WO2022062372A1

WO2022062372A1 - Construction stringing robot having shock absorption effect and working method

Info

Publication number: WO2022062372A1
Application number: PCT/CN2021/087381
Authority: WO
Inventors: 王积相; 鲍锦超
Original assignee: 南京灵雀智能制造有限公司
Priority date: 2020-09-28
Filing date: 2021-04-15
Publication date: 2022-03-31
Also published as: CN112299122A

Abstract

A construction stringing robot having a shock absorption effect, comprising: a robot body (1) and a control system that is communicated with several drivers arranged on the robot body. The robot body comprises a walking mechanism (2) fixedly provided at the bottom of the robot body, a measurement device (3) fixedly provided on the robot body, and a stringing device (4) fixedly mounted on the robot body. A working method using the construction stringing robot having the shock absorption effect comprises: control, by means of a controller, a driving motor to be turned on; the driving motor drives a spiral shaft to rotate so as to convey lime powder in a feed hose to a stringing outlet from a feeding port; from the stringing outlet, the lime powder is used to draw a bright line on a preset stringing route along with the forward movement of the robot body. The robot and the method are applicable for construction environments having multiple terrains and structured soil texture, and facilitates construction for workers.

Description

A construction pay-off robot with vibration damping effect and its working method

technical field

The invention belongs to the field of building construction equipment, in particular to a construction payout robot with vibration damping effect and a working method.

Background technique

Setting out the construction line is one of the tasks that must be done before construction. The soil of the construction site is mostly gravel and rock, which makes the traditional circular roller shake violently during the walking process. Secondly, the terrain of the construction site is uneven. The slope varies sharply and slowly, especially when the soil is relatively soft such as sandy soil or silt soil, and the robot’s setting route is often deviated again. Therefore, the theodolite and artificial tape measure are still used for comparison and reference in the operation of laying out the building construction. The manual pay-off method is used, which is slow in efficiency and increases labor costs.

technical problem

Provided are a construction and pay-off robot with vibration damping effect and a working method. , in order to solve the above problems existing in the prior art.

technical solutions

A construction and lay-out robot with vibration damping function, comprising:

a robot body and a control system that communicates with a plurality of drives arranged on the robot body;

The robot body includes: a walking mechanism fixedly arranged at the bottom of the robot body, a measuring device fixedly arranged on the robot body, and a wire pay-off device fixedly installed on the robot body;

The control system includes a touch screen and a controller.

In a further embodiment, the walking mechanism includes: two sets of first moving mechanisms symmetrically arranged at one end of the front of the robot body, second moving mechanisms located behind the first moving mechanisms and symmetrically arranged on both sides of the middle of the robot body, and A third moving mechanism symmetrically installed behind the robot body.

In a further embodiment, the first moving mechanism includes: a first drive motor unit fixedly mounted on the robot body, a first drive shaft mounted on the first drive motor unit for transmission, and sleeved on the end of the first drive shaft a first drive wheel set on the outside, and a first track assembly sleeved on the first drive wheel; the other end of the first track assembly is sleeved with a first driven wheel set, the diameter of the first driven wheel set smaller than the first driving wheel set; the power of the first driving motor set drives the first driving wheel set to rotate through the first transmission shaft; thus the first crawler track assembly is in the shape of a triangle on the first driving wheel set and the first driven wheel set Trajectory circular motion.

In a further embodiment, the second moving mechanism includes: a second drive wheel set sleeved on the first transmission shaft and located inside the first drive wheel set, a second drive wheel set sleeved on the second drive wheel set Track assembly; the other end of the first track is sleeved with a second driven wheel set with the same diameter as the second driving wheel set, and the power of the first driving motor set drives the second driving wheel set to rotate through the first transmission shaft , so that the second track assembly moves cyclically on the second driving wheel set and the second driven wheel set in a rounded quadrilateral track.

In a further embodiment, the third moving mechanism includes: a third driving wheel set fixedly mounted on the second driving motor set, drivingly connected to the output shaft end of the second driving motor set, and sleeved on the third driving wheel set An external third crawler track assembly; the third crawler track assembly includes: a triangular mounting plate connected to the end of the output shaft by interference, three third driven wheels installed in rotation at the angles of the triangular mounting plate, and sleeved on the third driving wheel set The transmission belt between the third driven wheel and the third driven wheel, and the third crawler belt sleeved on the outside of the three third driven wheels; then the power of the second driving motor group drives the third driving wheel group to rotate through the output shaft, and the third driving wheel group rotates. During the rotation process, the power drives the driven wheel to rotate through the transmission belt, and the power drives the other two driven wheels to rotate through the driven wheel and the third crawler belt sleeved on the third driven wheel. triangle, so that the third crawler belt rotates circularly in an equilateral triangle trajectory.

In a further embodiment, the measuring device includes: a rotating base fixedly mounted on the robot body, a robotic arm fixedly connected to the top of the rotating base, and an optical measuring instrument arranged at the other end of the robotic arm; the robotic arm includes : The first rotating mechanism fixedly installed on the rotating base, the first connecting arm fixedly installed on the output end of the first rotating mechanism, the second rotating mechanism fixedly installed on the other end of the first connecting arm, and the second rotating mechanism fixedly installed The second connecting arm of the output end, the other end of the second connecting arm is fixedly connected to the fixed base; the optical measuring instrument is fixedly installed on the fixed base, and then the optical measuring instrument moves down with the movement of the rotating base and the robot arm. To achieve multiple axis adjustment.

In a further embodiment, the pay-off device includes: a pay-off bin fixedly installed on the robot body and located in the middle of the third moving mechanism, a pay-off bracket fixedly installed behind the robot body, fixed on the pay-off material A slide rail assembly on the rack, and a pay-off assembly clamped on the slide rail assembly; the pay-off assembly includes: a mobile platform clamped on the slide rail assembly, a servo motor mounted on the mobile platform, fixedly installed on the The pay-off tube on the mobile platform, the feeding hose connecting the pay-off silo and the pay-off tube, and the screw shaft interspersed in the pay-off tube; the other end of the screw shaft is driven and connected to the drive motor, the The other end of the feeding hose is provided with a pay-off outlet, one end of the feeding hose is arranged at the bottom of the pay-off silo, and the other end of one end of the feeding hose is fixedly connected to the feeding port of the pay-off pipe; The wire silo is equipped with a pressure sensor;

A rack is also provided on one side of the slide rail assembly, and the power output end of the servo motor is driven to connect with a gear that is adapted to the rack, and then the servo motor drives the gear to move on the rack to drive the mobile platform to slide. The rail assembly drives the pay-off tube to adjust the position; the bottom of the mobile platform is provided with a laser detection device.

In a further embodiment, the control system further includes a communication device fixedly installed on the robot body, the communication device communicates with a signal tower arranged in the construction site.

In a further embodiment, the material in the pay-off silo is lime powder, the pay-off outlet is a square through opening on the top of the pay-off pipe; the screw shaft is fixedly connected with a screw blade, and then drives a motor The power of the screw drives the screw shaft to rotate, so that the screw blades on the screw shaft transfer the lime powder for marking from the pay-off silo to the pay-off pipe.

In a further embodiment, the following steps are included:

S1. Convert the drawing data into the real scene data through the Qcell three-dimensional building model software in the control system, and set the setting and generate the robot walking route data, and store it in the controller;

S2. The optical measuring instrument in the measuring device surveys and maps the real scene, and the surveying and mapping data is controlled by the controller to control the servo motor to drive the position of the mobile platform on the slide rail assembly, and the laser detection device feeds back the moving position of the mobile platform to the controller;

S3. The control system draws the payout line in the real scene area according to the drawing information on the payout drawing, and the controller controls the servo motor to drive the mobile platform to run to the drawing and payout line, so that the payout pipe and the drawing and payout line are on the same horizontal line ;

S4. The controller controls the drive motor to turn on, the drive motor drives the screw shaft to rotate and then transports the lime powder in the feeding hose from the feeding port to the pay-off outlet, and the lime powder continuously follows the robot body from the pay-off outlet. The advance line draws an open line on the preset release line to facilitate the construction of workers.

beneficial effect

1. The walking mechanism adopts the first walking mechanism that can be adjusted with the ground ups and downs to increase the buffer of the robot body when going uphill and downhill, so that it can adapt to the construction environment of various terrains and soil textures;

2. A third moving mechanism with an equilateral triangle structure is arranged at the pay-off mechanism, which further reduces the shaking of the robot due to the land and soil structure during the pay-off process, thereby improving the pay-off accuracy.

Description of drawings

FIG. 1 is a schematic diagram of the structure of the pay-off robot with vibration reduction and deviation correction function of the present invention.

FIG. 2 is a schematic view of the structure of the walking mechanism of the present invention.

3 is a top view of the first moving mechanism, the second moving mechanism and the third moving mechanism according to the present invention.

FIG. 4 is a schematic structural diagram of a third moving mechanism of the present invention.

FIG. 5 is a schematic structural diagram of the third crawler track assembly of the present invention.

FIG. 6 is a schematic view of the structure of the pay-off device of the present invention.

FIG. 7 is a schematic structural diagram of the slide rail assembly of the present invention.

FIG. 8 is a schematic structural diagram of a mobile station of the present invention.

Reference numerals are: robot body 1, walking mechanism 2, first moving mechanism 20, first driving motor group 200, first transmission shaft 201, first driving wheel group 202, first track assembly 203, first driven wheel group 204. The second moving mechanism 21, the second driving wheel group 210, the second track assembly 211, the second driven wheel group 212, the third moving mechanism 22, the second driving motor group 220, the output shaft 221, the third driving wheel group 222, the third crawler belt assembly 223, the triangular mounting plate 224, the third driven wheel 225, the transmission belt 226, the third crawler belt 227, the reduction box 228, the measuring device 3, the rotating seat 30, the mechanical arm 31, the first rotating mechanism 310, the first A connecting arm 311, a second rotating mechanism 312, a second connecting arm 313, a fixed base 314, an optical measuring instrument 32, a pay-off device 4, a pay-off bin 40, a pay-off bracket 41, a slide rail assembly 42, a mobile table 430 , servo motor 431 , pay-off tube 432 , feeding hose 433 , screw shaft 434 , drive motor 435 , pay-off outlet 436 , feeding port 437 , communication device 5 .

Embodiments of the present invention

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid obscuring the present invention.

Before construction of a construction project, a surveyor is required to measure the construction site according to the construction site, and then manually set out the line. The construction set-out is a necessary preparation before construction. The soil of the construction site is mostly gravel and rock, which makes the traditional The circular rollers generate violent vibrations during the walking process. Secondly, the terrain of the construction site is uneven, and the slope is different, especially when the soil is soft such as sand or silt, and the robot often sets the route again. Deviation, so that the traditional robot can not enter the construction site for automatic pay-off can only rely on manual reasons, and the axis needs to be transferred according to the axial direction of multiple buildings during the pay-off process. This way of pay-off is slow and increases the efficiency. Labor cost.

As shown in FIG. 1 to FIG. 7, a construction pay-off robot with vibration damping function includes: a robot body 1, a walking mechanism 2, a first moving mechanism 20, a first driving motor group 200, a first transmission shaft 201, First driving wheel set 202, first crawler track assembly 203, first driven wheel set 204, second moving mechanism 21, second driving wheel set 210, second crawler track assembly 211, second driven wheel set 212, third moving mechanism 22. The second drive motor group 220, the output shaft 221, the third drive wheel group 222, the third crawler belt assembly 223, the triangular mounting plate 224, the third driven wheel 225, the transmission belt 226, the third crawler belt 227, the reduction box 228, the measurement Device 3, rotating base 30, mechanical arm 31, first rotating mechanism 310, first connecting arm 311, second rotating mechanism 312, second connecting arm 313, fixed base 314, optical measuring instrument 32, wire pay-off device 4, Pay-off bin 40, pay-off bracket 41, slide rail assembly 42, moving table 430, servo motor 431, pay-off tube 432, feeding hose 433, screw shaft 434, drive motor 435, pay-off outlet 436, feeding port 437 , communication device 5 .

Wherein, the robot body 1 is provided with multiple battery packs to supply power to a plurality of actuators on the robot body 1, and the control system communicates with a plurality of actuator drivers arranged on the robot body 1;

The actuator in the robot body 1 includes: a walking mechanism 2 fixedly arranged at the bottom of the robot body 1, a measuring device 3 fixedly arranged on the robot body 1, and a pay-off device 4 fixedly installed on the robot body 1; control The system controls the traveling mechanism 2 and the pay-off device 4 to work according to the feedback signal from the measuring device 3 to complete the high-precision pay-off work.

The control system further includes a touch screen and a controller, and the touch screen is provided with control buttons to add a manual control module, so that the equipment can be easily adjusted according to the situation in actual use.

Due to the complex ground and terrain of the construction site, the walking mechanism 2 with a plurality of moving mechanisms is used to buffer and dampen the robot body 1 to effectively reduce the shaking of the robot body 1. The walking mechanism 2 includes: symmetrically arranged on Two sets of first moving mechanisms 20 at the front end of the robot body 1 , second moving mechanisms 21 located behind the first moving mechanism 20 and symmetrically arranged on both sides of the middle of the robot body, and a third moving mechanism symmetrically installed behind the robot body 1 twenty two. During the advancing process, the first moving mechanism 20 is always located in the advancing mechanism of the robot body 1 .

The first moving mechanism 20 includes: a first drive motor unit 200 fixedly installed on the robot body 1 , a first drive shaft 201 installed on the first drive motor unit 200 for transmission, and sleeved on the outermost side of the first drive shaft 201 The first drive wheel set 202, and the first track assembly 203 sleeved on the first drive wheel; the other end of the first track assembly 203 is sleeved with a first driven wheel set 204, the first driven wheel The diameter of the group 204 is smaller than that of the first driving wheel group 202; the power of the first driving motor group 200 drives the first driving wheel group 202 to rotate through the first transmission shaft 201; 202 and the first driven wheel set 204 are cyclically moved in a triangular trajectory; the first driven wheel set 204 is rotatably connected with the first transmission shaft 201 through the first crawler track assembly 203, and drives the first crawler track assembly 203 to follow the undulations of the ground during the forward process. It rotates around the first transmission shaft 201 to provide buffer force for complex terrain; secondly, the diameter of the first driven wheel set 204 is smaller than that of the first driving wheel set 202 when moving forward, and the rotational speed of the first driven wheel set 204 is greater than that of the first driving wheel set 202 and the first crawler track assembly 203 is tightened at the first driven wheel set 204 to form a motion trajectory similar to an obtuse triangle, and the first crawler track assembly 203 at the tightening position increases with the acceleration and tightening of the first driven wheel set 204. Clinging force of a track assembly 203 to the ground.

When going uphill, the robot body 1 firstly rotates and climbs up with the help of the first moving mechanism 20 according to the ups and downs of the terrain, so that the first moving mechanism 20 provides an upward pulling force for the first transmission shaft 201 to drive the same socket on the first drive shaft 201. The second moving mechanism 21 on a transmission shaft 201 provides an upward force to drive the second crawler assembly 211 sleeved on the first driving wheel set 202 to move upward with the second moving mechanism 21; when the robot body 1 With the help of the first moving mechanism 20, the first moving mechanism 20 performs an angular rotation and downward movement as the terrain descends, so that the first moving mechanism 20 provides a downward pulling force for the first transmission shaft 201 to drive the same socket on the first transmission shaft 201. The second moving mechanism 21 provides a downward force to drive the second crawler track assembly 211 sleeved on the first driving wheel set 202 to move downward along with the second moving mechanism 21; as far as possible to offset the robot walking in the complex terrain area due to the terrain The resulting reaction force, thereby reducing the shaking of the robot body 1; secondly, in the upward or downward complex slope movement, the first moving mechanism 20 and the second moving mechanism 21 increase the contact area with the ground, thereby making the robot body 1 1 Vibration force received is reduced.

The second moving mechanism 21 includes: a second driving wheel set 210 sleeved on the first transmission shaft 201 and located inside the first driving wheel set 202 , and a second crawler track assembly sleeved on the second driving wheel set 210 211; the other end of the first track is sleeved with a second driven wheel set 212 having the same diameter as the second driving wheel set 210, and the power of the first driving motor set 200 drives the second drive through the first transmission shaft 201 The wheel set 210 rotates, so that the second crawler track assembly 211 circulates on the second driving wheel set 210 and the second driven wheel set 212 in a rounded quadrilateral trajectory.

The pay-off device 4 is located at the third moving mechanism 22. Considering the different density of soil and gravel in the construction site, the first moving mechanism 20 and the second moving mechanism 21 can offset the vibration force caused by the terrain. In this case, the influence of soil quality on the forward line of the robot body 1 should also be considered. Three driving wheel sets 222, and a third crawler belt 227 assembly 223 sleeved on the outside of the third driving wheel set 222; the third crawler belt 227 assembly 223 includes: a triangular mounting plate 224 connected to the end of the output shaft 221 by interference, and is rotatably installed on the The three third driven pulleys 225 at the included angles of the triangular mounting plate 224, the transmission belt 226 sleeved between the third driving wheel set 222 and the third driven pulley 225, and the three third driven pulleys 225 sleeved outside the The third crawler belt 227; and then the power of the second driving motor group 220 drives the third driving wheel group 222 to rotate through the output shaft 221. The power output shaft 221 of the second driving motor group 220 and the third driving wheel group 222 are also provided with a reduction box 228. During the rotation of the third driving wheel group 222, the power drives the driven wheels to rotate through the transmission belt 226, and the power drives the other two driven wheels to rotate through the driven wheels and the third crawler belt 227 sleeved on the third driven wheel 225. The extension line of the center of each driven wheel forms an equilateral triangle, so that the third crawler belt 227 rotates cyclically in an equilateral triangle trajectory. The triangular stability is like the lower grounding specific pressure of the flat crawler in the second moving mechanism 21 , so that the vibration force on the tail of the robot is smaller.

The measuring device 3 includes: a rotating base 30 fixedly installed on the robot body 1, a mechanical arm 31 fixedly connected to the top of the rotating base 30, and an optical measuring instrument 32 arranged at the other end of the mechanical arm 31; the mechanical arm 31 It includes: a first rotating mechanism 310 fixedly installed on the rotating base 30, a first connecting arm 311 fixedly installed on the output end of the first rotating mechanism 310, a second rotating mechanism 312 fixedly installed on the other end of the first connecting arm 311, and The second connecting arm 313 is fixedly installed on the output end of the second rotating mechanism 312, and the other end of the second connecting arm 313 is fixedly connected to the fixed base 314; the optical measuring instrument 32 is fixedly installed on the fixed base 314, and then all the The optical measuring instrument 32 can be adjusted in multiple axial directions with the movement of the rotating base 30 and the robot arm.

The pay-off device 4 includes: a pay-off bin 40 fixedly installed on the robot body 1 and located in the middle of the third moving mechanism 22; a pay-off bracket 41 fixedly installed behind the robot body 1; The slide rail assembly 42 on the slide rail assembly 42, and the pay-off assembly that is clamped on the slide rail assembly 42; the pay-off assembly includes: a mobile platform 430 clamped on the slide rail assembly 42, and a servo motor installed on the mobile platform 430. 431, a pay-off tube 432 fixedly installed on the mobile platform 430, a supply hose 433 connecting the pay-off silo 40 and the pay-off tube 432, and a screw shaft 434 interspersed in the pay-off tube 432; the screw shaft 434 The other end of the feeding hose 433 is connected to the drive motor 435 in a driving manner. The other end of the pay-off tube 432 is provided with a pay-off outlet 436. The other end of one end of 433 is fixedly connected to the feeding port 437 of the pay-off pipe 432; the pay-off silo 40 is provided with a pressure sensor, which can detect the material in the pay-off silo 40 in real time, and when the material is reduced to a certain weight The control system reminds the staff to add materials to the pay-off silo 40 .

One side of the slide rail assembly 42 is also provided with a rack, and the power output end of the servo motor 431 is connected to a gear that is adapted to the rack, and the servo motor 431 drives the gear to move on the rack to drive the movement. The table 430 drives the pay-off tube 432 on the slide rail assembly 42 to adjust the position; the bottom of the mobile table 430 is provided with a laser detection device, which can detect and feedback the displacement accuracy of the mobile table 430; the control system also includes a fixed installation A communication device 5 on the robot body 1, which communicates with a signal tower provided in a construction site.

The material in the pay-off silo 40 is lime powder, and the pay-off outlet 436 is a square port opened on the top of the pay-off pipe 432; the screw shaft 434 is fixedly connected with a screw blade, and then drives the power of the motor 435 The screw shaft 434 is driven to rotate so that the screw blades on the screw shaft 434 transfer the lime powder for marking from the pay-off bin 40 to the pay-off pipe 432 .

The working principle is as follows: the layout drawings in CAD two-dimensional format are converted into real scene data through the Qcell three-dimensional building model software in the control system, and the robot walking route data is set and generated, and stored in the controller; optical measurement in measuring device 3 The instrument 32 surveys and maps the real scene, and the surveying and mapping data is controlled by the controller to control the servo motor 431 to drive the position of the mobile table 430 on the slide rail assembly 42, and the laser detection device feeds back the moving position of the mobile table 430 to the controller; The drawing information on the drawing is used to draw the line in the real scene area, and the controller controls the servo motor 431 to drive the mobile stage 430 to run to the place where the line is drawn, so that the pay-off tube 432 and the line for drawing are on the same horizontal line;

When running to the ground with complex slope, when going uphill, the robot body 1 firstly rotates and climbs up with the help of the first moving mechanism 20 along with the ups and downs of the terrain, so that the first moving mechanism 20 provides an upward pulling force for the first transmission shaft 201 . Thereby, the second moving mechanism 21 also sleeved on the first transmission shaft 201 is driven to provide upward force to drive the second crawler track assembly 211 sleeved on the first driving wheel set 202 to move upward along with the second moving mechanism 21; When going downhill, the robot body 1 firstly rotates and moves downward with the help of the first moving mechanism 20, so that the first moving mechanism 20 provides a downward pulling force for the first transmission shaft 201 to drive the same sleeve to The second moving mechanism 21 on the first transmission shaft 201 provides a downward force to drive the second crawler track assembly 211 sleeved on the first driving wheel set 202 to move downward along with the second moving mechanism 21; offset the robot as much as possible Walking in a complex terrain area caused by the reaction force caused by the terrain, thereby reducing the shaking of the robot body 1; secondly, in the upward or downward complex slope movement, the first moving mechanism 20 and the second moving mechanism 21 increase the contact with the ground area, thereby reducing the vibration force on the robot body 1;

The controller controls the drive motor 435 to turn on, the drive motor 435 drives the screw shaft 434 to rotate and then transports the lime powder in the feeding hose 433 from the feed port 437 to the pay-off outlet 436, and the lime powder is continuously from the pay-off outlet 436. With the advancement of the robot body 1, an open line is drawn on the preset release line to facilitate the construction of the worker.

The walking mechanism 2 of the present invention adopts the first walking mechanism 2 that is adjusted to rotate with the undulation of the ground to increase the buffer of the robot body 1 when going uphill and downhill, so that it can adapt to the construction environment of various terrains and soil textures; A third moving mechanism 22 having an equilateral triangle structure is provided, which further reduces the shaking of the robot due to the land and soil structure during the laying-out process, thereby improving the laying-out accuracy.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, These equivalent transformations all belong to the protection scope of the present invention.

Claims

A construction wire-paying robot with vibration-damping effect is characterized in that, comprising:

a robot body and a control system that communicates with a plurality of drives arranged on the robot body;

The robot body includes: a walking mechanism fixedly arranged at the bottom of the robot body, a measuring device fixedly arranged on the robot body, and a wire pay-off device fixedly installed on the robot body;

The control system includes a touch screen and a controller.
A construction pay-off robot with vibration damping according to claim 1, wherein the walking mechanism comprises: two sets of first moving mechanisms symmetrically arranged at one end of the front of the robot body and located behind the first moving mechanisms The second moving mechanism is symmetrically arranged on both sides of the middle of the robot body, and the third moving mechanism is symmetrically arranged behind the robot body.
A construction pay-off robot with vibration damping function according to claim 2, wherein the first moving mechanism comprises: a first drive motor group fixedly installed on the robot body, and the transmission is installed on the first drive motor. The first drive shaft of the motor unit, the first drive wheel set sleeved on the outermost side of the first drive shaft, and the first crawler track assembly sleeved on the first drive wheel; the other end of the first crawler track assembly is sleeved There is a first driven wheel set, and the diameter of the first driven wheel set is smaller than that of the first driving wheel set; the power of the first driving motor set drives the first driving wheel set to rotate through the first transmission shaft; The assembly circulates in a triangular track on the first driving wheel set and the first driven wheel set.
The construction and pay-off robot with vibration damping function according to claim 3, wherein the second moving mechanism comprises: a second moving mechanism sleeved on the first transmission shaft and located inside the first driving wheel set A drive wheel set, a second crawler track assembly sleeved on the second drive wheel set; the other end of the first crawler belt is sleeved with a second driven wheel set with the same diameter as the second drive wheel set, the first drive wheel set is sleeved The power of the motor group drives the second driving wheel group to rotate through the first transmission shaft, so that the second crawler track assembly moves circularly on the second driving wheel group and the second driven wheel group in a rounded quadrilateral track.
The construction and pay-off robot with vibration damping function according to claim 2, wherein the third moving mechanism comprises: fixedly installed on the second drive motor unit, and drively connected to the output shaft of the second drive motor unit The third driving wheel set at the end, and the third crawler track assembly sleeved on the outside of the third driving wheel set; the third crawler track assembly includes: a triangular mounting plate connected with the end of the output shaft by interference, and is rotatably installed at the included angle of the triangular mounting plate The three third driven wheels, the drive belt sleeved between the third driving wheel group and the third driven wheel, and the third crawler belt sleeved outside the three third driven wheels; and then the power of the second driving motor group The output shaft drives the third drive wheel set to rotate. During the rotation of the third drive wheel set, the power passes through the transmission belt to drive the driven wheel to rotate, and the power passes through the driven wheel and the third track sleeved on the third driven wheel. When the driving wheel rotates, the extension lines of the centers of the three driven wheels form an equilateral triangle, so that the third crawler belt rotates cyclically in an equilateral triangle trajectory.
A construction pay-off robot with vibration damping according to claim 1, wherein the measuring device comprises: a rotating seat fixedly installed on the robot body, a mechanical arm fixedly connected to the top of the rotating seat, and an optical measuring instrument arranged on the other end of the mechanical arm; the mechanical arm comprises: a first rotating mechanism fixedly installed on the rotating base, a first connecting arm fixedly installed on the output end of the first rotating mechanism, and fixedly installed on the first connecting arm a second rotating mechanism at the other end, and a second connecting arm fixedly installed on the output end of the second rotating mechanism, the other end of the second connecting arm is fixedly connected to a fixed base; the optical measuring instrument is fixedly installed on the fixed base , and the optical measuring instrument realizes multiple axial adjustments with the movement of the rotating base and the robotic arm.
A construction pay-off robot with vibration damping according to claim 1, wherein the pay-off device comprises: a pay-off silo fixedly installed on the robot body and located in the middle of the third moving mechanism; A pay-off bracket installed at the rear of the robot body, a slide rail assembly fixed on the pay-off rack, and a pay-off assembly clamped on the slide rail assembly; the pay-off assembly includes: clamped on the slide rail assembly The mobile table, the servo motor installed on the mobile table, the pay-off pipe fixedly installed on the mobile table, the feeding hose connecting the pay-off silo and the pay-off pipe, and the screw shaft interspersed in the pay-off pipe; The other end of the screw shaft is drivingly connected to the drive motor, the other end of the pay-off tube is provided with a pay-off outlet, one end of the feeding hose is set at the bottom of the pay-off silo, and one end of the feeding hose is The other end of the wire is fixedly connected to the feeding port of the pay-off pipe; the pay-off silo is provided with a pressure sensor;

A rack is also provided on one side of the slide rail assembly, and the power output end of the servo motor is driven to connect with a gear that is adapted to the rack, and then the servo motor drives the gear to move on the rack to drive the mobile platform to slide. The rail assembly drives the pay-off tube to adjust the position; the bottom of the mobile platform is provided with a laser detection device.
A construction line-paying robot with vibration damping according to claim 1, wherein the control system further comprises a communication device fixedly installed on the robot body, the communication device is connected with the robot installed in the construction site. Signal tower communication.
A construction pay-off robot with vibration damping according to claim 7, wherein the material in the pay-off silo is lime powder, and the pay-off outlet is a square opened on the top of the pay-off pipe The screw shaft is fixedly connected to the screw blade, and then the power of the driving motor drives the screw shaft to rotate, so that the screw blade on the screw shaft transfers the lime powder for marking from the pay-off silo to the pay-off pipe.
The working method of a construction wire-paying robot with vibration damping according to claim 1, characterized in that it includes the following working steps:

S1. Convert the drawing data into the real scene data through the Qcell three-dimensional building model software in the control system, and set the setting and generate the robot walking route data, and store it in the controller;

S2. The optical measuring instrument in the measuring device surveys and maps the real scene, and the surveying and mapping data is controlled by the controller to control the servo motor to drive the position of the mobile platform on the slide rail assembly, and the laser detection device feeds back the moving position of the mobile platform to the controller;

S3. The control system draws the payout line in the real scene area according to the drawing information on the payout drawing, and the controller controls the servo motor to drive the mobile platform to run to the drawing and payout line, so that the payout pipe and the drawing and payout line are on the same horizontal line ;

S4. The controller controls the drive motor to turn on, the drive motor drives the screw shaft to rotate and then transports the lime powder in the feeding hose from the feeding port to the pay-off outlet, and the lime powder continuously follows the robot body from the pay-off outlet. The advance line draws an open line on the preset release line to facilitate the construction of workers.