CN210282272U - Robot carrying system for building - Google Patents

Abstract

The utility model belongs to the field of building construction, in particular to a building robot carrying system and a control method, the building robot carrying system comprises a climbing frame system and a traveling crane system, the climbing frame system and the traveling crane system are connected through a support upright post, the support upright post is arranged on the climbing frame system, the traveling crane system is arranged on the support upright post, and the support upright post comprises a first support upright post row and a second support upright post row which are arranged in the front and back; the crane trolley is characterized in that a telescopic rod capable of stretching in the vertical direction is arranged on the crane trolley, the lower end of the telescopic rod is detachably connected with the multi-shaft mechanical arm, and the lower end of the multi-shaft mechanical arm is detachably connected with the robot for the building. Through setting up the line that can move on hanging the guide rail and hang the dolly with the line that can move on the crossbeam, the cooperation manipulator realizes the effect of hoist and mount material in a flexible way on the space, and fixes a position effectually, increases substantially building construction efficiency.

Description

Robot carrying system for building

Technical Field

The utility model belongs to the building construction field, concretely relates to for building robot carrying system and construction method thereof.

Background

In the building construction process, a traveling crane (crane) is generally used for hoisting and carrying materials, so that the materials are transported; the climbing frame is also one of the necessary devices in the building construction process, can climb or descend along a building, and is a safe and reliable operation platform in the building construction.

The traditional travelling crane is generally arranged on the ground or the floor, and the travelling crane is not erected at the top of the climbing frame, so that the travelling crane is inflexible in moving when transporting materials, is not well positioned, often has dead corners which cannot be hoisted, needs to be manually carried to a working position with time and labor waste, and has low automation degree and needs to manually participate in more physical work; along with the development of novel building mode, the required operation radius of building is longer and positioning accuracy requires higher and higher, urgently needs a novel lifting device to satisfy current various hoist and mount environment and hoist and mount demand.

Disclosure of Invention

The utility model aims at the weak point that exists in the above-mentioned technique, provide a robot carries on system for building to solve prior art and climb the frame and send the material dumb with line handling, fix a position not good problem.

The utility model provides a robot carrying system for building, which comprises a climbing frame system and a traveling crane system, wherein the climbing frame system and the traveling crane system are connected through a support upright post, the support upright post is arranged on the climbing frame system, the traveling crane system is arranged on the support upright post, and the support upright post comprises a first support upright post row and a second support upright post row which are arranged in front and back; the traveling crane system comprises a first traveling crane rail supported on the first supporting upright post row, a second traveling crane rail supported on the second supporting upright post row, a traveling crane cart erected between the first traveling crane rail and the second traveling crane rail and capable of moving along the first traveling crane rail and the second traveling crane rail, and a traveling crane trolley arranged on the traveling crane cart and capable of moving relative to the traveling crane cart, wherein a telescopic rod capable of stretching in the vertical direction is arranged on the traveling crane trolley, the lower end of the telescopic rod is detachably connected with a multi-shaft mechanical arm, and the lower end of the multi-shaft mechanical arm is detachably connected with a robot for construction.

Furthermore, the robot for construction can also be directly connected with the telescopic rod.

Furthermore, the robot for construction may be a simple manipulator or a manipulator with a manipulator or a robot with a manipulator or a manipulator.

Furthermore, the moving direction of the travelling crane trolley is vertical to that of the travelling crane trolley, the travelling crane trolley and the telescopic rod are in the X-axis direction, the Y-axis direction and the Z-axis direction, and the multi-axis mechanical arm can move in a multi-dimensional space.

Furthermore, the traveling crane trolley rides on the traveling crane cart.

Furthermore, the crane cart comprises a cross beam, the front end and the rear end of the cross beam are provided with a first wheel and a second wheel which are correspondingly clamped on the corresponding first crane rail and the second crane rail, and the cross beam is provided with a moving rail.

Furthermore, the traveling crane trolley comprises a trolley body and wheels, the cross section of the trolley body is in an inverted U shape, the wheels are arranged at the top of the inner portion of the groove of the trolley body, and when the traveling crane trolley is erected on the cross beam, the wheels are just arranged on the moving track.

Furthermore, the travelling crane trolley is provided with a trolley motor which is in driving connection with wheels of the travelling crane trolley; the crane cart is provided with a cart motor which is in driving connection with wheels of the crane cart.

Furthermore, a first connecting unit for connecting the multi-axis mechanical arm or the construction robot is arranged at the bottom of the telescopic rod, and/or a second connecting unit for connecting the construction robot is arranged at the bottom of the multi-axis mechanical arm.

Further, the first/second connection units each realize a rigid connection.

Further, the construction method comprises a control method for the climbing frame to move in the vertical direction, and comprises the following steps:

step S1: the controller gives an instruction, and the process of climbing starts, when climbing frame whole climbing to preset position, the climbing stops, and the manual work is climbed frame and building's mechanical connection fixed back, and the climbing device that climbs the frame gets into the no longer atress of state of relaxing.

Step S2: and controlling the first supporting upright column and the second supporting upright column to lift to proper positions, and installing a traveling crane mechanism.

Further, when the climbing frame climbs, if the load is overloaded, the climbing frame can be automatically stopped; when the climbing height difference of any two lifting mechanisms of the climbing frame per se exceeds 2cm, the climbing frame is automatically stopped, and is restarted after the climbing frame is stopped and manually intervened for leveling.

Furthermore, when the climbing frame climbs, the traveling crane mechanism is moved to the positions near the third supporting upright and the fourth supporting upright, the third supporting upright and the fourth supporting upright are hydraulic rod mechanisms, and the third supporting upright and the fourth supporting upright cooperate with the climbing frame to lift to provide supporting force for the climbing frame, so that the upward resistance of the climbing frame is reduced.

Further, the control method also comprises a control method for conveying the materials on the plane, which comprises the following steps:

step S3: inputting a planned walking route parameter and a stopping position parameter in a control module;

step S4: the control module sends a command to start a traveling crane cart motor and a traveling crane trolley motor, and the cart motor and the trolley motor respectively drive the traveling crane cart and the traveling crane trolley to travel according to a planned path;

step S5: when the crane cart and the crane trolley travel, the positions of the crane cart and the crane trolley are monitored in real time by using the sensor and fed back to the control module;

step S6: the control module determines whether the traveling crane cart and the traveling crane trolley reach preset stop positions according to the received position data information of the traveling crane cart and the traveling crane trolley, and when the traveling crane cart and the traveling crane trolley reach the preset stop positions, the control module sends out an instruction to control the cart motor and the trolley motor to stop running.

Further, after step S6, the method further includes the following steps:

step S7: after the travelling crane cart and the travelling crane trolley stop, the control module starts timing, and when the staying time reaches the set staying time, the control module gives an instruction to restart the cart motor and the trolley motor;

step S8: and the control module matches the position data information fed back by the sensor in real time with the set destination position information, and when the crane cart and the crane trolley are detected to reach the planned route end point, the control module sends an instruction to control the cart motor and the trolley motor to stop running.

Furthermore, in the moving process of the crane cart and the crane trolley, the control module judges whether the crane cart and the crane trolley are on the planned route according to data fed back by the sensor, if not, the control module gives instructions to the cart motor and the trolley motor to drive the crane cart and the crane trolley to return to the correct running route.

Further, the control method also comprises a control method of a telescopic rod arranged on the traveling crane trolley, and the control method comprises the following steps:

step S9: recording the initial position of the telescopic rod and the motion radius data of the mechanical arm, and importing the position data and the motion radius data of the mechanical arm into the control module;

step S10: the third sensor on the mechanical arm is used for acquiring working distance data of the mechanical arm and the material in real time and sending the working distance data to the control module;

step S11: the control module compares the working distance data with the movement radius data, and when the movement radius data is larger than or equal to the working distance data, the control module gives instructions to the mechanical arm and the mechanical arm to execute a first working action;

step S12: when the movement radius data is smaller than the working distance data, the control module sends a starting signal to the telescopic rod power system, the telescopic rod power system drives the telescopic rod to move downwards, and the moving distance is one movement radius length; the control module again compares the movement radius data with the working distance data and loops through step 34 until the control module detects that the movement radius length data is greater than or equal to the working distance data.

Further, after the step S11, the control module continues to determine whether there is a second working motion that the telescopic rod needs to perform, and if there is a second working motion that the control module circularly performs the step S10, the step S11 and the step S12; if the control module does not send a restoring signal to the power system of the telescopic rod, the power system of the telescopic rod drives the telescopic rod to restore to the initial position.

Further, the control method also comprises a control method when the manipulator works, and comprises the following steps:

step S13: inputting the working coordinate position information of the manipulator into the controller, and acquiring the current position coordinate information of the manipulator by the sensor and feeding back the position information to the controller;

step S14: the controller calculates the moving amount of the manipulator on an X axis, a Y axis and a Z axis according to the working coordinate position information and the current position coordinate information, and sends a control instruction to the cart motor, the trolley motor and the telescopic rod power system;

step S15: the controller monitors the position of the manipulator in real time according to the feedback of the first sensor, the second sensor and the third sensor, and after the manipulator is determined to reach a working position, the controller sends a working instruction to drive the manipulator to execute working actions.

Technical scheme more than adopting, compare with prior art, the utility model relates to a robot carries on system for building's beneficial effect is, fixes a position more accurately, snatchs the material and stabilizes accurately, and degree of automation is high.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic view of a traveling crane in construction according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of a crane structure in accordance with a preferred embodiment of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIGS. 2 and 17;

FIG. 4 is an enlarged schematic view of a preferred traveling crane trolley of the present invention;

fig. 5 is a schematic view of a preferred climbing frame and lifting mechanism of the present invention;

FIG. 6 is a schematic view of a preferred multi-axis robotic arm attachment of the present invention;

fig. 7 is a perspective view of a preferred multi-axis robotic arm of the present invention;

FIG. 8 is a front view of a preferred multi-axis robotic arm of the present invention;

fig. 9 is a side view of a preferred multi-axis robotic arm of the present invention;

FIG. 10 is a top view of a preferred multi-axis robotic arm of the present invention;

fig. 11 is a bottom view of the preferred multi-axis robotic arm of the present invention;

fig. 12 is a schematic view of a preferred multi-axis robotic arm of the present invention rotated in a vertical plane;

fig. 13 is a schematic view of the preferred multi-axis robotic arm of the present invention rotating about a motor shaft;

fig. 14 is a schematic flow chart of a climbing control method of a preferred climbing frame of the present invention;

FIG. 15 is a schematic flow chart of a preferred method for controlling the traveling of a crane cart and a crane trolley according to the present invention;

fig. 16 is a schematic flow chart of the present invention for controlling the movement of the telescopic rod;

fig. 17 is a schematic structural view of a preferred construction system of the present invention;

in the figure: 1-a travelling crane, 11-a crossbeam, 12-a first moving part, 13-a second moving part, 14-a crane motor, 15-a moving track, 2-a travelling crane, 21-a vehicle body, 22-a wheel, 23-a support, 31-a first travelling crane track, 32-a second travelling crane track, 42-a construction robot, 43-a first connecting unit, 44-a mechanical arm, 45-a second connecting unit, 46-a connecting rod, 5-a climbing frame, 51-a supporting upright post, 201-a guide rail, 202-an inner upright post, 203-an outer upright post, 204-a cross rod, 205-a supporting diagonal web rod, 206-a horizontal supporting structure, 208-a wall-attached support, 209-an anti-falling device, 211-an anti-falling rod, 212-a tilting device, 213-upper lifting point, 214-lower lifting point, 215-elevator, 217-scaffold board, 218-external protective net, 219-top working layer guardrail, 220-sealing turning plate, 221-building; 50-fourth mechanical arm, 52-external port unit, 53-first mechanical arm, 54-first motor shaft, 55-second mechanical arm, 56-second motor shaft, 57-third mechanical arm, 59-bolt hole, 60-data interface.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

A robot carrying system for a building comprises a climbing frame system and a traveling crane system, wherein the climbing frame system and the traveling crane system are connected through a support upright post, the support upright post is arranged on a main body frame of the climbing frame system, the traveling crane system is arranged on the support upright post, and the support upright post comprises a first support upright post row and a second support upright post row which are arranged in the front and at the back; the traveling crane system comprises a first traveling crane rail supported on the first supporting upright column row, a second traveling crane rail supported on the second supporting upright column row, a traveling crane cart erected between the first traveling crane rail and the second traveling crane rail and capable of moving along the first traveling crane rail and the second traveling crane rail, and a traveling crane trolley arranged on the traveling crane cart and capable of moving relative to the traveling crane cart, and is characterized in that: the crane trolley is characterized in that a telescopic rod capable of stretching in the vertical direction is arranged on the crane trolley, the lower end of the telescopic rod is detachably connected with the multi-shaft mechanical arm, and the lower end of the multi-shaft mechanical arm is detachably connected with the robot for the building.

The specific implementation mode is as follows: as shown in fig. 1-5 and 17: the climbing system comprises one or more climbing frames, which are preferably arranged around the building 221, and which may be provided with climbing frames 5 on only one, two or three sides, if desired, for example, to trim some of the building 221 walls. The climbing frame 5 is usually customized or selected according to the length of the building 221, for example, in fig. 1, only one climbing frame 5 may be used for the longitudinal surface of the building 221, and the transverse surface may be combined with a plurality of climbing frames 5 in the transverse direction, that is, a plurality of climbing frames 5 operate in coordination. Of course, the mounting can be customized to form a unitary creel 5, such as the unitary creel 5 structure shown in fig. 1 surrounding the building 221. Specifically, fig. 5 illustrates that the creel 5 includes: main frame structure, guide rail 201 and hoist mechanism 215, guide rail 201 are fixed on building 221, are used as the track that main frame structure climbed, and main frame structure climbs along guide rail 201 through hoist mechanism 215, and guide rail 201 is as the track that climbs the whole climbing of frame 5, preferably adopts the combination steel material of channel-section steel and round steel to adopt bolt construction to fix on building 221, make and climb frame 5 and realize sliding from top to bottom through cooperating with guide rail 201. Meanwhile, in order to ensure the stability of the climbing frame 5, the climbing frame 5 may further be provided with an anti-tilt device 212, the anti-tilt device 212 includes an anti-tilt rod and a latch device, the anti-tilt rod is fixed on the climbing frame 5, one end of the latch device is an annular portion and can be sleeved on the anti-tilt rod, and the other end of the latch device is fixed on the building 221 through the wall-attached support 208. When the climbing frame 5 climbs, the anti-tilting rod slides upwards through the annular part, and the climbing frame is prevented from overturning in the sliding process. In addition, preferred, the utility model discloses still be equipped with friction formula anti-falling device 209, it is including preventing weighing down pole 211 for when the frame 5 takes place the tenesmus, carry out the friction formula to climbing frame 5 and support, slow down the tenesmus, stop until the tenesmus. Furthermore, the utility model discloses still set up and attach wall support 208 and regard as the connecting elements who climbs frame 5 and building, play the off-load and prevent toppling effect, the preferred combination steel material that adopts channel-section steel and round steel. The wall attachment supports 208 are typically mechanically connected to the shear wall and may also be mechanically connected to the floor. An upper lifting point 213 is arranged on part of the wall-attached support 208, a lower lifting point 214 is correspondingly arranged at the bottom of the climbing frame 5, and a cable is arranged between the upper lifting point 213 and the lower lifting point 214 and can be lifted and lowered by a lifting machine 215 such as an electric hoist or a hydraulic press.

The utility model discloses the discovery of innovation, among the building work progress, no matter the simple adoption climbs the frame or the simple adoption is gone to hang or both simple performance plays separately simultaneously, does not all help building construction bearing to require the characteristics that ability is high, the spatial adjustment flexibility ratio is strong, the location requires accurately. Based on this, in order to realize that the cost 1+1 is less than 2, effect 1+1 is greater than 2 for the realization is climbed the frame system and is gone the effect of hanging system and combine together, this construction system sets up the support post and realizes climbing the combination of frame system and going the system of hanging.

The preferred climbing frame has support columns 51 respectively disposed at the front and rear sides of the main frame structure, a traveling crane rail 104 supported above the support columns, and a support column 106 including a plurality of first support columns 51A and a plurality of second support columns 51B. In order to make the combination of the travelling crane system and the climbing frame system better supported, the supporting upright 51 is preferably designed to be higher than the height of the climbing frame 5, i.e. the travelling crane slide rail 104 is higher than the climbing frame by a certain height. Further preferably, for the realization that can be good climb frame and whole construction system's accurate location and steady motion, the adjustable length structure of preferred adoption of first support post, second support post, but the hydraulic stem formula structure of preferred preference of support post, including cylinder body and the body of rod, wherein the cylinder body is fixed on the main frame structure of climbing the frame, and the body of rod can reciprocate relatively the cylinder body. Through the arrangement, the lifting system can be conveniently adjusted in the vertical direction.

Further preferably, first ground supporting columns are further arranged on two sides of the first supporting column below the first traveling hanging rail 31, second ground supporting columns are further arranged on two sides of the second supporting column below the second traveling hanging rail 32, and the two vertical columns are directly supported on the ground so as to be stressed better. When the weight of the object to be hoisted by the crane is large, the plurality of first support columns 51A and the plurality of second support columns 51B arranged on the climbing frame need to bear large gravity. Therefore, the ground support columns are arranged on two sides below the two travelling crane rails, so that the safety of travelling crane operation and the perfection of combination with the climbing frame can be greatly guaranteed. Preferably, the first and second supporting columns can be made into a mode of height adjustment or movement along the ground, so as to simultaneously meet the effects of bearing force and flexible position adjustment.

The traveling crane system combined with the climbing frame system, as shown in fig. 1-10, includes a first traveling crane rail 31 supported on the first support column row, a second traveling crane rail 32 supported on the second support column row, a traveling crane cart erected between the first traveling crane rail and the second traveling crane rail and capable of moving along the first traveling crane rail and the second traveling crane rail, and a traveling crane trolley arranged on the traveling crane cart and capable of moving relative to the traveling crane cart, wherein the traveling crane trolley is used for connecting a robot for construction. In a further preferred embodiment, shown in fig. 6-13, the construction robot 42 is a robot arm or working arm or robot or a combination thereof. The mechanical arm comprises but is not limited to the following steel bar binding mechanical arm, an aluminum template mounting mechanical arm or a ground grinding mechanical arm; the robot may be a leveling robot, a troweling robot, a banding robot, a grasping robot, a scraping robot, or the like.

Preferably, the travelling crane trolley 2 rides on the travelling crane cart 1. This kind of connected mode makes the motion of travelling crane dolly 2 more stable, prevents the rollover. Preferably, the crane cart 1 includes a cross beam 11, the front and rear ends of the cross beam 11 are provided with a first wheel 12 and a second wheel 13, which are correspondingly clamped on a corresponding first crane rail 31 and a corresponding second crane rail 32, and the cross beam 11 is provided with a moving rail 15. The first wheel 12 and the second wheel 13 connected with the two ends of the beam 11 can be detached and replaced with a new beam 11, and the length of the beam 11 can be customized according to the requirements in the building construction process. The traveling crane trolley 2 comprises a trolley body 21 and wheels 22, the cross section of the trolley body 21 is in an inverted U shape, the wheels 22 are arranged at the top of the groove of the trolley body 21, and when the traveling crane trolley 2 is erected on the cross beam 11, the wheels 22 are just arranged on the moving track 15. Preferably, the travelling crane trolley 2 is provided with a trolley motor which is in driving connection with the travelling crane trolley wheels 22; the crane cart 1 is provided with a cart motor 14 which is in driving connection with the wheels of the crane cart 1. Cart motor 14 and dolly motor are trinity motor, and trinity motor is also called trinity reduction gear, is the part that collects reduction gear, motor and stopper function as an organic whole. The preferred location for the trolley motor is within the vehicle body 21.

The utility model discloses the mode that the travelling crane dolly is used for connecting robot for building can have many clocks:

(1) as shown in fig. 14, the traveling crane trolley is connected with a multi-axis robot arm, and the lower end of the multi-axis robot arm is detachably connected with a robot for construction.

(2) As shown in fig. 2, the traveling crane trolley is connected with a telescopic rod, the lower end of the telescopic rod is connected with a multi-axis mechanical arm, and the lower end of the multi-axis mechanical arm is detachably connected with a robot for construction.

In the case of (1), it is further preferable that a connecting rod 46, through which the multi-axis robot arm is fixed to the cart, extends at the lower end of the cart. When the multi-axis mechanical arm 44 is connected to the lower end of the traveling crane trolley 2 or the lower end of the connecting rod 46, the moving direction of the traveling crane trolley 2 is perpendicular to the moving direction of the traveling crane trolley 1, the moving direction relations of the traveling crane trolley and the traveling crane trolley are the X-axis direction and the Y-axis direction, the multi-axis mechanical arm can move up and down and/or can be rotatably arranged on the connecting rod, and the multi-axis mechanical arm can move in a multi-dimension mode in a three-dimensional space because multiple axes of the multi-axis mechanical arm are not on the same axis.

For the case (2), when the multi-axis robot arm 44 is connected to the traveling crane trolley 2 through the telescopic rod 41, the moving direction of the traveling crane trolley 2 is perpendicular to the moving direction of the traveling crane trolley 1, the moving direction relations of the traveling crane trolley 1, the traveling crane trolley 2 and the telescopic rod 41 are the directions of the X axis, the Y axis and the Z axis, the multi-axis robot arm 44 can perform multi-dimensional movement in a three-dimensional space, and the multi-axis robot arm 44 plays a role in coordinate compensation. Specifically, the telescopic rod 41 or the connecting rod 46 is connected with the traveling crane trolley 2 through a support 23 on the side surface of the trolley by a bolt, and the support 23 is rigidly connected with the traveling crane trolley 2 by a steel plate. The rectangular coordinate tie rod 41 and the traveling crane trolley 2 are connected through the support 23, so that the connection is stable and firm and is not easy to damage. Preferably, the telescopic rod 41 is provided with a first connecting unit 43 to which the multi-axis robot arm 44 or the construction robot 42 is connected, and when the construction robot 42 is connected to the telescopic rod 41 by the multi-axis robot arm 44, the multi-axis robot arm 44 and the construction robot 42 are connected by a second connecting unit 45.

Whichever embodiment is described above, this embodiment thus enables control difficulties in the construction field. But we prefer the second approach. Because the combined action of the multi-axis mechanical arm and the telescopic rod, the superiority of the combination of the climbing and hoisting device and the traveling and hoisting device is greatly increased, and the control dimensionality is greatly increased.

Preferably, as shown in fig. 6 to 13, the multi-axis robot arm 44 includes a robot arm main unit, a first connecting unit 43 provided at the top of the robot arm main unit, and a second connecting unit 45 provided at the bottom of the robot arm main unit; the first connecting unit 43 mounts the robot main body unit on the traveling crane system, thereby realizing the modular connection and mounting of the robot and the traveling crane system; the second connecting unit 45 is externally connected with a robot for construction, the robot for construction can be used for hoisting construction, and can be externally connected with a robot for construction according to different purposes, such as a leveling robot, a floating robot, a binding robot, a grabbing robot, a scraping robot and the like, and the second connecting unit is adopted to realize modular connection and installation between the mechanical arm and the robot for construction; by adopting the mechanical arm scheme, the traveling crane system can be externally connected with a robot for construction during construction, so that the working efficiency is improved, the application range of the traveling crane is enlarged, the labor amount is reduced, and the construction cost is reduced. Preferably, in combination with the above, as shown in fig. 6 to 13, in the present embodiment, the robot main body unit is a multi-axis robot 44; the multi-axis robot arm 44 includes a plurality of robot arms, and rotation axes of the plurality of robot arms are not on the same line, so that construction space and coordinate compensation of multi-direction, multi-dimension and multi-degree of freedom can be realized; furthermore, the mechanical arms are rotationally connected through motor shafts, so that rotation of the mechanical arms in different dimensions and different directions is realized; under the driving action of respective motor shafts, each mechanical arm can rotate along the horizontal direction or the vertical direction; specifically, as shown in fig. 8, the motor shaft can drive the mechanical arm to rotate 360 ° on the horizontal plane; or as shown in fig. 9, the motor shaft can drive the mechanical arm to rotate in a pendulum manner in the vertical direction, so that the rotation in each dimension and direction is realized.

Specifically, as shown in fig. 6 to 13, the robot arm includes a first robot arm 53, a second robot arm 55, and a third robot arm 57; wherein, one end of the first mechanical arm 43 is connected with the first connecting unit 43, and the other end of the first mechanical arm 53 is rotatably connected with one end of the second mechanical arm 55 through a first motor shaft 54; the first motor shaft 54 is horizontally arranged at the rotary connection position of the first mechanical arm 53 and the second mechanical arm 55 and is in transmission connection with the first motor, so that the second mechanical arm 55 can rotate around the first motor shaft 54; the other end of the second mechanical arm 55 is rotatably connected with one end of a third mechanical arm 57 through a second motor shaft 56; the other end of the third arm 57 is connected to the second connecting unit 45; the second motor shaft 56 is horizontally arranged at the rotary connection position of the second mechanical arm 55 and the third mechanical arm 57 and is in transmission connection with the second motor, so that the third mechanical arm 57 can rotate around the second motor shaft 56; specifically, the axis of the first motor shaft 54 and the axis of the second motor shaft 56 are both in the horizontal direction, so that the second mechanical arm 55 and the third mechanical arm 57 can perform pendulum rotation in the vertical direction, that is, the first motor shaft 54 drives the second mechanical arm 55 to perform pendulum rotation in the vertical direction; the second motor shaft 56 drives the third mechanical arm 57 to perform pendulum rotation in the vertical direction. Further still, it is preferable that the robot arm further includes a fourth robot arm 50; one end of the fourth mechanical arm 50 is in transmission connection with the bottom of the first mechanical arm 53 through a third motor shaft, and the other end of the fourth mechanical arm 50 is in rotatable connection with one end of the second mechanical arm 55 through a first motor shaft 54; the third motor shaft is arranged on the first mechanical arm 53 and is in transmission connection with the third motor; in this way, the first mechanical arm 53 drives the fourth mechanical arm 50 to rotate in the horizontal direction through the third motor shaft, that is, as shown in fig. 8, the third motor shaft can drive the fourth mechanical arm 50 to rotate 360 ° in the horizontal plane, and the fourth mechanical arm 50 can drive the second mechanical arm 55 to rotate 360 ° in the horizontal plane.

For the preferred embodiment of the robot arm, as shown in fig. 6 to 13, three motor shafts are driven independently, the first motor shaft 54 is connected with the first motor, the second motor shaft 56 is connected with the second motor, and the third motor shaft is connected with the third motor; this allows the first motor shaft 54, the second motor shaft 56, and the third motor shaft to be driven simultaneously or independently to achieve respective angular and spatial rotations.

In the embodiment, in order to realize the connection of the multi-axis mechanical arm more flexibly, the telescopic rod is connected with the first connecting unit of one multi-axis mechanical arm 44, so that the coordinate compensation of the construction position of the multi-axis mechanical arm 44, the large-space moving range and the lifting with more dimensions are further realized; the telescopic rod is detachably connected with the first connecting unit, so that the telescopic rod can be conveniently detached and replaced when a robot or a mechanical arm needs to be installed; specifically, in this embodiment, the telescopic rod is connected with the first connecting unit through a bolt, or through a flange, or through a slide rail; further, the first connecting unit 43 is fixedly arranged at the top of the first mechanical arm 53, so that the first mechanical arm 53 can mount the mechanical arm main body unit on the crane system through the telescopic rod 3; specifically, one end of the telescopic rod 3 is connected with the first connecting unit 43, and the other end is connected to a traveling crane of the traveling crane system; specifically, because of self walking errors and structural stress deformation of the crane and the telescopic rod, the robot externally connected with the second connecting part may have inaccurate positioning or cannot walk to an appointed position during construction, the multi-axis mechanical arm 44 provides coordinate compensation for the crane and the telescopic rod, ensures that the externally connected robot can reach the appointed coordinate, and also provides the freedom degree of range construction for the externally connected robot and reduces the movement of the crane and the trolley.

The multi-axis robotic arm 44 further comprises a controller and a power module; the power supply module is respectively and electrically connected with the controller, a first motor for driving a first motor shaft of the mechanical arm main body unit, a second motor for driving a second motor shaft of the mechanical arm main body unit and a third motor for driving a third motor shaft of the mechanical arm main body unit; the controller is in communication connection with the first motor, the second motor and the third motor respectively; the controller controls the multi-axis mechanical arm 44 to reach the designated coordinate, and obtains the multi-degree-of-freedom construction range and coordinate compensation; by adopting the scheme, the construction of accurate positions of the crane mechanical arm can be carried out in multiple freedom and multiple directions, and the efficiency is higher.

Preferably, in combination with the above solutions, as shown in fig. 6 to 13, in this embodiment, an external port unit 52 is disposed on a side surface of the robot arm main body unit; further, the external port unit 52 is used for temporary communication connection with external electrical equipment; the external electrical equipment is a detector or an encoder; the detector or code may detect or temporarily adjust the robotic arm, or may be external to the data port of a larger piece of equipment, such as a trowel, an aluminum die mounter, or other end-point machine.

Preferably, in combination with the above solutions, as shown in fig. 6 to 13, in the present embodiment, the second external unit 45 is fixedly disposed at the bottom of the third mechanical arm 57, and is used for detachably externally connecting a building robot with different purposes; the robot for the building can be a leveling robot, a floating robot, a binding robot, a grabbing robot or a scraping robot; by adopting the scheme, the mechanical arm main body unit is connected with the robots with different functions and functions through the second external unit interface, so that construction is carried out.

Preferably, in combination with the above solutions, as shown in fig. 6 to 13, in the present embodiment, the first connection unit 43 and/or the second connection unit 45 are connection plates; specifically, bolt holes are respectively arranged on the periphery of the connecting plate, so that the connection can be connected and installed with external equipment or a robot for building in a modular manner through the bolt holes; specifically, a wiring channel or a data interface 60 is reserved at the center of the connection board, so that the connection unit can be in communication connection or electrical connection with an external device through the wiring channel or the data interface, thereby realizing power supply and communication control connection.

The building construction system also comprises a controller, a position memory and a plurality of sensors, wherein the sensors are used for sensing the position coordinates of the traveling crane cart, the traveling crane trolley and the building robot.

The utility model relates to a control method of building construction system's preferred embodiment as follows, this control method includes the control method that the climbing frame moved in the vertical direction, the control method that line hangs big car and line and hang the dolly removal, the control side that the telescopic link is flexible in the vertical direction and the control method of robot for building.

As shown in fig. 14, the control method for the climbing frame to move in the vertical direction includes that the control system is initialized, the control system is self-checked, whether the judgment result is normal or not is judged, if not, the control system is stopped to give an alarm, if yes, the load is detected, if the control system is overloaded, the control system is stopped to give an alarm, if not, the climbing frame climbs, meanwhile, the machine position detection is carried out, if each machine position is larger than 2cm, the manual leveling is carried out, whether the machine position reaches the designated position or not is judged, and if the machine position reaches the designated. Specifically, the method comprises the following steps:

the climbing frame 5 is controlled to climb through a special controller, when the controller sends an instruction, the climbing frame 5 on the single building is lifted, and the lifting power can come from an electric hoist and a chain or a hydraulic jacking device and the like. When the whole body of the climbing frame 5 climbs to a preset position, the climbing is automatically stopped, and after the manual climbing frame 5 is fixedly connected with the stair, the lifting mechanism of the climbing frame 5 enters a relaxed state and is not stressed any more.

When the climbing frame 5 climbs, if the load is overloaded, the machine will automatically stop. When the height difference between the first supporting upright column row and the second supporting upright column row reaches 2cm, the climbing frame 5 is automatically stopped; after the machine is shut down and the leveling is needed to be manually intervened, the machine is started again.

As shown in fig. 15, the method for controlling the traveling crane cart and the traveling crane trolley to move includes the following steps:

step S3: inputting a planned walking route parameter and a stopping position parameter into a controller;

step S4: the controller sends out an instruction to start a traveling crane cart motor and a traveling crane trolley motor, and the cart motor and the trolley motor respectively drive the traveling crane cart and the traveling crane trolley to travel according to a planned path;

step S5: when the crane cart and the crane trolley travel, the positions of the crane cart and the crane trolley are monitored in real time by using the sensor and fed back to the controller;

step S6: the controller determines whether the traveling crane cart and the traveling crane trolley reach the preset stop position according to the received position data information of the traveling crane cart and the traveling crane trolley, and when the traveling crane cart and the traveling crane trolley reach the preset stop position, the controller sends out an instruction to control the cart motor and the trolley motor to stop running.

Preferably, after step S6, the method further includes the following steps:

step S7: after the travelling crane cart and the travelling crane trolley stop, the controller starts timing, and when the staying time reaches the set staying time, the controller gives an instruction to restart the cart motor and the trolley motor;

step S8: and the controller matches the position data information fed back by the sensor in real time with the set destination position information, and when the crane cart and the crane trolley are detected to reach the planned route end point, the controller sends out an instruction to control the cart motor and the trolley motor to stop running.

Preferably, in the process of movement of the crane cart and the crane trolley, the controller judges whether the crane cart and the crane trolley are on the planned route according to data fed back by the sensor, if not, the controller gives instructions to the cart motor and the trolley motor to drive the crane cart and the crane trolley to return to the correct running route.

As shown in fig. 16, preferably, the control method further includes a control method for the telescopic rod provided on the traveling crane trolley, which includes the following steps:

step S9: recording the initial position of the telescopic rod and the motion radius data of the multi-axis mechanical arm, and importing the position data and the motion radius data of the multi-axis mechanical arm into a controller;

step S10: the fourth sensor is used for acquiring working distance data of the multi-axis mechanical arm and the material in real time and sending the working distance data to the controller;

step S11: the controller compares the working distance data with the movement radius data, and when the movement radius data is larger than or equal to the working distance data, the controller gives instructions to the multi-axis mechanical arm and the robot for the building to execute a first working action;

step S12: when the movement radius data is smaller than the working distance data, the controller sends a starting signal to the telescopic rod power system, the telescopic rod power system drives the telescopic rod to move downwards, and the moving distance is one movement radius length; the controller again compares the movement radius data with the working distance data and loops through step 34 until the controller detects that the movement radius length data is greater than or equal to the working distance data.

Preferably, after the step S11, the controller continuously determines whether there is a second working motion that the telescopic rod needs to perform, and if there is a second working motion that the controller cyclically performs the steps S10, S11 and S12; if the power system for sending the recovery signal to the telescopic rod by the controller does not exist, the telescopic rod power system drives the telescopic rod to recover to the initial position.

Preferably, the control method further includes a control method when the construction robot works, including the steps of:

step S13: inputting the working coordinate position information of the robot for the building into a controller, and acquiring the current position coordinate information of the robot for the building by using a sensor and feeding back the position information to the controller;

step S14: the controller calculates the movement amounts of the building robot on an X axis, a Y axis and a Z axis according to the working coordinate position information and the current position coordinate information, and sends control instructions to the cart motor, the trolley motor and the telescopic rod power system;

step S15: the controller monitors the position of the construction robot in real time according to the feedback of the first sensor, the second sensor and the third sensor, and after the construction robot reaches the working position, the controller sends out a working instruction to drive the construction robot to execute working action. The first sensor is used for monitoring the position of the crane cart, the second sensor is used for monitoring the position of the crane trolley, and the third sensor is used for monitoring the position of the robot for construction; the first sensor, the second sensor and the third sensor feed back monitoring results to the controller in real time.

The utility model provides a multiaxis arm 44 can implement the external robot for building 42 of purpose according to the difference, specifically includes:

when the construction layer needs to carry out aluminum mold installation work, the second connecting part can be externally connected with an aluminum mold grabbing robot, position information is fed back to a control system of a crane, a trolley, a telescopic rod and a mechanical arm through a positioning system and the like of the externally connected construction robot, the aluminum mold is transported to a required position and stays through calculating a coordinate needing to be moved, and the aluminum mold is installed through manpower or other mechanical equipment; the transportation and positioning functions greatly reduce the physical consumption of workers in carrying the aluminum mould, improve the labor safety, and simultaneously improve the quality and speed of the aluminum mould installation by accurate positioning;

when a construction layer needs to be subjected to steel bar binding work, the second connecting part can be externally connected with a steel bar binding robot, coordinate information is fed back to a control system of a crane-trolley-telescopic rod-mechanical arm through an identification device externally connected to the construction robot, binding equipment is pulled to a specified working area to bind steel bar binding points through calculating a moving coordinate and a rotating angle of the multi-axis mechanical arm 44, the binding equipment can bind plate bars on a horizontal plane and wall column bars on a vertical plane through rotation of a second motor shaft, and manual work is saved through automatic binding;

when the construction layer needs to be subjected to concrete distribution, the second connecting part can be externally connected with a grabbing robot to grab and pull a hose at the front end of the distributing machine, so that the movement of a construction plane is realized; calculating the material distribution amount before construction or measuring the pouring height of concrete by other equipment, and inputting or feeding back a moving instruction to the traveling crane and the trolley in real time in advance to realize accurate material distribution on a pouring area;

when the construction layer needs to be in a concrete scraping and leveling stage, the second connecting component can be externally connected with a leveling robot and a leveling robot, information is fed back to a control system of a crane-trolley-telescopic rod-mechanical arm through a vertical positioning device and the like of an externally connected construction robot, the telescopic rod is controlled to stretch, and the stability of the vertical coordinate of the leveling and leveling robot is guaranteed, so that the quality of concrete scraping and leveling is guaranteed, the flatness of concrete is improved while manpower is saved, and the subsequent aluminum formwork support installation and floor tile and floor paving are facilitated;

when the external building robot is adopted for construction, when the coordinate in the vertical direction is required to be ensured to be fixed and move absolutely horizontally, the control information is fed back to a control system by a vertical coordinate positioning device of the external building robot, and the first motor shaft and the second motor shaft are required to be controlled to rotate by the same angle to ensure the levelness of the second connecting component, so that the level of the external building robot is ensured; besides the vertical positioning system of the robot for building, the multi-axis mechanical arm 44 can also be used for positioning the robot for building externally through a multi-interface device or integrating the robot for building.

The construction robot may be a robot hand alone, a robot hand with a robot arm, or a robot with a robot arm.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any way. The technical solutions of the present invention can be used by anyone skilled in the art to make many possible variations and modifications to the technical solution of the present invention, or to modify equivalent embodiments with equivalent variations, without departing from the scope of the technical solution of the present invention. Therefore, any modification, equivalent change and modification of the above embodiments according to the present invention are all within the protection scope of the present invention.

Claims (10)

1. A robot carrying system for a building comprises a climbing frame system and a traveling crane system, wherein the climbing frame system and the traveling crane system are connected through a support upright post, the support upright post is arranged on the climbing frame system, the traveling crane system is arranged on the support upright post, and the support upright post comprises a first support upright post row and a second support upright post row which are arranged in front and back; the traveling crane system comprises a first traveling crane rail supported on the first supporting upright column row, a second traveling crane rail supported on the second supporting upright column row, a traveling crane cart erected between the first traveling crane rail and the second traveling crane rail and capable of moving along the first traveling crane rail and the second traveling crane rail, and a traveling crane trolley arranged on the traveling crane cart and capable of moving relative to the traveling crane cart, and is characterized in that: the crane trolley is characterized in that a telescopic rod capable of stretching in the vertical direction is arranged on the crane trolley, the lower end of the telescopic rod is detachably connected with the multi-shaft mechanical arm, and the lower end of the multi-shaft mechanical arm is detachably connected with the robot for the building.

2. The robot mounting system for construction according to claim 1, wherein: the robot for construction can also be directly connected with the telescopic rod.

3. The robot mounting system for construction according to claim 2, wherein: the robot for the building is a simple manipulator or a manipulator with a manipulator or an intelligent robot with a manipulator and a manipulator.

4. The robot mounting system for construction according to any one of claims 1 to 3, wherein: the moving direction of the travelling crane trolley is perpendicular to that of the travelling crane trolley, the travelling crane trolley and the telescopic rod are in X-axis, Y-axis and Z-axis directions, and the multi-axis mechanical arm can move in a multi-dimensional space.

5. The robot mounting system for construction according to claim 4, wherein: the travelling crane trolley is arranged on the travelling crane cart in a riding mode.

6. The robot mounting system for construction according to claim 5, wherein: the crane cart comprises a cross beam, the front end and the rear end of the cross beam are provided with a first wheel and a second wheel which are correspondingly clamped on a corresponding first crane rail and a corresponding second crane rail, and the cross beam is provided with a moving rail.

7. The robot mounting system for construction according to claim 6, wherein: the travelling crane trolley comprises a trolley body and wheels, the cross section of the trolley body is in an inverted U shape, the wheels are arranged at the top of the inner portion of the groove of the trolley body, and when the travelling crane trolley is erected on the cross beam, the wheels are just arranged on the moving track.

8. The robot mounting system for building according to claim 7, wherein: the travelling crane trolley is provided with a trolley motor which is in driving connection with wheels of the travelling crane trolley; the crane cart is provided with a cart motor which is in driving connection with the wheels of the crane cart.

9. The robot mounting system for building according to claim 8, wherein: the bottom of the telescopic rod is provided with a first connecting unit which can be connected with the multi-axis mechanical arm or the construction robot and/or the bottom of the multi-axis mechanical arm is provided with a second connecting unit which can be connected with the construction robot.

10. The robot mounting system for building according to claim 9, wherein: the first connection unit and/or the second connection unit each realize a rigid connection.

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