side of the floor, and after a row of floor tiles are laid, the traveling mechanism 10 needs to move by the distance of one floor tile, and then the actuator for floor tile laying controls to move from one side to the other side, in the above process, both the moving path of the actuator 402 and the moving path of the traveling mechanism 10 can be automatically calculated by the process control host 401 and the bottom layer control host 301. In some aspects, the actuator 402 includes, but is not limited to, one of a grinding mechanism and a tile mechanism; and a fixed interface matched with the installation interface is arranged on the executing mechanism 402.
According to the scheme provided by the embodiment, the mechanical arm group is matched with the installation interface of the executing mechanism 402 and the process control module 40 required by different construction requirements, and the executing mechanism 402 and the process control module 40 can be replaced according to the procedures related to the construction requirements, so that the universality of the robot platform is realized, the development cost of the building construction robot is reduced, the development period is shortened, and the comprehensive cost is far lower than that of a robot with a single function.
In some embodiments, the multifunctional robot platform for building construction is used for indoor plane building construction, and therefore, after the floor control host 301 controls the first joint mechanism 61, the second joint mechanism 62 and/or the third joint mechanism 63 to act, a movement track of the installation interface is always located in a set vertical plane. The scheme replaces the mode of a single-stage or multi-stage linear module in the prior art by the mode of combining the plane mechanical arms, and meanwhile, the executing mechanism 402 does not need to have multiple degrees of freedom, so that the size of the whole platform can be reduced, and the structure of the whole part is simplified.
In addition, in the above multifunctional robot platform for building construction, the floor control host 301 controls the third joint mechanism 63 to operate so as to adapt the posture of the actuator 402 to the construction requirement. For example, when the actuator 402 is a grinding mechanism, the working surface of the grinding mechanism needs to be parallel to the wall surface, and if the balance between the grinding mechanism and the wall surface is damaged due to the change of the position of the mechanical arm assembly in the process of the movement of the first joint mechanism 61 and the second joint mechanism 63, the movement of the third joint mechanism 63 can be adjusted, and the grinding mechanism is adjusted to keep parallel to the wall surface by adjusting the angle of the mounting interface. In the floor level control host 301, the cooperative control algorithm among the first joint mechanism 61, the second joint mechanism 62, and the third joint mechanism 63 has been stored in advance, and therefore, as long as the construction requirement is determined, it can be ensured that the actions of the three joint mechanisms cooperate with each other to ensure that the posture of the actuator 402 satisfies the construction requirement.
Further, it is preferable that a height difference between the highest position point and the lowest position point of the movement locus of the mounting interface is such that the movement locus of the actuator 402 covers an indoor height section. And the distance difference between the limit position point on one side and the limit position point on the other side of the movement track of the installation interface enables the movement track of the actuating mechanism 402 to be larger than the vehicle body width of the traveling mechanism 10, and specifically, the indoor length interval/indoor width interval can be covered. Through the length design of first arm 51 and second arm 52, can make the removal orbit of robotic arm subassembly cover wide range vertical plane scope, can cover conventional indoor space's height, length and width to the maximum, from this it upwards can satisfy ceiling operation demand, can accomplish ground construction operation downwards, ensures the operation on a large scale of robot platform, avoids frequently moving the robot and influences the efficiency of construction.
In addition, in the multifunctional robot platform for building construction in the above solution, as shown in fig. 2, when the robot arm assembly is retracted, the overall height of the robot arm assembly is smaller than the height of the support column 20, and the robot arm assembly is fully retracted into the vehicle body of the traveling mechanism 10 in the horizontal direction, that is, the robot arm assembly does not protrude out of the outer contour of the robot platform in any direction of the robot platform. Through the design of the structure, the top end of the support upright post 20 in the mechanical arm assembly retraction state is the highest point of the robot platform, and the maximum horizontal dimension is the length and the width of the walking mechanism 10. Above, the overall dimension of robot platform under the state that the robotic arm assembly is packed up can satisfy the requirement of going up and down construction elevator, crossing indoor corridor, door opening.
In the above solution, as mentioned above, the traveling mechanism 10 may be controlled automatically by the control system or remotely by an operator. When the running mechanism 10 is automatically controlled and realized by a control system, the running mechanism 10 is an automatic navigation vehicle; the bottom layer control host 301 controls the automatic navigation vehicle to move according to a set path. The process control host 401 obtains the set path according to the construction requirement and sends the set path to the bottom control host 301. As described above, the process control host 401 and the bottom control host 301 have a uniform spatial coordinate system, and after the process control host 401 obtains a construction requirement, the process control host 401 can determine a movement track of the execution mechanism 402, and further determine a relative position between the execution mechanism 402 and the installation interface according to its own size, and then determine a movement track of the installation interface according to the movement track of the execution mechanism 402, and then the bottom control host 301 can control the movement of the traveling mechanism and the movement of each joint mechanism according to the movement track of the installation interface, and a navigation controller of the auto-pilot vehicle can be built in the bottom control host 301, and the auto-pilot vehicle can be automatically controlled to travel according to the path as long as the path of the auto-pilot vehicle is determined. For example, when the joint mechanism is a driving motor, the bottom layer control host 301 can control the output shaft of the driving motor to extend or rotate at a specific speed.
In addition, the process control module 40 in the multifunctional robot platform for building construction further comprises an execution auxiliary device 403, wherein the execution auxiliary device 403 is matched with the execution mechanism 402; the process control host 401 and the bottom layer control host 301 cooperatively control, and when the bottom layer control host 301 controls the first joint mechanism 61, the second joint mechanism 62 and/or the third joint mechanism 63 to operate, the process control host 401 controls the execution auxiliary device 403 to execute a corresponding auxiliary operation. For example, the executive auxiliary devices 403 may be pumps, control valves, IO modules, relays, and the like. For example, during the process of moving the robot platform, the bottom layer control host 403 controls the traveling mechanism 10 to move and the robot arm assembly does not move, and at this time, the execution auxiliary device 403 is controlled not to work. When the wall surface polishing process is performed, the bottom layer control host 403 controls the traveling mechanism 10 to move to a target position and then stop, then controls the mechanical arm assembly to move so that the polishing mechanism moves according to a moving track, and at this time, controls the execution auxiliary device 403 to work in cooperation with the polishing process, such as providing power and providing electric energy.
In some embodiments of the present application, referring to fig. 1, the bottom layer control module 30 is disposed on the traveling mechanism 10, the process control module 40 is disposed on the bottom layer control module 30, and the bottom layer control module 30 and the process control module 40 have the same cross section; the overall height of the bottom layer control module 30 and the process control module 40 is less than the height of the support columns 20. According to the structure, the overall dimensions of the two control modules are designed, so that the whole robot platform has smaller volume and more attractive visual sense. During concrete implementation, can directly set up two boxes that have the same cross section can, can also set up required battery, control module group circuit board, radiator fan etc. according to the demand in the box inside. As shown, the height of the process control module 40 can be just at the bottom of the first joint mechanism 61 and against the first joint mechanism 61, which can provide a limiting force for the whole control system and improve the stability of the structure.
According to the robot platform provided by the embodiment of the application, before the construction process is executed, the robot platform is controlled to move, at the moment, the mechanical arm assembly is retracted, and the robot is taken to the target position by the traveling mechanism 10. When the construction is executed, the traveling mechanism 10 is fixed at a construction point position, and for the wall construction, the robot platform can realize multi-row reciprocating construction operation and single reciprocating wide operation at one construction point position by controlling the movement of the mechanical arm assembly. In actual use, the execution mechanism 402 is installed on the installation interface according to the construction requirement, and the corresponding process control module 40 is installed on the bottom layer control module 30 in an overlapping manner, so that the operation of a specific construction process is realized. By using the three-axis mechanical arm assembly, the first joint mechanism 61 and the second joint mechanism 62 can be used to cooperate to realize that the mounting interface runs according to a set track so as to drive the executing mechanism 402 to move according to a required track. Meanwhile, the third joint mechanism 63 connected with the mounting interface can also compensate the position offset generated by the first joint mechanism 61 and the second joint mechanism 62, so as to ensure that the working posture of the executing mechanism meets the requirements of the current construction process.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of this invention are intended to be covered by the present application.
Claims (10)
1. The utility model provides a multi-functional robot platform for construction, its characterized in that, includes running gear, set up in last support post, the robotic arm subassembly and the control system of running gear, wherein:
the mechanical arm assembly comprises a first mechanical arm and a second mechanical arm, the starting end of the first mechanical arm is arranged at the top end of the supporting upright post through a first joint mechanism, the tail end of the first mechanical arm is connected with the starting end of the second mechanical arm through a second joint mechanism, the tail end of the second mechanical arm is connected with a third joint mechanism, the third joint mechanism is provided with an installation interface, and the installation interface is used for installing an execution mechanism matched with construction requirements;
the control system comprises a process control module and a bottom layer control module; the process control module comprises a process control host, and the process control host is used for acquiring the construction requirement and obtaining the movement track of the actuating mechanism according to the construction requirement; the bottom layer control module comprises a bottom layer control host, the bottom layer control host receives the moving track sent by the process control host, and controls the first joint mechanism, the second joint mechanism and the third joint mechanism to move according to the moving track.
2. The multi-purpose robotic platform for building construction of claim 1, wherein:
after the bottom layer control host controls the first joint mechanism, the second joint mechanism and/or the third joint mechanism to act, the moving track of the installation interface is always located in a set vertical plane.
3. The multi-purpose robotic platform for building construction of claim 2, wherein:
and the bottom layer control host controls the third joint mechanism to act so as to enable the posture of the executing mechanism to be matched with the construction requirement.
4. The multi-purpose robotic platform for building construction of claim 3, wherein:
the height difference between the highest position point and the lowest position point of the moving track of the mounting interface enables the moving track of the actuating mechanism to cover an indoor height interval; and/or the distance difference between the limit position point at one side and the limit position point at the other side of the moving track of the mounting interface enables the moving track coverage area of the actuating mechanism to be larger than the width of the vehicle body of the walking mechanism.
5. The multi-purpose robotic platform for building construction of claim 4, wherein:
when the mechanical arm assembly is retracted, the overall height of the mechanical arm assembly is smaller than that of the support upright post, and the mechanical arm assembly is fully retracted into the vehicle body of the travelling mechanism in the horizontal direction.
6. A multi-function robotic platform for building construction according to any one of claims 1-5, wherein:
the travelling mechanism is an automatic navigation vehicle;
and the bottom layer control host controls the automatic navigation vehicle to move according to the path.
7. The multi-purpose robotic platform for building construction of claim 6, wherein:
and the process control host acquires the set path according to the construction requirement and sends the set path to the bottom control host.
8. The multi-purpose robotic platform for construction according to claim 7, further comprising in said process control module:
an execution aid adapted to the actuator;
the process control host and the bottom layer control host are cooperatively controlled, and when the bottom layer control host controls the first joint mechanism, the second joint mechanism and/or the third joint mechanism to act, the process control host controls the execution auxiliary equipment to execute corresponding auxiliary actions.
9. The multi-purpose robotic platform for building construction of claim 8, wherein:
the bottom layer control module is arranged on the travelling mechanism, the process control module is arranged on the bottom layer control module, and the bottom layer control module and the process control module have the same cross section;
the integral height of the bottom layer control module and the process control module is smaller than the height of the supporting upright post.
10. The multi-function robotic platform for building construction of claim 9, wherein:
the actuator includes, but is not limited to, one of a grinding mechanism and a tile mechanism; and the actuating mechanism is provided with a fixed interface matched with the mounting interface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210342347.9A CN114536296A (en) | 2022-03-31 | 2022-03-31 | Multifunctional robot platform for building construction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210342347.9A CN114536296A (en) | 2022-03-31 | 2022-03-31 | Multifunctional robot platform for building construction |
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| CN111890954A (en) * | 2019-05-05 | 2020-11-06 | 江苏激扬软件有限公司 | Disc library robot |
| WO2021208230A1 (en) * | 2020-04-15 | 2021-10-21 | 上海工程技术大学 | Intelligent assembly control system |
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| CN103972821A (en) * | 2014-05-27 | 2014-08-06 | 邹德华 | Live working robot for high-voltage power transmission line |
| CN104440901A (en) * | 2014-10-23 | 2015-03-25 | 重庆交通大学 | High-precision heavy-load assembly robot |
| CN109702764A (en) * | 2019-01-30 | 2019-05-03 | 西安交通大学 | A kind of polishing of indoor wall operates robot with spraying multifunctional mobile |
| CN111890954A (en) * | 2019-05-05 | 2020-11-06 | 江苏激扬软件有限公司 | Disc library robot |
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