CN220971743U - Multifunctional building construction system - Google Patents

Abstract

The utility model discloses a multifunctional building construction system, which comprises a robot center and a construction robot, wherein the robot center comprises a bracket and a replacement mechanism, the construction robot comprises a travelling mechanism, a construction mechanical arm, a construction actuating mechanism, a feed box mechanism and a quick assembly and disassembly mechanism, the construction mechanical arm is arranged on the travelling mechanism, the construction actuating mechanism is detachably connected to the construction mechanical arm, the feed box mechanism is arranged on the travelling mechanism, the feed box mechanism is used for providing raw materials for the construction actuating mechanism, and the quick assembly and disassembly mechanism is arranged on the construction mechanical arm. The support is used for temporarily storing the construction actuating mechanism and the feed box mechanism. This multi-functional building construction system can realize that a construction robot can satisfy the construction needs of multi-procedure, and can automatic change workbin mechanism and construction actuating mechanism, reduces construction cost, promotes the efficiency of construction.

Description

Multifunctional building construction system

Technical Field

The utility model relates to the technical field of building machinery, in particular to a multifunctional building construction system.

Background

The mode of improving the automation of the building construction mainly adopts a construction robot to assist in construction, but the research of the construction robot is in a starting stage, the current construction robot is designed only aiming at a single function and a single procedure, a large number of robots of different types are required to cooperate to complete the whole construction process, high cost is required to be input once, and the structures, such as the construction mechanism, of the existing construction robot are required to be replaced all need to be manually replaced according to actual requirements in the construction process, so that the construction efficiency is affected.

Therefore, it is desirable to provide a multifunctional building construction system, which realizes that one construction robot can meet the construction requirements of multiple procedures, and can automatically replace a feed box mechanism and a construction executing mechanism, reduce the construction cost and improve the construction efficiency.

Disclosure of utility model

The utility model aims to provide a multifunctional building construction system which can realize that one construction robot can meet construction requirements of multiple procedures, can automatically replace a feed box mechanism and a construction executing mechanism, reduces construction cost and improves construction efficiency.

In order to achieve the technical effects, the technical scheme of the utility model is as follows:

The utility model discloses a multifunctional building construction system, which comprises: the robot center comprises a bracket and a replacement mechanism; the construction robot comprises a travelling mechanism, a construction mechanical arm, a construction executing mechanism, a feed box mechanism and a quick assembly and disassembly mechanism, wherein the construction mechanical arm is installed on the travelling mechanism, the construction executing mechanism is detachably connected to the construction mechanical arm, the feed box mechanism is arranged on the travelling mechanism and used for providing raw materials for the construction executing mechanism, and the quick assembly and disassembly mechanism is installed on the construction mechanical arm; wherein: the bracket is used for temporarily storing the construction executing mechanism and the feed box mechanism; the quick assembly and disassembly mechanism is used for mounting the construction actuating mechanism temporarily stored on the bracket to the construction mechanical arm or disassembling the construction actuating mechanism on the construction mechanical arm to the bracket; the replacing mechanism is used for installing the feed box mechanism temporarily stored on the support to the traveling mechanism or detaching the feed box mechanism on the traveling mechanism to the support.

In some embodiments, the robot center further comprises a charging mechanism, a charging joint matched with the charging mechanism is arranged on the walking mechanism, and the charging mechanism is used for charging the construction robot.

In some specific embodiments, the stent comprises: the first frame structure is provided with a plurality of first accommodation positions which are arranged at intervals along the vertical direction and used for accommodating the construction actuating mechanism; the second frame structure is used for supporting the first frame structure and is placed on an external supporting surface, and a second accommodating position is arranged on the second frame structure and used for accommodating the feed box mechanism.

In some more specific embodiments, the second frame structure includes a frame body and a plurality of support plates connected to the frame body and arranged at intervals along a vertical direction, the second accommodating position is formed on the support plates, and the replacing mechanism is arranged on the support plates and the second accommodating position in parallel and/or above the second accommodating position.

In some embodiments, the replacing mechanism comprises a replacing mechanical arm, and an executing end of the replacing mechanical arm is provided with a matching structure matched with the feed box mechanism;

the matching structure comprises an electromagnetic device which can be attracted with the feed box mechanism; or:

The mating structure includes a jaw mechanism capable of gripping the bin mechanism.

In some embodiments, the construction actuator comprises a construction structure and a first quick release disc coupled to the construction structure; the quick assembly and disassembly mechanism comprises a replacement driving piece and a second quick assembly and disassembly disc, wherein the replacement driving piece is arranged at the tail end of the construction mechanical arm, and when the second quick assembly and disassembly disc are in butt joint, the replacement driving piece can clamp or release the first quick assembly and disassembly disc;

And a material conveying pipe is further arranged on the second quick-release plate, one end of the material conveying pipe is connected with the material box mechanism, and the other end of the material conveying pipe is in butt joint with the material inlet pipe on the first quick-release plate.

In some embodiments, the first quick release disc is provided with a clamping part and a plurality of first positioning parts arranged around the clamping part; the replacement driving piece comprises clamping jaws, the clamping jaws can clamp or release the clamping portions, and a second positioning portion matched with the first positioning portion is further arranged on the second quick-release disc.

In some embodiments, the running gear comprises: the frame is provided with a fixing part for fixing the feed box mechanism; a wheel mounted to the frame; the walking driving motor is arranged on the frame and used for driving the wheels to rotate;

The shooting module is arranged on the frame; the power supply module is arranged on the frame and is used for supplying power to the shooting module and the walking driving motor.

In some embodiments, the bin mechanism comprises: the feeding box body is provided with a feeding hole; the material conveying pump is arranged on the material box body and is used for outputting raw materials in the material box body to the construction executing mechanism.

In some embodiments, the construction robot further comprises a lifting mechanism provided on the traveling mechanism and used for driving the construction mechanical arm to lift.

The multifunctional building construction system has the beneficial effects that: in the actual working process, the construction robot can move the position corresponding to the center of the robot according to different process requirements (such as wall plastering, wall polishing, screw hole plugging, wall putty, wall spraying, wall rolling coating, brick wall building and the like), the construction executing mechanism required by the front working procedure of the tail end of the construction mechanical arm is placed on the bracket of the center of the robot through the quick assembly and disassembly mechanism, and then the construction executing mechanism required by the subsequent working procedure is replaced, meanwhile, the replacing mechanism on the center of the robot can replace the material box mechanism of the construction robot, so that a plurality of working procedures can be completed by only adopting one construction robot, the construction cost is reduced, the automatic replacement of the material box mechanism and the construction executing mechanism of the construction robot is realized, the labor intensity of constructors is reduced, and the construction efficiency is improved.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

FIG. 1 is a schematic diagram of a multi-functional building construction system according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a robot center according to an embodiment of the present utility model;

FIG. 3 is a schematic view of another direction of a robot center according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a robot center in yet another orientation according to an embodiment of the present utility model;

FIG. 5 is an exploded view of a robot center according to an embodiment of the present utility model;

Fig. 6 is a schematic structural view of a construction robot according to an embodiment of the present utility model;

fig. 7 is an exploded structural schematic view of a construction robot according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of a construction machine arm and quick assembly and disassembly structure according to an embodiment of the present utility model;

FIG. 9 is a schematic view of a construction actuator according to an embodiment of the present utility model;

FIG. 10 is a schematic view of another construction actuator according to an embodiment of the present utility model;

FIG. 11 is a schematic view of the structure of a running gear according to an embodiment of the present utility model;

FIG. 12 is a schematic view of the internal structure of the running gear of the embodiment of the utility model;

FIG. 13 is a schematic view of the structure of the bin mechanism of an embodiment of the utility model;

reference numerals:

100. A robot center; 110. a bracket; 111. a first frame structure; 1110. a first accommodation site; 1111. a placing rack; 112. a second frame structure; 1120. a second accommodation site; 1121. supporting feet; 1122. a frame body; 1123. a support plate; 120. a replacement mechanism; 121. replacing the mechanical arm; 1211. a mating structure; 122. an electric control box; 123. a transport roller; 130. a charging mechanism;

200. A construction robot; 210. a walking mechanism; 211. a frame; 2111. a fixed frame; 2112. a magnetic attraction structure; 212. a wheel; 213. a walking driving motor; 214. a shooting module; 215. a power supply module; 216. a radar; 217. a charging interface; 218. a controller; 220. a construction executing mechanism; 221. constructing a structure; 222. a first quick release disc; 2221. a clamping part; 2222. a first positioning portion; 223. a feed pipe; 230. a feed box mechanism; 231. a bin body; 2311. a feed inlet; 2312. an operation panel; 2313. a magnet structure; 232. a material conveying pump; 240. a construction mechanical arm; 250. a quick assembly and disassembly mechanism; 251. replacing the driving piece; 252. the second quick release disc; 2521. a second positioning portion; 2522. a material conveying pipe; 260. and a lifting mechanism.

Detailed Description

In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the utility model more clear, the technical scheme of the utility model is further described below by a specific embodiment in combination with the attached drawings.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly, for distinguishing between the descriptive features, and not sequentially, and not lightly. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The specific structure of the multi-functional building construction system according to the embodiment of the present utility model will be described below with reference to fig. 1 to 13.

The utility model discloses a multifunctional building construction system, as shown in fig. 1, the multifunctional building construction system comprises a robot center 100 and a construction robot 200, the robot center 100 comprises a bracket 110 and a replacement mechanism 120, the construction robot 200 comprises a traveling mechanism 210, a construction mechanical arm 240, a construction actuating mechanism 220, a workbin mechanism 230 and a quick assembly and disassembly mechanism 250, the construction mechanical arm 240 is arranged on the traveling mechanism 210, the construction actuating mechanism 220 is detachably connected to the construction mechanical arm 240, the workbin mechanism 230 is arranged on the traveling mechanism 210, the workbin mechanism 230 is used for providing raw materials for the construction actuating mechanism 220, and the quick assembly and disassembly mechanism 250 is arranged on the construction mechanical arm 240. The bracket 110 is used for temporarily storing a construction execution mechanism 220 and a feed box mechanism 230; the quick assembly and disassembly mechanism 250 is used for installing the construction actuating mechanism 220 temporarily stored on the bracket 110 to the construction mechanical arm 240 or disassembling the construction actuating mechanism 220 on the construction mechanical arm 240 to the bracket 110; the changing mechanism 120 is used for mounting the bin mechanism 230 temporarily stored on the support frame 110 to the traveling mechanism 210 or removing the bin mechanism 230 on the traveling mechanism 210 to the support frame 110.

It can be appreciated that in the actual working process, the construction robot 200 can move the position corresponding to the robot center 100 according to different process requirements (such as wall plastering, wall polishing, screw hole plugging, wall putty, wall spraying, wall rolling coating, brick carrying and wall building, etc.), the construction executing mechanism 220 required by the preamble process of the tail end of the construction mechanical arm 240 is placed on the bracket 110 of the robot center 100 through the quick assembly and disassembly mechanism 250, then the construction executing mechanism 220 required by the subsequent process is replaced, and meanwhile, the replacing mechanism 120 on the robot center 100 can replace the construction robot 200 by the feed box mechanism 230, so that a plurality of processes can be completed by only adopting one construction robot 200, the construction cost is reduced, the labor intensity of constructors is reduced, and the construction efficiency is improved.

It should be noted that, the present disclosure merely illustrates two types of construction actuators 220, one is a brick carrying fixture (shown in fig. 9) and the other is a grouting tool (shown in fig. 10), and in the embodiment of the present utility model, the construction actuators 220 may be various, and are not limited to the two types.

In some embodiments, the robot center 100 further includes a charging mechanism 130, the walking mechanism 210 is provided with a charging connector matched with the charging mechanism 130, and the charging mechanism 130 is used for charging the construction robot 200. Therefore, in the actual working process, the automatic charging of the construction robot 200 can be realized, and the use satisfaction degree of the user is improved.

In some specific embodiments, as shown in fig. 2-4, the bracket 110 includes a first frame structure 111 and a second frame structure 112, where the first frame structure 111 is provided with a plurality of first receiving locations 1110 spaced apart in a vertical direction, the first receiving locations 1110 are used for receiving the construction actuating mechanism 220, the second frame structure 112 is used for supporting the first frame structure 111 and is placed on an external supporting surface, the second frame structure 112 is provided with a second receiving location 1120, and the second receiving location 1120 is used for receiving the bin mechanism 230. It can be appreciated that by setting the first frame structure 111 and the second frame structure 112, the partition setting of the first accommodating position 1110 accommodating the construction actuating mechanism 220 and the second accommodating position 1120 accommodating the bin mechanism 230 is realized, so that on one hand, the construction actuating mechanism 220 and the bin mechanism 230 are conveniently supplemented by constructors, and on the other hand, the construction robot 200 is conveniently and accurately positioned in the actual working process according to the requirement, so that the construction actuating mechanism 220 and the bin mechanism 230 are conveniently replaced.

In some alternative embodiments, as shown in fig. 5, the bottom wall of the second frame structure 112 is provided with support feet 1121 that rest against an external support surface. It will be appreciated that the added support feet 1121 provide cushioning to avoid damage to the external support surface by direct contact of the second frame structure 112 with the external support surface. It should be noted that the number, distribution position, material and connection manner of the supporting legs 1121 and the second frame structure 112 may be selected according to actual needs, and the above parameters are not limited herein.

In some more specific embodiments, as shown in fig. 5, the second frame structure 112 includes a frame body 1122 and a plurality of support plates 1123 connected to the frame body 1122 and arranged at intervals in a vertical direction, the second receiving place 1120 is formed on the support plates 1123, and the replacement mechanism 120 is provided on the support plates 1123 and is arranged in parallel with the second receiving place 1120 and/or above the second receiving place 1120. It will be appreciated that the support plate 1123 can ensure support for the changing mechanism 120 and the bin mechanism 230, ensure placement stability of the changing mechanism 120 and the bin mechanism 230, and facilitate changing the bin mechanism 230 by the changing mechanism 120 being disposed above the second receiving location 1120 and/or in juxtaposition of the support plate 1123 to the second receiving location 1120.

In some embodiments, as shown in fig. 2, a rack 1111 is provided on the first receiving location 1110 that matches the shape of the construction actuator 220. Thus, it is possible to ensure that the construction actuators 220 of different shapes are stably held on the first accommodation site 1110, thereby facilitating replacement of the construction actuators 220 by the construction robot 200.

In some embodiments, as shown in fig. 2 and 5, the replacing mechanism 120 includes a replacing mechanical arm 121, and an executing end of the replacing mechanical arm 121 is provided with a matching structure 1211 that matches with the bin mechanism 230. It will be appreciated that the flexibility of replacing the mechanical arm 121 is high, and the mechanical arm 121 is used to replace the bin mechanism 230, so that the operation can be facilitated, and the bin mechanism 230 can be quickly and stably moved from the construction robot 200 or the bin mechanism 230 can be moved to the construction robot 200.

In some alternative embodiments, mating structure 1211 includes an electromagnetic device that is capable of engaging bin mechanism 230, and a magnet structure 2313 is provided on the bin that engages the electromagnetic device. It will be appreciated that by the engagement or release of the electromagnetic device with the magnetic attraction structure 2112, a relatively quick and stable removal of the magazine mechanism 230 from the work robot 200 or a transfer of the magazine mechanism 230 to the work robot 200 is ensured.

In some alternative embodiments, mating structure 1211 includes a jaw mechanism capable of gripping bin mechanism 230. This also facilitates the conveyance of the magazine mechanism 230.

In some specific embodiments, as shown in fig. 2 and 5, the change mechanism 120 further includes a plurality of transport rollers 123, the plurality of transport rollers 123 transporting the magazine mechanism 230 to the work robot 200 or receiving the magazine mechanism 230 of the work robot 200. Thus, in the actual working process, the transporting roller 123 may be used in cooperation with the replacing robot arm 121, specifically, the replacing robot arm 121 places the replaced bin mechanism 230 on the transporting roller 123, the transporting roller 123 transports the replaced bin mechanism to the designated second accommodating position 1120, and then the replacing robot arm 121 places the new bin mechanism 230 on the transporting roller 123, and the transporting roller 123 transports the new bin mechanism to the construction robot 200. Thereby, the work load of replacing the robot arm 121 is reduced, and the failure rate of replacing the robot arm 121 is reduced.

In some embodiments, as shown in fig. 7, a construction actuator 220 includes a construction structure 221 and a first quick release plate 222 coupled to the construction structure 221; as shown in fig. 8, the quick release mechanism 250 includes a replacement driving member 251 and a second quick release plate 252, the replacement driving member 251 is mounted at the end of the construction machine arm 240, and the replacement driving member 251 can clamp or release the first quick release plate 222 when the second quick release plate 252 is docked with the first quick release plate 222. It can be appreciated that, in the actual disassembly process, the travelling mechanism 210 drives the construction mechanical arm 240 to move to the designated position, and then the replacement driving member 251 releases the first quick release disc 222, and the travelling mechanism 210 drives the construction mechanical arm 240 to move in a direction away from the construction actuating mechanism 220, so that the construction actuating mechanism 220 is placed at the designated position because the replacement driving member 251 has released the first quick release disc 222 and the construction actuating mechanism 220 is not driven to move during the movement of the construction mechanical arm 240. In the actual installation process, the travelling mechanism 210 drives the construction mechanical arm 240 to move to a designated position, so that the first quick release disc 222 and the second quick release disc 252 are in butt joint, then the replacement driving piece 251 clamps the first quick release disc 222, the travelling mechanism 210 drives the construction mechanical arm 240 to move towards a direction away from the construction actuating mechanism 220, and the construction actuating mechanism 220 is driven to move in the moving process of the construction mechanical arm 240 because the replacement driving piece 251 clamps the first quick release disc 222 at the moment, so that the construction actuating mechanism 220 is installed at the tail end of the construction mechanical arm 240.

In some specific embodiments, as shown in fig. 9, the first quick release disc 222 is provided with a clamping portion 2221 and a plurality of first positioning portions 2222 disposed around the clamping portion 2221. The replacement driving member 251 includes a clamping jaw capable of clamping or releasing the clamping portion 2221, and the second quick release disc 252 is further provided with a second positioning portion 2521 that is engaged with the first positioning portion 2222. It will be appreciated that, during actual operation, the first positioning portion 2222 and the second positioning portion 2521 cooperate to ensure that the first quick release plate 222 and the second quick release plate 252 are stably aligned, thereby ensuring that the clamping jaw is capable of stably clamping the clamping portion 2221, and ensuring that the construction actuator 220 is stably mounted to the end of the construction machine arm 240.

It should be noted that the clamping jaw may be a pneumatic clamping jaw or an electric clamping jaw according to actual needs, the clamping jaw structure in the drawing is merely a simplified schematic diagram, and the shape and specific structure of the clamping jaw may be selected according to the prior art. In addition, other structures, such as an electromagnetic attraction structure, etc., may be used for replacing the driving member 251.

In some more specific embodiments, one of the first positioning portion 2222 and the second positioning portion 2521 is a positioning post, and the other is a positioning hole. In some embodiments, the first positioning portion 2222 is a positioning column, and the second positioning portion 2521 is a positioning hole; in some embodiments, the first positioning portion 2222 is a positioning hole, and the second positioning portion 2521 is a positioning column; in some embodiments, a portion of the first positioning portions 2222 are positioning posts, another portion of the first positioning portions 2222 are positioning holes, and a portion of the second positioning portions 2521 are positioning posts, another portion of the second positioning portions 2521 are positioning holes. The specific distribution of the positioning columns and the positioning holes can be selected according to actual needs. It can be appreciated that the positioning columns and the positioning holes are adopted as the first positioning portion 2222 and the second positioning portion 2521, so that positioning can be performed more conveniently and accurately, and accurate butt joint of the first quick release disc 222 and the second quick release disc 252 is ensured, so that replacement of the construction actuating mechanism 220 is facilitated.

In some embodiments, as shown in fig. 10, a feed pipe 2522 is provided on the second quick release plate 252, one end of the feed pipe 2522 is connected to the feed box mechanism 230, and the other end is in butt joint with the feed pipe 223 on the first quick release plate 222. It can be appreciated that when the first quick release plate 222 and the second quick release plate 252 are docked, the feed pipe 2522 can be accurately docked with the feed pipe 223, so that raw materials in the feed box mechanism 230 can be continuously output to the construction structure 221, thereby ensuring that the construction robot 200 can continuously operate, and further improving the construction efficiency.

Here, the butt joint of the feed pipe 223 and the feed pipe 2522 has a sealing butt joint, so that leakage of the raw material can be preferably avoided. The specific structure of the sealing abutment is prior art and is not limited herein.

In some embodiments, as shown in fig. 11-12, the walking mechanism 210 includes a frame 211, wheels 212, a walking driving motor 213, a power supply module 215, and a shooting module 214, a fixing portion for fixing the bin mechanism 230 is provided on the frame 211, the wheels 212 are mounted on the frame 211, the walking driving motor 213 is mounted on the frame 211 and is used for driving the wheels 212 to rotate, the shooting module 214 is provided on the frame 211, and the power supply module 215 is provided on the frame 211 and is used for supplying power to the shooting module 214 and the walking driving motor 213. It can be appreciated that, in the actual working process, the walking driving motor 213 drives the wheels 212 to rotate so that the frame 211 walks, and the power supply module 215 can ensure that the walking structure does not need an external power supply, so that the movement route of the walking mechanism 210 is not limited, and the construction requirement is better met. The shooting module 214 can shoot the surrounding environment of the travelling mechanism 210, so as to facilitate path planning for the travelling mechanism 210. By fixing the bin mechanism 230 by the fixing portion, stability of the bin mechanism 230 on the travelling mechanism 210 can be ensured, and occurrence of rollover of the bin mechanism 230 in the movement process of the travelling mechanism 210 can be avoided.

Optionally, as shown in fig. 11-12, the running gear 210 further includes a radar 216 disposed on the frame 211. Therefore, the surrounding environment of the travelling mechanism 210 can be better detected, and the travelling mechanism 210 can be further conveniently subjected to path planning.

Optionally, as shown in fig. 12, the walking mechanism 210 further includes a controller 218 disposed on the frame 211, where the controller 218 is electrically connected to the walking driving motor 213, the power supply module 215, and the photographing module 214. Thereby, intelligent control of the running gear 210 is achieved. It should be noted that, the type of the controller 218 may be a single-chip microcomputer, a distributed controller or a control chip according to the actual selection, and the controller 218 is in the prior art, and no limitation is required to be imposed on the specific type and control logic of the controller 218.

In some specific embodiments, as shown in fig. 11, the fixing portion includes a fixing frame 2111 and a magnetic attraction structure 2112 provided on the fixing frame 2111, and the lower portion of the bin mechanism 230 is inserted into the fixing frame 2111 and is attracted to the magnetic attraction structure 2112. It can be appreciated that the lower portion of the feed box mechanism 230 is inserted into the fixing frame 2111 and is attracted to the magnetic attraction structure 2112, and by double fixing of the fixing frame 2111 and the magnetic attraction structure 2112, the installation stability of the feed box mechanism 230 on the travelling mechanism 210 can be improved, so that the occurrence of rollover phenomenon of the feed box mechanism 230 during the movement process of the travelling mechanism 210 is avoided. Of course, in other embodiments of the present utility model, the fixing portion may further include other fixing structures to cooperate with the bin mechanism 230, for example, the fixing portion is a fixing hole, and a fixing post is disposed below the bin mechanism 230.

In some embodiments, as shown in fig. 13, the bin mechanism 230 includes a bin body 231 and a feed pump 232, the bin body 231 is provided with a feed port 2311, the feed pump 232 is provided on the bin body 231, and the feed pump 232 is used for outputting raw materials in the bin body 231 to the construction execution mechanism 220. It can be appreciated that in the actual working process, the material conveying pump 232 can continuously be used for continuously constructing the execution mechanism 220 with the raw materials in the material box body 231, so that the construction robot 200 is ensured to continuously work, and the construction efficiency is further improved.

Preferably, as shown in fig. 13, a charging port 2311 is provided on the bin body 231. It will be appreciated that, in the actual working process, if the bin body 231 is not replaced, raw materials can be added to the bin body 231 through the charging port 2311, so that the construction robot 200 has multiple charging modes, and user satisfaction is improved.

Preferably, as shown in fig. 13, an operation panel 2312 is disposed on the bin body 231, the operation panel 2312 can be used for controlling the speed of the feed pump 232, and the operation panel 2312 can also display the height of the raw materials in the bin body 231 in real time, so that the operator can monitor conveniently.

In some embodiments, as shown in fig. 6-7, the construction robot 200 further includes a lifting mechanism 260, and the lifting mechanism 260 is provided on the traveling mechanism 210 and is used to drive the construction robot arm 240 to lift. It can be appreciated that in the actual working process, construction may be performed only by means of the movement range of the construction mechanical arm 240, and in this embodiment, the added lifting mechanism 260 may lift the construction mechanical arm 240 according to actual needs, so that the construction range of the construction mechanical arm 240 can be enlarged, thereby better meeting the construction needs.

It should be noted that, in the embodiment of the present utility model, the lifting mechanism 260 may select a linear driving structure such as an air cylinder, an electric push rod, etc. according to actual needs, and the specific type of the lifting mechanism 260 is not limited herein.

Examples:

A multi-functional building construction system according to one embodiment of the present utility model will be described with reference to fig. 1 to 13.

As shown in fig. 1, the multi-functional building construction system includes a robot center 100 and a construction robot 200.

As shown in fig. 2 to 5, the robot center 100 includes a bracket 110, a replacement mechanism 120, and a charging mechanism 130, the bracket 110 includes a first frame structure 111 and a second frame structure 112, the first frame structure 111 includes a plurality of first accommodation sites 1110 that are disposed at intervals along a vertical direction, and a placement frame 1111 that is matched with the shape of the construction execution mechanism 220 is disposed on the first accommodation sites 1110. The second frame structure 112 is used for supporting the first frame structure 111 and is placed on the external supporting surface, and the bottom wall of the second frame structure 112 is provided with supporting feet 1121 which are abutted against the external supporting surface. The second frame structure 112 includes a frame body 1122 and a plurality of support plates 1123 connected to the frame body 1122 and arranged at intervals in the vertical direction, the second receiving space 1120 is formed on the support plate 1123 below, and the replacing mechanism 120 includes a replacing mechanical arm 121, a plurality of transporting rollers 123 and an electric cabinet 122, and an actuating end of the replacing mechanical arm 121 is provided with a fitting structure 1211 to be fitted with the magazine mechanism 230. The mating structure 1211 includes an electromagnetic device that is capable of engaging the magazine mechanism 230, and the electric cabinet 122 is capable of controlling the replacement robot 121 and the motor that drives the plurality of transport rollers 123.

As shown in fig. 6 to 13, the construction robot 200 includes a traveling mechanism 210, a construction robot arm 240, a magazine mechanism 230, a construction actuator 220, a quick release mechanism 250, and a lifting mechanism 260, and the lifting mechanism 260 is provided on the traveling mechanism 210 and is used to drive the construction robot arm 240 to lift. The construction actuator 220 includes a construction structure 221 and a first quick release plate 222 coupled to the construction structure 221. The first quick release disc 222 is provided with a clamping portion 2221 and a plurality of first positioning portions 2222 arranged around the clamping portion 2221, the first positioning portions 2222 are positioning columns, the construction structures 221 are two types, one type is a brick carrying clamp (shown in the figure), and the other type is a grouting tool (shown in the figure). The quick assembly and disassembly mechanism 250 comprises a replacement driving piece 251 and a second quick disassembly disc 252, wherein the replacement driving piece 251 is a clamping jaw and is installed at the tail end of the construction mechanical arm 240, the second quick disassembly disc 252 is provided with a second positioning portion 2521, and the second positioning portion 2521 is a positioning hole. The second quick release plate 252 is provided with a feed pipe 2522, one end of the feed pipe 2522 is connected with the feed box mechanism 230, and the other end is in butt joint with the feed pipe 223 on the first quick release plate 222. The travelling mechanism 210 comprises a frame 211, wheels 212, a travelling driving motor 213, a power supply module 215, a shooting module 214, a charging interface 217, a radar 216 and a controller 218, wherein a fixing part for fixing the feed box mechanism 230 is arranged on the frame 211, the fixing part comprises a fixing frame 2111 and a magnetic structure 2112 arranged on the fixing frame 2111, the wheels 212 are arranged on the frame 211, the travelling driving motor 213 is arranged on the frame 211 and is used for driving the wheels 212 to rotate, the shooting module 214 is arranged on the frame 211, and the power supply module 215 is arranged on the frame 211 and is used for supplying power to the shooting module 214 and the travelling driving motor 213. The charging interface 217, the radar 216 and the controller 218 are all disposed on the frame 211, and the controller 218 is electrically connected with the travel driving motor 213, the power supply module 215, the photographing module 214, the charging structure and the radar 216. The feed box mechanism 230 comprises a feed box body 231 and a feed pump 232, wherein the lower part of the feed box body 231 is inserted into a fixed frame 2111 and is attracted with a magnetic attraction structure 2112. The feed box body 231 is provided with a feed inlet 2311, an operation panel 2312 and a magnet structure 2313, and a feed pump 232 is arranged on the feed box body 231 and the feed pump 232 is used for outputting raw materials in the feed box body 231 to the construction execution mechanism 220.

The construction flow of the multifunctional building construction system of the embodiment is as follows:

At the beginning of the job, the construction robot 200 moves to a position corresponding to the first receiving position 1110 on the bracket 110, one of the construction actuators 220 is selected, the construction robot arm 240 moves so that the second quick release plate 252 is docked with the first quick release plate 222 (the positioning column is inserted into the positioning hole), and the clamping jaws clamp the clamping portion 2221 on the construction actuator 220. The change mechanism 120 transports the fully loaded magazine mechanism 230 onto the running mechanism 210.

After the front-end operation is completed, the controller 218 automatically calculates an operation point position, so that the traveling mechanism 210 moves to the operation point position according to a preset route (in the moving process, the radar 216 is responsible for positioning and navigation, the shooting device is responsible for auxiliary navigation and obstacle avoidance), when the lifting mechanism 260 lifts the construction mechanical arm 240 to a proper position, the construction executing mechanism 220 performs operation (in the operation process, the material conveying pump 232 can output the raw material in the material box body 231 to the construction executing mechanism 220, the raw material reaches the operation surface through the construction structure 221), and after the operation of the current point position is completed, the traveling mechanism 210 moves to the next operation point position along the specified route until the whole space operation is completed.

When the first process is completed in the whole space, the construction robot 200 moves to a position corresponding to the first accommodating position 1110 on the bracket 110 (at this time, the material conveying pump 232 is closed), the construction manipulator 240 drives the construction actuating mechanism 220 to move to the rack 1111, the clamping jaw releases the clamping part 2221, and the construction manipulator moves to a position far from the rack 1111, so that the construction manipulator 240 is separated from the construction actuating mechanism 220. A construction actuator 220 is selected and the construction robot arm 240 is moved such that the second quick release plate 252 is docked with the first quick release plate 222 (the locating posts are inserted into the locating holes) and such that the clamping jaws grip the clamping portion 2221 on the construction actuator 220. At this time, if it is necessary to replace the magazine 230, the replacement structure places the old magazine 230 onto the second receiving portion 1120 and then transports a new magazine 230 onto the travelling mechanism 210.

After the construction executing mechanism 220 is completed, the preamble flow is repeated to complete a plurality of process operations.

In particular, when the power of the charging module is too low, the construction robot 200 may return to the robot center 100, and the charging interface 217 is used to plug in the charging module to realize charging.

In the description of the present specification, reference to the term "some embodiments," "other embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is merely exemplary of the present utility model, and those skilled in the art should not be considered as limiting the utility model, since modifications may be made in the specific embodiments and application scope of the utility model in light of the teachings of the present utility model.

Claims (10)

1. A multi-functional building construction system, comprising:

A robot center (100), the robot center (100) comprising a stand (110) and a replacement mechanism (120);

The construction robot (200), the construction robot (200) comprises a travelling mechanism (210), a construction mechanical arm (240), a construction actuating mechanism (220), a feed box mechanism (230) and a quick assembly and disassembly mechanism (250), wherein the construction mechanical arm (240) is installed on the travelling mechanism (210), the construction actuating mechanism (220) is detachably connected to the construction mechanical arm (240), the feed box mechanism (230) is arranged on the travelling mechanism (210), the feed box mechanism (230) is used for providing raw materials for the construction actuating mechanism (220), and the quick assembly and disassembly mechanism (250) is installed on the construction mechanical arm (240); wherein:

the bracket (110) is used for temporarily storing the construction actuating mechanism (220) and the feed box mechanism (230);

the quick assembly and disassembly mechanism (250) is used for mounting the construction actuating mechanism (220) temporarily stored on the bracket (110) to the construction mechanical arm (240) or disassembling the construction actuating mechanism (220) on the construction mechanical arm (240) to the bracket (110);

The replacing mechanism (120) is used for installing the bin mechanism (230) temporarily stored on the support (110) to the travelling mechanism (210) or detaching the bin mechanism (230) on the travelling mechanism (210) to the support (110).

2. The multifunctional building construction system according to claim 1, wherein the robot center (100) further comprises a charging mechanism (130), a charging connector matched with the charging mechanism (130) is arranged on the travelling mechanism (210), and the charging mechanism (130) is used for charging the construction robot (200).

3. The multi-purpose building construction system according to claim 1, wherein the stand (110) comprises:

A first frame structure (111), wherein the first frame structure (111) is provided with a plurality of first accommodation positions (1110) which are arranged at intervals along the vertical direction, and the first accommodation positions (1110) are used for accommodating the construction actuating mechanism (220);

the second frame structure (112), second frame structure (112) are used for supporting first frame structure (111) and place on the outside holding surface, be equipped with second on second frame structure (112) and hold position (1120), second holds position (1120) and is used for holding workbin mechanism (230).

4. A multi-functional building construction system according to claim 3, wherein the second frame structure (112) comprises a frame body (1122) and a plurality of support plates (1123) connected to the frame body (1122) and arranged at intervals in a vertical direction, the second accommodation site (1120) is formed on the support plates (1123), and the replacement mechanism (120) is provided in the support plates (1123) juxtaposed with the second accommodation site (1120) and/or above the second accommodation site (1120).

5. The multifunctional building construction system according to claim 1, wherein the replacing mechanism (120) comprises a replacing mechanical arm (121), and an executing end of the replacing mechanical arm (121) is provided with a matching structure (1211) matched with the feed box mechanism (230);

Said cooperating structure (1211) comprises electromagnetic means capable of engaging with said bin mechanism (230); or:

The mating structure (1211) includes a jaw mechanism capable of gripping the bin mechanism (230).

6. The multi-function construction system according to claim 1, wherein the construction actuator (220) comprises a construction structure (221) and a first quick release plate (222) connected to the construction structure (221);

The quick assembly and disassembly mechanism (250) comprises a replacement driving piece (251) and a second quick assembly and disassembly disc (252), the replacement driving piece (251) is arranged at the tail end of the construction mechanical arm (240), and when the second quick assembly and disassembly disc (252) is in butt joint with the first quick assembly and disassembly disc (222), the replacement driving piece (251) can clamp or release the first quick assembly and disassembly disc (222);

And a material conveying pipe (2522) is further arranged on the second quick-release plate (252), one end of the material conveying pipe (2522) is connected with the material box mechanism (230), and the other end of the material conveying pipe is in butt joint with a material inlet pipe (223) on the first quick-release plate (222).

7. The multifunctional building construction system according to claim 6, wherein the first quick release plate (222) is provided with a clamping portion (2221) and a plurality of first positioning portions (2222) arranged around the clamping portion (2221);

The replacement driving piece (251) comprises clamping jaws, the clamping jaws can clamp or release the clamping portions (2221), and a second positioning portion (2521) matched with the first positioning portion (2222) is further arranged on the second quick-release disc (252).

8. The multi-purpose building construction system according to claim 1, wherein the travelling mechanism (210) comprises:

A frame (211), wherein a fixing part for fixing the feed box mechanism (230) is arranged on the frame (211);

-a wheel (212), said wheel (212) being mounted to said frame (211);

The walking driving motor (213) is arranged on the frame (211) and is used for driving the wheels (212) to rotate;

A shooting module (214), wherein the shooting module (214) is arranged on the frame (211);

The power supply module (215) is arranged on the frame (211) and is used for supplying power to the shooting module (214) and the walking driving motor (213).

9. The multi-function building construction system according to claim 1, wherein the magazine mechanism (230) comprises:

A feed box body (231), wherein the feed box body (231) is provided with a feed inlet (2311);

The material conveying pump (232), the material conveying pump (232) is arranged on the material box body (231), and the material conveying pump (232) is used for outputting raw materials in the material box body (231) to the construction executing mechanism (220).

10. The multi-purpose building construction system according to claim 1, wherein the construction robot (200) further comprises a lifting mechanism (260), the lifting mechanism (260) being provided on the travelling mechanism (210) and being configured to drive the construction robot arm (240) to lift.