CN116165632A - Automatic ranging robot for construction site - Google Patents

Automatic ranging robot for construction site Download PDF

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Publication number
CN116165632A
CN116165632A CN202310437112.2A CN202310437112A CN116165632A CN 116165632 A CN116165632 A CN 116165632A CN 202310437112 A CN202310437112 A CN 202310437112A CN 116165632 A CN116165632 A CN 116165632A
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CN
China
Prior art keywords
fixedly arranged
rope
rod
screw rod
main body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202310437112.2A
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Chinese (zh)
Other versions
CN116165632B (en
Inventor
王芳
杨振
韩清华
董西尚
马怀志
高鹏
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Zaozhuang University
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Zaozhuang University
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Publication date
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Priority to CN202310437112.2A priority Critical patent/CN116165632B/en
Publication of CN116165632A publication Critical patent/CN116165632A/en
Application granted granted Critical
Publication of CN116165632B publication Critical patent/CN116165632B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
    • B66D1/74—Capstans
    • B66D1/7442—Capstans having a horizontal rotation axis
    • B66D1/7452—Capstans having a horizontal rotation axis driven manually only
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Abstract

The utility model discloses an automatic ranging robot for a construction site, which relates to the technical field of construction maintenance equipment and comprises a rope winding mechanism, wherein the rope winding mechanism comprises a main body shell, a fixed plate is fixedly arranged on the main body shell, a coil spring is fixedly arranged at the lower end of the fixed plate, a central shaft is rotatably arranged on the fixed plate, the outer end of the coil spring is fixedly connected with the fixed plate, the inner end of the coil spring is fixedly connected with the central shaft, a fixed cylinder is fixedly arranged on the fixed plate, a screw rod is rotatably arranged on the fixed cylinder, a vertical rod is fixedly arranged on the fixed plate, a thread groove is formed in the vertical rod, a fixed bracket is fixedly arranged on the fixed plate, a synchronous wheel is arranged on the screw rod, the synchronous wheel is in threaded fit with the screw rod, and ropes are wound on the vertical rod and the fixed bracket. According to the utility model, the rope winding mechanism is arranged, the rope is utilized for moving and ranging, and the rope is automatically retracted after the measurement is completed.

Description

Automatic ranging robot for construction site
Technical Field
The utility model relates to the technical field of construction maintenance equipment, in particular to an automatic ranging robot for a construction site.
Background
The construction measurement progress and precision directly influence the construction progress and the construction quality, and errors of angles and distances can occur in manual measurement due to large construction sites, uneven ground and other reasons aiming at a distance measuring module in the construction measurement; therefore, a robot with high measurement precision and high measurement speed needs to be designed, so that manual use is reduced, labor cost is saved, and measurement precision and measurement speed are improved.
The Chinese patent with the bulletin number of CN208704699U discloses a distance measuring device, which comprises a pulley device and a distance measuring device, wherein the pulley device comprises a pulley, the distance measuring device comprises an encoder, the encoder is used for monitoring the rotation angle of the pulley, the encoder is electrically connected with a control device, the counter is electrically connected with the control device, the pulley device comprises a transmission shaft, and the transmission shaft is fixedly connected with the pulley. Although the utility model can solve the technical problem that the installation distance of accessory materials is difficult to accurately guarantee when the transmission line works in the prior art, the actual ranging on the construction site is easy to cause reading errors due to external factors such as shielding of buildings, and the angle of the laser range finder can not be adjusted up and down, and the ranging of a high position can not be performed.
Disclosure of Invention
The utility model aims to provide a robot capable of driving a laser range finder to carry out multi-angle adjustment measurement, so that the laser range finder can carry out up-and-down angle adjustment and can carry out high-position distance measurement.
In order to solve the technical problems, the utility model adopts the following technical scheme: an automatic ranging robot for a construction site comprises a rope winding mechanism.
The rope winding mechanism comprises a main body shell, a fixed plate is fixedly arranged on the main body shell, a coil spring is fixedly arranged at the lower end of the fixed plate, a central shaft is rotatably arranged on the fixed plate, the outer end of the coil spring is fixedly connected with the fixed plate, the inner end of the coil spring is fixedly connected with the central shaft, a fixed cylinder is fixedly arranged on the fixed plate, a screw rod is rotatably arranged on the fixed cylinder, a vertical rod is fixedly arranged on the fixed plate, a thread groove is formed in the vertical rod, a fixed bracket is fixedly arranged on the fixed plate, a synchronous wheel is arranged on the screw rod, the synchronous wheel and the screw rod form threaded fit, a rope is wound on the vertical rod and the fixed bracket, the rope is arranged on the thread groove of the vertical rod, the upper end of the rope is arranged on the synchronous wheel, the screw rod is connected with the central shaft through a synchronous belt, and a universal wheel is fixedly arranged on the main body shell.
The ranging robot further comprises a fixing mechanism, the fixing mechanism comprises an electromagnet block, the electromagnet block is fixedly arranged on the main body shell, a supporting plate is fixedly arranged on the electromagnet block, the right side of the supporting plate is made of iron materials and is in adsorption fit with the electromagnet block, a round rod is slidably arranged on the supporting plate and fixedly connected with the upper end of a rope, a round rod spring is fixedly arranged on the round rod, a limiting groove is fixedly arranged on the round rod, a connecting rod is rotatably arranged on the supporting plate, the limiting groove is slidably connected with the connecting rod, two groups of connecting rods are arranged, protrusions on one group of connecting rods slide in the limiting groove, and chucks are rotatably arranged on the two groups of connecting rods.
The rope is equipped with inside and outside two-layer, and the rope inlayer is the control rope, and the rope skin is the reading rope, is equipped with the scale of convenient reading, control rope and round bar fixed connection, reading rope and backup pad fixed connection, fixed mounting has the camera on the main part shell.
The ranging robot further comprises a stretching control mechanism, the stretching control mechanism comprises a reel frame, the reel frame is fixedly arranged on the main body shell, a first fixing block is fixedly arranged on the reel frame, a reel is rotatably arranged on the reel frame, a second fixing block is fixedly arranged on the reel, the lower end of the rope is fixed on the first fixing block and the second fixing block, a control rope of the rope is fixedly connected with the second fixing block, a reading rope of the rope is fixedly connected with the first fixing block, a crank is fixedly arranged on the reel, the crank is rotatably arranged on the main body shell, a pulley seat is fixedly arranged on the main body shell, a pulley is rotatably arranged on the pulley seat, and the lower end of the rope is wound through the pulley.
The ranging robot further comprises an angle adjusting mechanism, the angle adjusting mechanism comprises an adjusting bracket, a supporting rod is fixedly arranged on the adjusting bracket, a limiting ball is rotatably arranged on the supporting rod, a horizontal limiting groove is rotatably arranged on the adjusting bracket, an adjusting motor is fixedly arranged on the adjusting bracket, an output shaft of the adjusting motor is fixedly connected with the horizontal limiting groove, a vertical limiting groove is rotatably arranged on the adjusting bracket, a sliding groove is arranged on the limiting ball, a limiting rod is slidably arranged on the sliding groove of the limiting ball, the limiting rod is located at the cross center of the horizontal limiting groove and the vertical limiting groove, a laser range finder is fixedly arranged on the limiting rod, a second adjusting motor is fixedly arranged at the lower end of the adjusting bracket, and an output shaft of the second adjusting motor is connected with the vertical limiting groove.
The ranging robot further comprises a cleaning mechanism, the cleaning mechanism comprises a baffle plate, the baffle plate is fixedly arranged on the main body shell, a rotating shaft seat is fixedly arranged on the main body shell, a friction rotating shaft is rotatably arranged on the rotating shaft seat, a bevel gear is fixedly arranged on the friction rotating shaft, a gear frame is rotatably arranged on the main body shell, the gear frame and the bevel gear form gear fit, and a cleaner is fixedly arranged on the gear frame.
The ranging robot further comprises an extension mechanism, the extension mechanism comprises an extension box body, the extension box body is fixedly arranged on the main body shell, a lifting frame is fixedly arranged on the extension box body, a screw rod motor is fixedly arranged on the lifting frame, a lifting screw rod is fixedly arranged on an output shaft of the screw rod motor, a supporting sliding seat is slidably arranged on the lifting frame, a telescopic clamp is fixedly arranged on the upper end of the supporting sliding seat, the supporting sliding seat is slidably arranged on the extension box body, the lifting screw rod and the supporting sliding seat form threaded fit, and a telescopic clamp electromagnet is fixedly arranged on the telescopic clamp.
The ranging robot further comprises a comparison mechanism, the comparison mechanism comprises a connecting rod, the connecting rod is fixedly arranged on the screw rod, an upper sliding groove is fixedly arranged on the main body shell, a receiving motor is fixedly arranged on the upper sliding groove, an upper screw rod is fixedly arranged on an output shaft of the receiving motor, a contact plate is slidably arranged on the upper sliding groove, the contact plate and the upper screw rod form threaded fit, a spring contactor is fixedly arranged on the contact plate, a lower sliding groove is fixedly arranged on the main body shell, an input bevel gear is rotatably arranged on the fixed plate, the input bevel gear is connected with the connecting rod through a belt set, a lower screw rod is rotatably arranged on the lower sliding groove, an output bevel gear is fixedly arranged on the lower screw rod, the output bevel gear and the input bevel gear form gear fit, a lower contact plate is slidably arranged on the lower sliding groove, a lower contact plate and the lower screw rod form threaded fit, and a loudspeaker is fixedly arranged on the main body shell.
Compared with the prior art, the utility model has the beneficial effects that: (1) The angle adjusting mechanism can drive the laser range finder to perform multi-angle adjustment measurement; (2) The rope winding mechanism can automatically measure the distance of the construction at present through the contracted length of the rope; (3) The fixing mechanism can fix the upper end of the rope with a moving object, and can be placed on a ranging robot to be convenient to move and fix; (4) The stretching control mechanism is clamped and fixed by arranging two layers of rope control fixing mechanisms; (5) The stretching mechanism can drive the fixing mechanism to move to a higher distance for distance measurement.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present utility model.
Fig. 2 is a schematic view of an angle adjusting mechanism according to the present utility model.
Fig. 3 is a schematic view of the rope winding mechanism of the present utility model.
Fig. 4 is a partial schematic view of the rope winding mechanism of the present utility model.
Fig. 5 is a schematic view of the fixing mechanism of the present utility model.
FIG. 6 is a schematic diagram of a stretch control mechanism according to the present utility model.
Fig. 7 is a schematic view of a cleaning mechanism according to the present utility model.
Fig. 8 is a schematic view of the stretching mechanism of the present utility model.
Fig. 9 is a schematic view of the internal structure of the stretching mechanism of the present utility model.
FIG. 10 is a schematic diagram of an alignment mechanism according to the present utility model.
Fig. 11 is a partially enlarged schematic illustration of fig. 4 at a.
Fig. 12 is a partially enlarged schematic view of fig. 7 at B.
Fig. 13 is a schematic view of a friction hinge according to the present utility model.
Fig. 14 is an enlarged partial schematic view of fig. 10 at C.
Fig. 15 is a partially enlarged schematic view of fig. 1 at D.
Fig. 16 is a schematic view of a reading and control cord of the present utility model.
Fig. 17 is a partially enlarged schematic view of fig. 16 at E.
Fig. 18 is a partially enlarged schematic view of fig. 16 at F.
Fig. 19 is a schematic view showing installation of the upper chute and the lower chute of the present utility model.
Fig. 20 is a partially enlarged schematic view of fig. 19 at G.
Fig. 21 is a schematic view of the mounting plate and reel stand of the present utility model.
FIG. 22 is a schematic diagram of a carrier installation of the present utility model.
Fig. 23 is a partially enlarged schematic view of fig. 22 at H.
Fig. 24 is a partially enlarged schematic view of fig. 9 at I.
Fig. 25 is an enlarged partial schematic view at J in fig. 3.
Fig. 26 is an enlarged partial view of fig. 6 at K.
Reference numerals: 1. a main body housing; 2. adjusting the bracket; 3. a rope; 4. a support plate; 5. a baffle; 6. stretching the box body; 7. a camera; 8. a speaker; 9. a universal wheel; 10. adjusting a motor; 11. a support rod; 12. a limit ball; 13. a restraining bar; 14. a horizontal limit groove; 15. a vertical limit groove; 16. a laser range finder; 17. a fixing plate; 18. a coil spring; 19. a fixed cylinder; 20. a screw rod; 21. a synchronous belt; 22. a vertical rod; 23. a fixed bracket; 24. a synchronizing wheel; 25. a central shaft; 26. an electromagnet block; 27. a round bar; 28. a round rod spring; 29. a limit groove; 30. a connecting rod; 31. a chuck; 32. a reel stand; 33. a first fixed block; 34. a reel; 35. a second fixed block; 36. a crank; 37. a pulley seat; 38. a pulley; 39. a rotating shaft seat; 40. friction rotating shaft; 41. bevel gears; 42. a gear frame; 43. a cleaner; 44. a screw motor; 45. lifting the screw rod; 46. a telescopic clamp; 47. a connecting rod; 48. receiving a motor; 49. an upper chute; 50. feeding a screw rod; 51. a contact plate; 52. a spring contactor; 53. a lower chute; 54. pi Daizu; 55. an input bevel gear; 56. an output bevel gear; 57. a lower screw rod; 58. a lower contact plate; 59. a second adjustment motor; 60. a lifting frame; 61. supporting a slide; 62. an electromagnet of the telescopic clamp.
Detailed Description
The technical scheme of the utility model is further described below by the specific embodiments with reference to the accompanying drawings.
Examples: a job site automated ranging robot as shown in fig. 1-26 includes a rope reel mechanism.
The rope winding mechanism comprises a main body shell 1, a fixed plate 17 is fixedly arranged on the main body shell 1, a coil spring 18 is fixedly arranged at the lower end of the fixed plate 17, a central shaft 25 is rotatably arranged on the fixed plate 17, the outer end of the coil spring 18 is fixedly connected with the fixed plate 17, the inner end of the coil spring 18 is fixedly connected with the central shaft 25, a fixed cylinder 19 is fixedly arranged on the fixed plate 17, a screw rod 20 is rotatably arranged on the fixed cylinder 19, a vertical rod 22 is fixedly arranged on the fixed plate 17, a thread groove is formed in the vertical rod 22, a fixed support 23 is fixedly arranged on the fixed plate 17, a synchronous wheel 24 is arranged on the screw rod 20, the synchronous wheel 24 is in threaded fit with the screw rod 20, a rope 3 is wound on the vertical rod 22 and the fixed support 23, the rope 3 is arranged on the thread groove of the vertical rod 22, the upper end of the rope 3 is arranged on the synchronous wheel 24, the screw rod 20 is connected with the central shaft 25 through a synchronous belt 21, and the universal wheel 9 is fixedly arranged on the main body shell 1. When the upper end of the rope 3 is pulled, the rope 3 drives the coil spring 18 to rotate to force, meanwhile, the coil spring 18 drives the central shaft 25 to rotate, the central shaft 25 drives the screw rod 20 to rotate through the synchronous belt 21, the screw rod 20 rotates to drive the synchronous wheel 24 to move downwards, the synchronous wheel 24 drives the upper end of the rope 3 to move downwards, after the upper end of the rope 3 is loosened, the coil spring 18 reverses to retract the rope 3 onto the vertical rod 22, at the moment, the coil spring 18 drives the screw rod 20 to reversely rotate, and then drives the synchronous wheel 24 to move upwards, so that the rope 3 is limited to be rewound in a thread groove of the vertical rod 22 one by one; the robot moves via the universal wheel 9.
The ranging robot further comprises a fixing mechanism, the fixing mechanism comprises an electromagnet block 26, the electromagnet block 26 is fixedly arranged on the main body shell 1, a supporting plate 4 is fixedly arranged on the electromagnet block 26, the right side of the supporting plate 4 is made of iron and is in adsorption fit with the electromagnet block 26, a round rod 27 is slidably arranged on the supporting plate 4, the round rod 27 is fixedly connected with the upper end of a rope 3, a round rod spring 28 is fixedly arranged on the round rod 27, a limiting groove 29 is fixedly arranged on the round rod 27, a connecting rod 30 is rotatably arranged on the supporting plate 4, the limiting groove 29 is slidably connected with the connecting rod 30, two groups of connecting rods 30 are arranged, protrusions on one group of connecting rods 30 slide in the limiting groove 29, and a clamping head 31 is rotatably arranged on the two groups of connecting rods 30. After the round rod 27 is pulled, the limiting groove 29 is driven to move, the limiting groove 29 drives the connecting rod 30 to swing on the supporting plate 4, the connecting rod 30 drives the clamping head 31 to open and close, and the clamping head 31 clamps an object moving and ranging, so that measurement is implemented.
The rope 3 is equipped with inside and outside two-layer, and rope 3 inlayer is control rope, and rope 3 inlayer is the reading rope, and the reading rope is equipped with the scale of convenient reading, control rope and round bar 27 fixed connection, reading rope and backup pad 4 fixed connection, fixed mounting has camera 7 on the main part shell 1. The rope 3 is read by the camera 7. The reading rope is of a tubular structure, the outer diameter of the control rope is smaller than the inner diameter of the reading rope, the reading rope is in sliding connection with the control rope, and the control rope slides in the reading rope.
The ranging robot further comprises a stretching control mechanism, the stretching control mechanism comprises a reel frame 32, the reel frame 32 is fixedly arranged on the main body shell 1, a first fixed block 33 is fixedly arranged on the reel frame 32, a reel 34 is rotatably arranged on the reel frame 32, a second fixed block 35 is fixedly arranged on the reel 34, the lower end of the rope 3 is fixedly connected with the first fixed block 33 and the second fixed block 35, a control rope of the rope 3 is fixedly connected with the second fixed block 35, a reading rope of the rope 3 is fixedly connected with the first fixed block 33, a crank 36 is fixedly arranged on the reel 34, the crank 36 is rotatably arranged on the main body shell 1, a pulley seat 37 is fixedly arranged on the main body shell 1, a pulley 38 is rotatably arranged on the pulley seat 37, the lower end of the rope 3 is wound through the pulley 38, and the crank 36 is fixedly connected with the control rope of the rope 3. The crank 36 is manually rotated, the crank 36 drives the reel 34 to rotate, the reel 34 rotates to drive the second fixed block 35 to rotate, the second fixed block 35 pulls the control rope on the inner layer of the rope 3 for a certain distance, the control rope moves to drive the clamping head 31 of the fixed mechanism to open and close, and the pulley 38 is used for connecting the reading rope of the rope 3 to the first fixed block 33. One end of the reading rope is fixedly connected with the supporting plate 4, the other end of the reading rope is fixedly connected with the first fixing block 33, one end of the control rope is fixedly connected with the round rod 27, and the other end of the control rope is fixedly connected with the second fixing block 35.
The ranging robot further comprises an angle adjusting mechanism, the angle adjusting mechanism comprises an adjusting bracket 2, a supporting rod 11 is fixedly installed on the adjusting bracket 2, a limiting ball 12 is rotatably installed on the supporting rod 11, a horizontal limiting groove 14 is rotatably installed on the adjusting bracket 2, an adjusting motor 10 is fixedly installed on the adjusting bracket 2, an output shaft of the adjusting motor 10 is fixedly connected with the horizontal limiting groove 14, a vertical limiting groove 15 is rotatably installed on the adjusting bracket 2, a sliding groove is formed in the limiting ball 12, a limiting rod 13 is slidably installed on the sliding groove of the limiting ball 12, the limiting rod 13 is located at the crossing center of the horizontal limiting groove 14 and the vertical limiting groove 15, a laser range finder 16 is fixedly installed on the limiting rod 13, a second adjusting motor 59 is fixedly installed at the lower end of the adjusting bracket 2, and an output shaft of the second adjusting motor 59 is connected with the vertical limiting groove 15. When the angle is adjusted, the adjusting motor 10 starts to drive the horizontal limiting groove 14 to rotate, the horizontal limiting groove 14 drives the limiting rod 13 to slide on the limiting ball 12, the second adjusting motor 59 starts to drive the vertical limiting groove 15 to rotate, the vertical limiting groove 15 drives the limiting rod 13 to slide on the limiting ball 12, and the limiting rod 13 moves to drive the laser range finder 16 to adjust the angle; the value obtained by the laser rangefinder 16 is compared with the value read by the camera 7.
The ranging robot further comprises a cleaning mechanism, the cleaning mechanism comprises a baffle 5, the baffle 5 is fixedly arranged on the main body shell 1, a rotating shaft seat 39 is fixedly arranged on the main body shell 1, a friction rotating shaft 40 is rotatably arranged on the rotating shaft seat 39, a bevel gear 41 is fixedly arranged on the friction rotating shaft 40, a gear frame 42 is rotatably arranged on the main body shell 1, the gear frame 42 and the bevel gear 41 form gear fit, and a cleaner 43 is fixedly arranged on the gear frame 42. When the rope 3 is recovered into the fixed cylinder 19, sundries adhered to the rope 3 are blocked by the baffle plate 5, when the rope 3 is recovered, the rope 3 drives the friction rotating shaft 40 to rotate, the friction rotating shaft 40 drives the bevel gear 41 to rotate, the bevel gear 41 drives the gear frame 42 to rotate, the gear frame 42 drives the sweeper 43 to rotate, and the periphery of the rope 3 is cleaned once when the sweeper 43 rotates around the rope 3.
The ranging robot further comprises an extension mechanism, the extension mechanism comprises an extension box body 6, the extension box body 6 is fixedly installed on the main body shell 1, a lifting frame 60 is fixedly installed on the extension box body 6, a screw rod motor 44 is fixedly installed on the lifting frame 60, a lifting screw rod 45 is fixedly installed on an output shaft of the screw rod motor 44, a supporting sliding seat 61 is slidably installed on the lifting frame 60, a telescopic clamp 46 is fixedly installed at the upper end of the supporting sliding seat 61, the supporting sliding seat 61 is slidably installed on the extension box body 6, the lifting screw rod 45 and the supporting sliding seat 61 form threaded fit, and a telescopic clamp electromagnet 62 is fixedly installed on the telescopic clamp 46. When the distance of a higher position is measured, the screw motor 44 is started to drive the lifting screw 45 to rotate, the lifting screw 45 rotates to drive the supporting slide seat 61 to ascend, the supporting slide seat 61 ascends to drive the telescopic clamp 46 to ascend, the telescopic clamp 46 clamps the lower end of the supporting plate 4, the telescopic clamp electromagnet 62 firstly adsorbs the supporting plate 4 and then clamps the supporting plate 4, and the stability of clamping installation is ensured; then the electromagnet block 26 is powered off, the electromagnet block 26 does not adsorb the supporting plate 4 any more, the rope 3 is pulled while the stretching mechanism drives the supporting plate 4 to move, and the reading rope and the control rope of the rope 3 are pulled together.
The ranging robot further comprises a comparison mechanism, the comparison mechanism comprises a connecting rod 47, the connecting rod 47 is fixedly arranged on the screw rod 20, an upper sliding groove 49 is fixedly arranged on the main body shell 1, a receiving motor 48 is fixedly arranged on the upper sliding groove 49, an upper screw rod 50 is fixedly arranged on an output shaft of the receiving motor 48, a contact plate 51 is slidably arranged on the upper sliding groove 49, the contact plate 51 and the upper screw rod 50 form threaded fit, a spring contactor 52 is fixedly arranged on the contact plate 51, a lower sliding groove 53 is fixedly arranged on the main body shell 1, an input bevel gear 55 is rotatably arranged on the fixed plate 17, the input bevel gear 55 is connected with the connecting rod 47 through a belt group 54, a lower screw rod 57 is rotatably arranged on the lower sliding groove 53, an output bevel gear 56 is fixedly arranged on the lower screw rod 57, the output bevel gear 56 forms gear fit with the input bevel gear 55, a lower contact plate 58 is slidably arranged on the lower sliding groove 53, the lower contact plate 58 forms threaded fit with the lower screw rod 57, and a loudspeaker 8 is fixedly arranged on the main body shell 1. The laser range finder 16 firstly measures data, the data are transmitted to a computer, the computer receives the data, the rotation number of the receiving motor 48 is controlled by the data size, the receiving motor 48 starts the upper screw rod 50 to rotate, the upper screw rod 50 rotates to drive the contact plate 51 to move by a corresponding distance, and the moving distance is a multiple of the distance measured by the laser range finder 16; the lead screw 20 rotates one circle, the rope 3 is released by two meters, the lead screw 20 rotates one circle to drive the connecting rod 47 to rotate one circle, the connecting rod 47 rotates one circle to drive the input bevel gear 55 to rotate one circle, the input bevel gear 55 drives the output bevel gear 56 to rotate one circle, the output bevel gear 56 drives the lower lead screw 57 to rotate, the lower lead screw 57 drives the lower contact plate 58 to move, the lower lead screw 57 rotates one circle of the lower contact plate 58 to move one centimeter, when the lower contact plate 58 moves to the spring contactor 52, the laser range finder is identical with the rope 3 in range finding, the loudspeaker 8 does not prompt, after the lower contact plate 58 moves, the lower contact plate 58 does not contact the spring contactor 52, the loudspeaker 8 prompts an alarm, and the data measurement error needs to be measured again.

Claims (8)

1. The utility model provides a job site automation range finding robot, includes rope winding mechanism, its characterized in that: the rope winding mechanism comprises a main body shell (1), a fixed plate (17) is fixedly arranged on the main body shell (1), a coil spring (18) is fixedly arranged at the lower end of the fixed plate (17), a central shaft (25) is rotatably arranged on the fixed plate (17), the outer end of the coil spring (18) is fixedly connected with the fixed plate (17), a fixed cylinder (19) is fixedly arranged on the fixed plate (17), a screw rod (20) is rotatably arranged on the fixed cylinder (19), a vertical rod (22) is fixedly arranged on the fixed plate (17), a thread groove is formed in the vertical rod (22), a fixed support (23) is fixedly arranged on the fixed plate (17), a synchronous wheel (24) is arranged on the screw rod (20), the synchronous wheel (24) is in threaded fit with the screw rod (20), a rope (3) is wound on the vertical rod (22) and the fixed support (23), the upper end of the rope (3) is arranged on the synchronous wheel (24), and the screw rod (20) is connected with the central shaft (25) through the synchronous belt (21), and the universal wheel (9) is fixedly arranged on the main body shell (1).
2. A job site automated ranging robot as set forth in claim 1, wherein: the ranging robot further comprises a fixing mechanism, the fixing mechanism comprises an electromagnet block (26), the electromagnet block (26) is fixedly arranged on the main body shell (1), a supporting plate (4) is fixedly arranged on the electromagnet block (26), the right side of the supporting plate (4) is made of iron, the supporting plate (4) is adsorbed and attached to the electromagnet block (26), a round rod (27) is slidably arranged on the supporting plate (4), the round rod (27) is fixedly connected with the upper end of the rope (3), a round rod spring (28) is fixedly arranged on the round rod (27), a limiting groove (29) is fixedly arranged on the round rod (27), a connecting rod (30) is rotatably arranged on the supporting plate (4), the limiting groove (29) is slidably connected with the connecting rod (30), two groups of connecting rods (30) are arranged, protrusions on one group of connecting rods (30) slide in the limiting groove (29), and chucks (31) are rotatably arranged on the two groups of connecting rods (30).
3. A job site automated ranging robot as set forth in claim 2, wherein: the rope (3) is provided with an inner layer and an outer layer, the inner layer of the rope (3) is a control rope, the outer layer of the rope (3) is a reading rope, scales which are convenient for reading are arranged, the control rope is fixedly connected with the round rod (27), the reading rope is fixedly connected with the supporting plate (4), and the camera (7) is fixedly installed on the main body shell (1).
4. A job site automated ranging robot as set forth in claim 3, wherein: the ranging robot further comprises a stretching control mechanism, the stretching control mechanism comprises a reel frame (32), the reel frame (32) is fixedly arranged on the main body shell (1), a first fixing block (33) is fixedly arranged on the reel frame (32), a reel (34) is rotatably arranged on the reel frame (32), a second fixing block (35) is fixedly arranged on the reel (34), the lower end of the rope (3) is fixedly arranged on the first fixing block (33) and the second fixing block (35), a control rope of the rope (3) is fixedly connected with the second fixing block (35), a reading rope of the rope (3) is fixedly connected with the first fixing block (33), a crank (36) is fixedly arranged on the reel (34), the crank (36) is rotatably arranged on the main body shell (1), a pulley seat (37) is fixedly arranged on the main body shell (1), a pulley (38) is rotatably arranged on the pulley seat (37), and the lower end of the rope (3) is wound through the pulley (38).
5. A job site automated ranging robot as set forth in claim 4, wherein: the ranging robot further comprises an angle adjusting mechanism, the angle adjusting mechanism comprises an adjusting bracket (2), a supporting rod (11) is fixedly installed on the adjusting bracket (2), a limiting ball (12) is rotatably installed on the supporting rod (11), a horizontal limiting groove (14) is rotatably installed on the adjusting bracket (2), an adjusting motor (10) is fixedly installed on the adjusting bracket (2), an output shaft of the adjusting motor (10) is fixedly connected with the horizontal limiting groove (14), a vertical limiting groove (15) is rotatably installed on the adjusting bracket (2), a sliding groove is formed in the limiting ball (12), a limiting rod (13) is slidably installed on the sliding groove of the limiting ball (12), the limiting rod (13) is located in the cross center of the horizontal limiting groove (14) and the vertical limiting groove (15), a laser range finder (16) is fixedly installed on the limiting rod (13), a second adjusting motor (59) is fixedly installed at the lower end of the adjusting bracket (2), and the output shaft of the second adjusting motor (59) is connected with the vertical limiting groove (15).
6. A job site automated ranging robot as set forth in claim 5, wherein: the ranging robot further comprises a cleaning mechanism, the cleaning mechanism comprises a baffle (5), the baffle (5) is fixedly arranged on the main body shell (1), a rotating shaft seat (39) is fixedly arranged on the main body shell (1), a friction rotating shaft (40) is rotatably arranged on the rotating shaft seat (39), a bevel gear (41) is fixedly arranged on the friction rotating shaft (40), a gear frame (42) is rotatably arranged on the main body shell (1), the gear frame (42) and the bevel gear (41) form gear matching, and a cleaner (43) is fixedly arranged on the gear frame (42).
7. The job site automated ranging robot as set forth in claim 6, wherein: the ranging robot further comprises an extension mechanism, the extension mechanism comprises an extension box body (6), the extension box body (6) is fixedly installed on the main body shell (1), a lifting frame (60) is fixedly installed on the extension box body (6), a screw rod motor (44) is fixedly installed on the lifting frame (60), a lifting screw rod (45) is fixedly installed on an output shaft of the screw rod motor (44), a supporting sliding seat (61) is slidably installed on the lifting frame (60), a telescopic clamp (46) is fixedly installed on the upper end of the supporting sliding seat (61), the supporting sliding seat (61) is slidably installed on the extension box body (6), the lifting screw rod (45) and the supporting sliding seat (61) form threaded fit, and a telescopic clamp electromagnet (62) is fixedly installed on the telescopic clamp (46).
8. A job site automated ranging robot as set forth in claim 7, wherein: the ranging robot further comprises a comparison mechanism, the comparison mechanism comprises a connecting rod (47), the connecting rod (47) is fixedly arranged on the screw rod (20), an upper sliding groove (49) is fixedly arranged on the main body shell (1), a receiving motor (48) is fixedly arranged on the upper sliding groove (49), an upper screw rod (50) is fixedly arranged on an output shaft of the receiving motor (48), a contact plate (51) is slidably arranged on the upper sliding groove (49), the contact plate (51) is in threaded fit with the upper screw rod (50), a spring contactor (52) is fixedly arranged on the contact plate (51), a lower sliding groove (53) is fixedly arranged on the main body shell (1), an input bevel gear (55) is rotatably arranged on the fixed plate (17), the input bevel gear (55) is connected with the connecting rod (47) through a belt group (54), a lower screw rod (57) is rotatably arranged on the lower sliding groove (53), an output bevel gear (56) is fixedly arranged on the lower screw rod (57), the output bevel gear (56) is in gear fit with the input bevel gear (55), a lower contact plate (58) is slidably arranged on the lower sliding groove (53), the lower contact plate (58) is in threaded fit with the lower body shell (1), and the upper screw rod (8) is fixedly arranged.
CN202310437112.2A 2023-04-23 2023-04-23 Automatic ranging robot for construction site Active CN116165632B (en)

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CN202310437112.2A CN116165632B (en) 2023-04-23 2023-04-23 Automatic ranging robot for construction site

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Application Number Priority Date Filing Date Title
CN202310437112.2A CN116165632B (en) 2023-04-23 2023-04-23 Automatic ranging robot for construction site

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CN116165632B CN116165632B (en) 2023-07-21

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0829534A (en) * 1994-07-13 1996-02-02 Nec Corp Electro-optical distance measuring system
JP2001235536A (en) * 2000-02-25 2001-08-31 Fujitsu Ten Ltd Marker installation method
RU173511U1 (en) * 2016-11-07 2017-08-29 Артур Юрьевич Синев DEVICE FOR MEASURING LINEAR AND ANGULAR VALUES INSIDE THE PREMISES
US10144464B1 (en) * 2014-07-10 2018-12-04 National Technology & Engineering Solutions Of Sandia, Llc Energy efficient robot
CN210216041U (en) * 2019-03-05 2020-03-31 黄德林 Distance measuring device for subway engineering management
KR20200083334A (en) * 2018-12-28 2020-07-08 서울대학교산학협력단 Location estimation method for robot and robot comprising the location estimation device
JP2020112434A (en) * 2019-01-11 2020-07-27 株式会社神戸製鋼所 Range-finding device and range-finding method
CN211318746U (en) * 2019-12-31 2020-08-21 山西大同大学 Novel portable laser range finder
CN114777712A (en) * 2022-04-21 2022-07-22 陶良山 Coal mine underground roadway tunneling measuring device
CN218818929U (en) * 2022-11-27 2023-04-07 盘锦万扬科技有限公司 Auxiliary measurement tool robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0829534A (en) * 1994-07-13 1996-02-02 Nec Corp Electro-optical distance measuring system
JP2001235536A (en) * 2000-02-25 2001-08-31 Fujitsu Ten Ltd Marker installation method
US10144464B1 (en) * 2014-07-10 2018-12-04 National Technology & Engineering Solutions Of Sandia, Llc Energy efficient robot
RU173511U1 (en) * 2016-11-07 2017-08-29 Артур Юрьевич Синев DEVICE FOR MEASURING LINEAR AND ANGULAR VALUES INSIDE THE PREMISES
KR20200083334A (en) * 2018-12-28 2020-07-08 서울대학교산학협력단 Location estimation method for robot and robot comprising the location estimation device
JP2020112434A (en) * 2019-01-11 2020-07-27 株式会社神戸製鋼所 Range-finding device and range-finding method
CN210216041U (en) * 2019-03-05 2020-03-31 黄德林 Distance measuring device for subway engineering management
CN211318746U (en) * 2019-12-31 2020-08-21 山西大同大学 Novel portable laser range finder
CN114777712A (en) * 2022-04-21 2022-07-22 陶良山 Coal mine underground roadway tunneling measuring device
CN218818929U (en) * 2022-11-27 2023-04-07 盘锦万扬科技有限公司 Auxiliary measurement tool robot

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