CN215150588U

CN215150588U - Construction robot

Info

Publication number: CN215150588U
Application number: CN202120467909.3U
Authority: CN
Inventors: 李守正; 任宇行; 张宇鹏; 肖明祥; 黄洁雅; 周祈锐
Original assignee: Zhijian Machinery Technology Co ltd
Current assignee: Zhijian Machinery Technology Co ltd
Priority date: 2021-03-04
Filing date: 2021-03-04
Publication date: 2021-12-14
Anticipated expiration: 2031-03-04

Abstract

The utility model provides a construction robot, which comprises a control mechanism, a manipulator and a drilling electric drill; the manipulator picks up the drilling electric drill to complete drilling under the control of the control mechanism; the manipulator picks up the flat explosion electric drill and inserts the flat explosion screw into a drill hole of the drilling electric drill to realize flat explosion under the control of the control mechanism. The utility model discloses in, utilize the manipulator to pick up drilling electric drill and flat explosion electric drill in a flexible way, can carry out flat explosion after drilling, the size that flat explosion can the free choice as required, whether can pick up and stock by automated inspection, can automatic replenishment after the use.

Description

Construction robot

Technical Field

The utility model relates to a robot field, especially an automatic drilling and flat building robot who explodes.

Background

In a building, for installation of some infrastructure facilities, such as wiring, water supply and exhaust ducts, heating/cooling fluid ducts, air conditioning ducts, etc., it is necessary to drill holes in a ceiling or a wall and then install expansion bolts.

In the construction engineering of building ground plates, the traditional drilling and flat blasting screws often need workers to work aloft, so that certain dangerousness is realized, and time and labor are consumed. In order to eliminate the danger of high-altitude operations and also save manpower and material resources, the applicant has obtained, through long-term production practice, utility model publication No. CN212072459U discloses a drilling device for drilling a ceiling or a wall, the drilling device comprising: the first linear guide rail is provided with a first sliding block; the second linear guide rail is arranged on the first sliding block, a second sliding block is arranged on the second linear guide rail, and the second linear guide rail is perpendicular to the first linear guide rail; a third linear guide rail arranged on the second slider, a third slider arranged on the third linear guide rail, and the third linear guide rail is respectively vertical to the first linear guide rail and the second linear guide rail; the electric drill fixing support is arranged on the third sliding block, and is provided with a hole depth sensor for sensing the drilling depth and an electric drill switch for controlling the on-off of the electric drill; the positioning laser transmitter is arranged on the electric drill fixing support or the third linear guide rail; the first linear guide rail is fixed on the electric cabinet, a control and power supply box is arranged in the electric cabinet, and a control circuit board and a rechargeable power supply are arranged in the control and power supply box; and the wireless control unit is in wireless connection with the control circuit board. The drilling device for drilling the ceiling or the wall can be used for controlling the drilling device to drill the ceiling or the wall in a wireless control mode, does not need the ascending operation of constructors, can ensure the safety and health of the constructors, and can improve the working efficiency.

However, in the drilling device for drilling the ceiling or the wall, after the drilling is finished, the flat blasting screws cannot be automatically applied, a flat blasting screw applying process is required, and the requirements of users cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model discloses in being directed at traditional drilling equipment that is used for ceiling or wall drilling, after drilling is accomplished, can not go up flat explosion screw automatically, still need go up flat explosion screw process together, can not satisfy not enough that the user needs, provide a construction robot, this construction robot is having bored the hole after, can be automatic according to the flat explosion screw of the aperture selection suitable size that bores, squeeze into and bore. The flat blasting conveying mechanism can freely select different sizes according to needs, flat blasting of the sizes can be conveyed to be picked up by the robot, and whether flat blasting is in place or not and the stock quantity can be tracked in real time.

The utility model discloses a technical scheme who adopts for realizing above technical requirement is: a building robot comprises a control mechanism, a manipulator and a drilling electric drill; the manipulator picks up the drilling electric drill to complete drilling under the control of the control mechanism; the manipulator picks up the flat explosion electric drill and inserts the flat explosion screw into a drill hole of the drilling electric drill to realize flat explosion under the control of the control mechanism.

Further, in the construction robot described above: the drilling and blasting position mark identification module comprises at least one camera connected with a control mechanism.

Further, in the construction robot described above: the laser positioning device further comprises a drilling and leveling explosion position indication module, wherein the drilling and leveling explosion position indication module comprises at least two cross laser ray emitters controlled by a control mechanism.

Further, in the construction robot described above: the flat explosion screw conveying mechanism is convenient for picking up flat explosion screws for the flat explosion electric drill.

Further, in the construction robot described above: the flat blasting screw conveying mechanism comprises at least one flat blasting clamp, the flat blasting clamp comprises a chute for vertically storing flat blasting screws, an upward flat blasting screw guide pipe arranged at the bottom end of the chute, and a push rod which is arranged at the lower side of the bottom end of the chute and used for moving the flat blasting screws to the position upwards along the flat blasting screw guide pipe.

Further, in the construction robot described above: the chute is also provided with a vibration unit for driving the chute to vibrate, a stock sensor for detecting whether enough flat blasting screws exist in the chute is arranged, and the stock sensor is connected with a controller of the flat blasting clamp.

Further, in the construction robot described above: the tail end of the flat blasting screw conduit is provided with a flat blasting screw in-place judgment sensor for detecting whether a flat blasting screw in the conduit is in place or not, and the push rod and the flat blasting screw in-place judgment sensor are respectively connected with a controller of the flat blasting clamp.

Further, in the construction robot described above: the flat blasting clamp is arranged on a vertically arranged flat blasting clamp plate.

Further, in the construction robot described above: the control mechanism is arranged in a case, and a guide rail for mounting the manipulator is arranged on the case.

Further, in the construction robot described above: in the case, all the flat blasting clamps are sequentially arranged, and the tail end of a flat blasting screw guide pipe arranged along the flat blasting clamp plate is connected with a flat blasting screw outlet arranged on the upper panel of the case.

The utility model discloses in, utilize the manipulator to pick up drilling electric drill and flat explode the electric drill in a flexible way, can carry out flat explosion after drilling.

In addition, a flat blasting clamp which is convenient for conveying flat blasting screws is also provided.

The present invention will be further described with reference to the accompanying drawings and the detailed description.

Drawings

Fig. 1 is a structural diagram of a construction robot according to embodiment 1 of the present invention.

Fig. 2 is the structure of the flat blasting clamp in the construction robot of embodiment 1 of the present invention.

Fig. 3 is a frame diagram of the flat blasting clamp electrical system of the construction robot in embodiment 1 of the present invention.

Detailed Description

Embodiment 1, this embodiment is an automatic drilling and blasting construction robot, and after drilling, the robot continues blasting, as shown in fig. 1, the control mechanism 100 of the robot is disposed in a dedicated box, a guide rail 600 is disposed on the box, and the robot 200 can move along the guide rail 600 under the control of the control mechanism 100 until the robot 200 can take off the tool for operation. As shown in fig. 1: the construction robot of this embodiment, including control mechanism 100, manipulator 200, drilling electric drill 300, flat explosion electric drill 400, flat explosion clamp 500 etc. control mechanism 100 sets up in a box, and manipulator 200 can slide on a guide rail 600 on the box, and drilling electric drill 300, flat explosion electric drill 400 then set up the position that the face was confirmed at guide rail 600, and the manipulator 200 of convenient motion on guide rail 600 is used for taking for manipulator 200, and flat explosion clamp 500 is the mechanism that is used for providing flat explosion screw 520 when flat explosion to drilling after flat explosion electric drill 400 is used for taking for manipulator 200.

In this embodiment, the robot further includes a drilling and blasting position mark recognition module, and the drilling and blasting position mark recognition module includes at least one camera 700 connected to the control mechanism 100, and those skilled in the art know that the control mechanism 100 as a robot is an intelligent terminal, and has strong calculation capability, and images are obtained by the cameras 700, so that the drilling and blasting position marks can be recognized therein.

In this embodiment, a drilling and blasting range indication module 800 is also included, and the drilling and blasting position indication module 800 includes at least two cross laser ray emitters arranged under control of the control mechanism 100. Under the control of the control mechanism 100, the two cross laser ray emitters project a rectangular area on the ceiling according to the preset drilling and leveling explosion range, the area is the coverage range of the robot which can complete drilling and leveling explosion on the ceiling, and the camera 700 can search the position marks of drilling and leveling explosion in the coverage range, so that the blindness is reduced.

In this embodiment, a specially designed mechanism for supplying the explosive screws 520 is used, and in practice, other conveying devices can be used to convey different types of explosive screws (expansion screws) to the place where the mechanism 200 can easily win. In this embodiment, the construction robot is the same as other industrial robots, the control mechanism is disposed in a control box, which is the brain of the industrial robot, and under the control of the control mechanism 100, the manipulator 200 can complete many repeated operations, such as taking the drilling electric drill 300 or flat blasting electric drill 400, drilling at a designed position by using the drilling electric drill 300, then picking up the flat blasting electric drill 400, and obtaining a flat blasting screw 520 of a corresponding type through the flat blasting clamp 500 to perform flat blasting on the drilled hole.

In this embodiment, the flat blasting screw conveying mechanism comprises at least one flat blasting clamp 500, in practice, a group of flat blasting clamps 500 storing different types are arranged in the case body, and a construction robot takes out appropriate flat blasting screws according to the program design requirement. In this embodiment, the blasting clamp 500 is shown in fig. 2, and includes a chute 510 for vertically storing the blasting screws 520, a blasting screw guide 540 provided upward at the bottom end of the chute 510, and a pushing rod 530 provided at the lower side of the bottom end of the chute 510 for pushing the blasting screws 520 moved thereto upward along the blasting screw guide 540. In addition, in order to realize the intelligent explosion suppression control, in the explosion suppression clamp 500 of the present embodiment, the chute 510 is further provided with a vibration unit 550 for driving the chute 510 to vibrate, and the inventory sensor 560 is used for detecting whether there are enough explosion suppression screws 520 in the chute 510, and the inventory sensor 560 is connected to the controller 580 of the explosion suppression clamp 500. In this embodiment, the flat blasting screws 520 are vertically arranged in a neat manner in the inclined groove 510 which is leaned on one side of a flat blasting clamping plate 590, and generally slide downwards along the inclined groove 510 due to the self weight, and if the sliding speed is slow and the flat blasting screws 520 cannot slide to the lowest place rapidly, namely the tail end of the inclined groove 510, the vibration unit 550 vibrates to enable the flat blasting screws 520 in the inclined groove 510 to slide downwards rapidly to enter the top of the open-end push rod 530. In addition, the push rod 530 is installed at the end of the chute 510, the stock sensor 560 is installed at the side of the push rod 530, in practice, the stock sensor 560 is a pair of infrared ray correlation tubes installed at both sides of the end of the chute 510, when the infrared ray emitted from the emission tube is blocked and cannot be emitted to the opposite infrared ray receiving tube, it indicates that the flat explosion screw 520 is still in the chute 510, and when the infrared ray receiving tube receives the infrared ray emitted from the infrared ray emission tube, it indicates that the flat explosion screw is not blocked, therefore, the flat explosion screw 520 stored in the chute 510 is not available and needs to be supplemented in time, an stock indicator lamp can be installed on the case, and when the flat explosion screw 520 stored in stock is used up, the stock indicator lamp reminds that the stock needs to be supplemented in time. In addition, the end of the flat blasting screw conduit 540 is provided with a flat blasting screw in-place judging sensor 570 for detecting whether the flat blasting screw 520 in the conduit is in place, and the push rod 530 and the flat blasting screw in-place judging sensor 570 are respectively connected with the controller 580 of the flat blasting clamp 500. In this embodiment, the flat-explosion clamp 500 has a separate controller 580, the controller 580 controls the push rod 530 to stop pushing after the flat-explosion screw in-place judgment sensor 570 detects that the flat-explosion screw is in place, the flat-explosion screw in-place judgment sensor 570 may be a pair of infrared correlation tubes, like the inventory sensor 560, when the receiving tube cannot receive the infrared rays transmitted by the transmitting tube, it indicates that the flat-explosion screw 520 pushed by the push rod 530 is blocked, at this time, the flat-explosion screw 520 is in place, the controller 580 controls the push rod 530 to stop pushing up, when the flat-explosion screw 520 is used by the manipulator 200, the receiving tube receives the infrared rays transmitted by the transmitting tube, and the controller 580 controls the push rod 530 to return to wait for the next time. In this embodiment, all the blasting clamps 500 are sequentially arranged in the chassis, and the end of the blasting screw guide tube 540 disposed along the blasting clamp 590 is connected to the blasting screw outlet 101 disposed on the upper panel of the chassis.

After the hole is drilled, the construction robot in the embodiment can automatically select the flat blasting screw with the proper size according to the drilled hole diameter and drive the flat blasting screw into the drilled hole. And the key is the design and system implementation of the flat-explosion screw clamp 500,

the implosion screw clamp (implosion clamp) in this embodiment contains different independent electromechanical systems, each independent system being responsible for one size of the implosion screw. The single independent system comprises an uploading in-place sensor, a stock sensor, a vibration unit and an uploading mechanism, can automatically upload the explosive to a specific position in a set range, and sends a signal to the controller after the explosive is in place, and meanwhile, the controller is connected with a control mechanism of the robot to prompt a manipulator to pick up the explosive. When the inventory of the flat blasting screws is less than a certain number, the inventory sensor can detect the flat blasting screws and send a signal to the control panel to prompt that the flat blasting needs to be supplemented. After the flat explosion is picked up, a vibration mechanism is started, and the next flat explosion is automatically filled to the original position. Electrically, each subsystem is connected with the same embedded control panel by using a plug, and the modularized operation can be easily realized during installation and maintenance.

In this embodiment, the basic principle of the construction robot is as follows:

the robot 200 may pick up the drill hole drill 300 or the flat-explosion drill 400 to complete the drilling and flat-explosion work. The mechanical arm is provided with an image vision system for identifying the mark needing drilling and completing drilling and blasting operations at the identified target point. One or more cameras of the image vision system are arranged at the bottom of the manipulator, and can quickly identify the drilling mark and the flat explosion position after drilling in real time in a large range.

After the robot 200 finishes drilling, the flat blasting bit 400 is used instead, and the flat blasting bit 400 can pick up the flat blasting screws 520 from the designed flat blasting clamp 500 according to different sizes.

The robot 200 is mounted on the slide rail 600, and can move along the slide rail according to a work target, thereby adjusting a position and expanding a work range.

The control mechanism 100 is disposed in a control box, and the control box includes a power supply portion (including a battery and a charger), an industrial personal computer, a pneumatic control system, and the like. The manipulator not only provides power for the whole system, but also controls the operation of the manipulator, designs and realizes various algorithms including visual identification, a drill bit and an explosive bit movement track. A controller 580 of the blasting clamp 500 is also provided within the control box.

The basic principle of the blasting clamp 500 of the embodiment is as follows:

when the controller 580 receives the flat explosion command, the push rod 530 pushes the flat explosion screw 520 upward until the flat explosion screw in-place sensor 570 is triggered and the flat explosion screw is in place to be picked up.

After the flat explosion drill bit 400 picks up the flat explosion screw 520, the push rod 530 pushes back, the upper flat explosion screw 520 falls to the position of the push rod pushing back vacant position due to the action of gravity, and meanwhile, the vibration unit 550 starts to slowly vibrate the upper flat explosion screw 520 until the flat explosion screw 520 is completely supplemented.

Each size of flat-burst clip has a separate system of independent functions, each mounted on a separate flat-burst clamp plate 590. The flat blasting clamps 500 with different sizes are connected with each other through hinges and upper screws.

When the number of the flat explosion screws 520 is less than a certain number, the inventory sensor 560 is triggered and transmits a trigger signal to the embedded control board through the controller 580.

The circuit control principle of the present embodiment is shown in fig. 3:

the blast clamp 500 loading system includes a plurality of different sized blast clamp modules, an embedded controller 580, and a robot master. Wherein each flat blasting clamp module comprises a flat blasting uploading pushing unit, an uploading positioning sensor, a stock sensor and a vibration unit.

The robot 200 master control communicates with the embedded control board (controller) and issues instructions to pick up the appropriate explosive screws. After the embedded control panel receives the instruction, the state of the inventory sensor is checked: if the materials are stored, starting the explosive handling uploading pushing device until the uploading sensor senses successful uploading, and then feeding back successful uploading information to the manipulator to prompt the manipulator to carry out explosive handling; if the materials are not stored, information is fed back to the main control of the manipulator, and a user is informed that the flat blasting screws need to be supplemented to the flat blasting clamps. In this embodiment, the addition of flat blasting to the flat blasting clamp may be manually operated.

The basic principle of the laser indication 800 of the effective working range of the robot in the embodiment is as follows:

the robot base is provided with two laser transmitters, each laser device vertically projects two straight lines upwards to form a cross, and the rectangular shape formed by four cross lines projected by the two laser devices accurately displays the operation range which can be covered by the robot.

The construction robot of this embodiment has the following characteristics:

1. the construction robot can perform drilling and flat blasting multi-task operation. The drilling mark on the ceiling can be automatically identified, the drilling operation is completed, the flat explosion screw with the required proper size can be automatically picked up after the drilling, and the drilled hole is accurately punched.

2. The flat blasting clamp system comprises a plurality of independent subsystems, each subsystem controls flat blasting of one size, can automatically sense whether a flat blasting screw is in place or not, and informs a manipulator to pick up the flat blasting screw after the flat blasting screw is in place. When a certain flat explosion screw is picked up, the next flat explosion screw can be automatically supplemented.

3. The inventory sensor is used, so that the shortage of the inventory number of the flat explosion screws can be automatically detected, a user is prompted to supplement the screws, and the normal operation is ensured.

4. The flat blasting screw systems of each size are independent, and flat blasting of any multiple sizes can be superposed. Each subfunction module can be independently used for realizing modularization, and debugging, installation and maintenance are convenient.

5. The flat explosion control part and the manipulator control unit are independently separated, so that the debugging, the installation and the maintenance are convenient.

The construction robot of the embodiment has the following advantages:

1. the manipulator can operate in a large range by combining the mechanical arm and the slide rail.

2. The drilling and blasting tool is provided, and different tasks can be performed.

3. A plurality of flat blasting subsystems are superposed on the flat blasting clamp, each subsystem comprises a flat blasting uploading device, a vibration unit, an uploading positioning sensor and a storage sensor, a user can be automatically prompted to supplement flat blasting screws, screws with proper sizes can be automatically pushed to required positions, and smooth flat blasting operation is guaranteed.

4. The whole mechanical circuit and the whole electronic circuit of the flat blasting clamp are separated, and the flat blasting clamp is interacted with the control unit through a circuit interface, so that the flat blasting clamp is convenient to install in a plugging mode.

5. Two laser transmitters are arranged on the base of the robot, and four projected cross lines form a rectangle which is the operation range that the robot can cover.

Claims

1. A construction robot comprises a control mechanism (100), a manipulator (200) and a drilling electric drill (300); the manipulator (200) picks up the drilling electric drill (300) to complete drilling under the control of the control mechanism (100); the method is characterized in that: the drilling machine is characterized by further comprising a flat explosion electric drill (400), wherein the manipulator (200) picks up the flat explosion electric drill (400) to insert a flat explosion screw (520) into a drill hole of the drilling electric drill (300) to realize flat explosion under the control of the control mechanism.

2. The construction robot according to claim 1, wherein: the drilling and blasting position mark recognition module comprises at least one camera (700) connected with the control mechanism (100).

3. The construction robot according to claim 1, wherein: the drilling and leveling explosion position indicating module (800) comprises at least two cross laser ray emitters which are arranged and controlled by the control mechanism (100).

4. The construction robot according to claim 1, wherein: the flat explosion screw conveying mechanism is convenient for picking up the flat explosion screw (520) for the flat explosion electric drill (400).

5. The construction robot according to claim 4, wherein: the flat blasting screw conveying mechanism comprises at least one flat blasting clamp (500), the flat blasting clamp (500) comprises a chute (510) for vertically storing flat blasting screws (520), a flat blasting screw guide pipe (540) arranged at the bottom end of the chute (510) and upwards, and a push rod (530) which is arranged at the lower side of the bottom end of the chute (510) and is used for moving the flat blasting screws (520) to the position upwards along the flat blasting screw guide pipe (540).

6. The construction robot according to claim 5, wherein: the chute (510) is further provided with a vibration unit (550) for driving the chute (510) to vibrate, and a stock sensor (560) for detecting whether enough explosive screws (520) exist in the chute (510), wherein the stock sensor (560) is connected with a controller (580) of the explosive clamp (500).

7. The construction robot according to claim 6, wherein: the tail end of the flat blasting screw guide pipe (540) is provided with a flat blasting screw in-place judging sensor (570) for detecting whether a flat blasting screw (520) in a pipeline is in place, and the push rod (530) and the flat blasting screw in-place judging sensor (570) are respectively connected with a controller (580) of the flat blasting clamp (500).

8. The construction robot according to claim 7, wherein: the flat blasting clamp (500) is arranged on a vertically arranged flat blasting clamp plate (590).

9. The construction robot according to claim 8, wherein: the control mechanism (100) is arranged in a case, and a guide rail (600) for installing the manipulator (200) is arranged on the case.

10. The construction robot according to claim 9, wherein: in the case, the flat blasting clamps (500) corresponding to all the flat blasting screws (520) with different specifications are sequentially arranged, and the tail end of a flat blasting screw guide pipe (540) arranged along the flat blasting clamp plate (590) is connected with a flat blasting screw outlet (101) arranged on the upper panel of the case.