WO2022166178A1

WO2022166178A1 - Scaffold mounting and dismounting robot

Info

Publication number: WO2022166178A1
Application number: PCT/CN2021/115178
Authority: WO
Inventors: 王芝香
Original assignee: 王芝香
Priority date: 2021-08-28
Filing date: 2021-08-28
Publication date: 2022-08-11
Also published as: CN115697641A

Abstract

A scaffold mounting and dismounting robot, characterized in that a first mechanical arm (1) grasps a first scaffold steel pipe (81) on the side, then eight mechanical arms rotate relatively along seven rotating shafts to adjust position, then an eighth mechanical arm (8) side grasps the scaffold steel pipe (81), the first mechanical arm (1) side loosens the scaffold steel pipe (81). Then, the eight mechanical arms rotate relatively along the seven rotating shafts, then the first mechanical arm (1) side grasps the scaffold steel pipe (81), and the eighth mechanical arm (8) side loosens the scaffold steel pipe (81), thereby achieving a cycle and the robot may freely walk on the scaffold steel pipe (81). By means of a fastener system, fasteners are grabbed, and then the fasteners are mounted and fixed on the steel pipe (81). Using the remotely controllable, full-automatic, synchronous intelligent control seven-axis robot to mount and dismount a scaffold is safer and higher in efficiency compared with existing scaffold mounting and dismounting, which is completed manually at a high-altitude.

Description

A scaffolding installation and disassembly robot

technical field

The invention relates to construction engineering, in particular to a scaffold installation and disassembly robot.

Background technique

The installation and dismantling of scaffolding on construction sites are now all manual operations, and manual high-altitude installation and dismantling of scaffolding is dangerous and inefficient. Therefore, it is necessary to carry out research and development improvement on the installation and disassembly of scaffolding.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the high danger and low efficiency of manual operation of the existing scaffold installation and disassembly. The present invention proposes a scaffold installation and disassembly robot with a new concept, which can walk freely on the scaffold, and can be controlled by remote control and fully automatic synchronous intelligent control. Axis robot, installation and removal of scaffolding. Compared with the existing artificial high-altitude installation and removal of scaffolding, it is safer and more efficient.

In order to solve the above technical problems, the present invention is achieved through the following technical solutions: a scaffold installation and disassembly robot, which includes a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm, The sixth manipulator, the seventh manipulator, and the eighth manipulator; the first manipulator is equipped with a second screw rod, a first bevel gear transmission group, a first push block, a first push rod, an eleventh rotating shaft, a second The push rod, the twelfth rotating shaft, the first grasping ring, the second grasping ring; the second mechanical arm is equipped with the first motor, the third belt, the tenth motor, the fourth belt, the first rotating shaft, and the tenth motor is installed on the outer wall. A motor, a third screw, a fastener installation box, and a camera. The fastener installation box is equipped with a fourth screw, a third push block, a connecting rod, a thirteenth rotation axis, a rotation block, a fourteenth rotation axis, and a fastener base , the thirteenth motor, the fifth screw, the wrench base, the electric wrench, the fifteenth rotation axis, the fourteenth motor, the sixth screw, the pendulum rod, the sixteenth rotation axis, the fourth push block, the first grab block , the seventeenth rotating shaft, the fastener nut, the eighteenth rotating shaft, the second grabbing block, the fifteenth motor; the third mechanical arm is equipped with a second motor, a second rotating shaft, and a camera is installed on the outer wall; the fourth The manipulator is equipped with a fourth rotating shaft, a fourth motor, an eighth motor, an eighth rotating shaft, a third motor, and a third rotating shaft, a fastener storage disk is installed in the middle, and a circuit control board is installed in the two side walls; the fifth A power battery is installed in the middle of the mechanical arm, and a fifth rotating shaft and a fifth motor are installed at the lower end; the sixth mechanical arm is equipped with a sixth motor and a sixth rotating shaft, and a camera is installed on the outer wall; , the first belt, the seventh rotating shaft, the ninth motor, the second belt, the first screw, the second bevel gear transmission group; the eighth mechanical arm is equipped with the third push rod, the fourth push rod, the third grasping ring, The fourth grip ring, the ninth rotation axis, the second push block, and the tenth rotation axis.

It is characterized in that: the camera on the third manipulator, the sixth manipulator and the fastener installation box is used to scan and collect the working environment data, the circuit control boards are installed in the two side walls of the fourth manipulator to transmit the data, and the automatic synchronous control system is used to transmit the data. and remote control system, intelligent control; the first motor drives the first manipulator and the second manipulator to rotate relatively along the first rotation axis through the third belt, and the second motor drives the second manipulator and the third manipulator to rotate along the second The shafts rotate relative to each other, the third motor drives the third arm and the fourth arm to rotate relative to the third axis of rotation, the fourth motor drives the fourth arm and the fifth arm to rotate relative to the fourth axis, and the fifth motor drives The fifth robotic arm and the sixth robotic arm rotate relative to each other along the fifth rotation axis, the sixth motor drives the sixth robotic arm and the seventh robotic arm to rotate relative to the sixth rotation axis, and the seventh motor drives the seventh robotic arm through the first belt It rotates relative to the eighth mechanical arm along the seventh rotation axis to realize the relative rotation of the eight mechanical arms along the seven rotation axes;

The tenth motor drives the first bevel gear drive group through the fourth belt, the first bevel gear drive group drives the second screw to push the first push block, and the first push block drives the first grip ring to rotate along the eleventh through the first push rod The shaft rotates, and the first push block drives the second grasping ring to rotate along the twelfth rotation axis through the second push rod, thus realizing the grasping and loosening of the steel pipe on the side of the first mechanical arm; the ninth motor drives the second bevel gear through the second belt Transmission group, the second bevel gear transmission group drives the first screw to push the second push block, the second push block drives the third grip ring to rotate along the eighth rotation axis through the third push rod, and the second push block is driven by the fourth push rod The fourth gripping ring rotates along the tenth rotation axis, thereby realizing the gripping and loosening of the steel pipe on the eighth arm side;

The first manipulator side grabs the scaffolding steel pipe, then the eight manipulator arms rotate relative to each other along the seven rotation axes to adjust the position, then the eighth manipulator side grabs the scaffolding steel pipe, and then the first manipulator side releases the scaffolding steel pipe, and then the eight manipulator arms Adjust the position by relative rotation along the seven rotation axes, then the first manipulator side grabs the scaffolding steel pipe, and then the eighth manipulator side releases the scaffolding steel pipe, thus realizing the cycle and walking freely on the scaffolding steel pipe.

The eleventh motor drives the fastener installation box down through the third screw; the fifteenth motor drives the fourth push block forward, the fourth push block pushes the first grab block to rotate along the seventeenth rotation axis, and the fourth push block pushes the fourth push block The second grab block rotates along the eighteenth rotation axis, thereby clamping the fastener bolt; the twelfth motor drives the third push block forward through the fourth screw rod, and the third push block drives the rotation block along the thirteenth rotation axis through the connecting rod Rotating, the rotating block pushes the fastener base to rotate along the fourteenth rotation axis, thus placing the fastener base on the steel pipe; the fourteenth motor drives the pendulum rod to rotate along the fifteenth rotation axis through the sixth screw, and the pendulum rod pushes the fastener The pressing block rotates along the sixteenth rotation axis, thereby interlocking the fastener pressing block with the fastener bolt; the thirteenth motor drives the wrench base forward through the fifth screw, and the electric wrench locks the fastener nut; thus the fastener is installed to fix onto the steel pipe.

The eighth motor drives the fastener storage disk to rotate along the eighth rotation axis, the spring pressure drives the right self-locking block to self-lock along the nineteenth rotation axis, the left self-locking block and the right self-locking block clamp the fastener bolts, and the first grab The block and the second grab block clamp the fastener bolts, the sixteenth motor drives the fastener pressing block to rotate, loosens the fastener, and the third motor drives the third mechanical arm and the fourth mechanical arm to rotate relatively along the third rotation axis, Thus grab the fastener.

The beneficial effects of the present invention are as follows: through the implementation of the technical solution, the existing scaffold installation and disassembly manual operation is highly dangerous and low in efficiency, and the present invention proposes a scaffold installation and disassembly robot with a brand-new concept, which can freely walk on the scaffold and be remotely controlled. A seven-axis robot controlled, fully automatic, and intelligently controlled, with scaffolding installed and dismantled. Compared with the existing artificial high-altitude installation and disassembly scaffolding, the present invention is safer and more efficient.

Description of drawings

FIG. 1 is a schematic diagram of the structure of the robot of the present invention.

2-6 are partial views of FIG. 1 .

7-8 are partial views of FIG. 6 .

FIG. 9 is a schematic structural diagram of a robot fetching fastener of the present invention.

10-11 are partial views of FIG. 9 .

12-15 are schematic diagrams of the structure of the motion state of the robot of the present invention.

In the drawings, the first robotic arm (1), the second robotic arm (2), the third robotic arm (3), the fourth robotic arm (4), the fifth robotic arm (5), and the sixth robotic arm (6) ), the seventh robotic arm (7), the eighth robotic arm (8), the fastener storage tray (9), the fourth rotating shaft (10), the fourth motor (11), the power battery (12), the sixth motor (13), sixth rotating shaft (14), fifth rotating shaft (15), fifth motor (16), seventh motor (17), first belt (18), seventh rotating shaft (19), The third push rod (20), the fourth push rod (21), the third grasping ring (22), the fourth grasping ring (23), the ninth motor (24), the second belt (25), the first screw (26) ), the second bevel gear transmission group (27), the ninth rotating shaft (28), the second pushing block (29), the tenth rotating shaft (30), the eighth motor (31), the eighth rotating shaft (32) , second motor (33), second rotating shaft (34), third motor (35), third rotating shaft (36), first motor (37), third belt (38), tenth motor (39) , the fourth belt (40), the second screw (41), the first rotating shaft (42), the first bevel gear transmission group (43), the first push block (44), the first push rod (45), the first Eleven rotation shafts (46), second push rods (47), twelfth rotation shafts (48), first gripping rings (49), second gripping rings (50), eleventh motor (51), Three screws (52), fastener installation box (53), camera (54), twelfth motor (55), fourth screw (56), third push block (57), connecting rod (58), tenth Three rotating shafts (59), rotating block (60), fourteenth rotating shaft (61), fastener base (62), thirteenth motor (63), fifth screw (64), wrench base (65), Electric wrench (66), fifteenth rotating shaft (67), fourteenth motor (68), sixth screw (69), swing rod (70), fastener pressing block (71), sixteenth rotating shaft (72), the fourth push block (73), the first grab block (74), the seventeenth rotation shaft (75), the fastener nut (76), the eighteenth rotation shaft (77), the second grab block (78), fastener bolt (79), fifteenth motor (80), steel pipe (81), motor cover (82), nineteenth rotating shaft (83), spring (84), left self-locking block ( 85), right self-locking block (86), sixteenth motor (87), fastener pressing block (88).

Detailed ways

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

Please refer to accompanying drawings 1-15, a scaffold installation and disassembly robot, which includes a first mechanical arm 1, a second mechanical arm 2, a third mechanical arm 3, a fourth mechanical arm 4, a fifth mechanical arm 5, and a sixth mechanical arm Arm 6, seventh robotic arm 7, eighth robotic arm 8; the first robotic arm 1 is equipped with a second screw 41, a first bevel gear transmission group 43, a first push block 44, a first push rod 45, an eleventh The rotating shaft 46, the second push rod 47, the twelfth rotating shaft 48, the first grasping ring 49, the second grasping ring 50; the second mechanical arm 2 is equipped with a first motor 37, a third belt 38, a tenth motor 39, The fourth belt 40, the first rotating shaft 42, the eleventh motor 51, the third screw 52, the fastener installation box 53, the camera 54 are installed on the outer wall, and the fourth screw 56 and the third push block are installed on the fastener installation box 53 57, connecting rod 58, thirteenth rotating shaft 59, rotating block 60, fourteenth rotating shaft 61, fastener base 62, thirteenth motor 63, fifth screw 64, wrench base 65, electric wrench 66, tenth Five rotating shafts 67, fourteenth motor 68, sixth screw 69, swing rod 70, sixteenth rotating shaft 72, fourth push block 73, first grab block 74, seventeenth rotating shaft 75, fastener nut 76. The eighteenth rotating shaft 77, the second grabbing block 78, the fifteenth motor 80; the third mechanical arm 3 is equipped with a second motor 33, a second rotating shaft 34, and a camera is installed on the outer wall; the fourth mechanical arm 4 The fourth rotating shaft 10, the fourth motor 11, the eighth motor 31, the eighth rotating shaft 32, the third motor 35, the third rotating shaft 36 are installed inside, the fastener storage disk 9 is installed in the middle, and the circuit is installed in the two side walls. Control board; the fifth mechanical arm 5 is equipped with a power battery 12 in the middle, and the lower end is equipped with a fifth rotating shaft 1) and a fifth motor 16; the sixth mechanical arm 6 is equipped with a sixth motor 13, a sixth rotating shaft 14, and the outer wall A camera is installed on it; the seventh mechanical arm 7 is equipped with a seventh motor 17, a first belt 18, a seventh rotating shaft 19, a ninth motor 24, a second belt 25, a first screw 26, and a second bevel gear transmission group 27; The eighth mechanical arm 8 is equipped with a third push rod 20 , a fourth push rod 21 , a third grasping ring 22 , a fourth grasping ring 23 , a ninth rotating shaft 28 , a second pushing block 29 , and a tenth rotating shaft 30 .

It is characterized in that: the camera on the third robotic arm 3, the sixth robotic arm and the fastener installation box 53 is used to scan and collect the working environment data, and the circuit control boards are installed in the two side walls of the fourth robotic arm 4 to transmit the data, and the automatic Synchronous control system and remote control system, intelligent control; the first motor 37 drives the first robotic arm 1 and the second robotic arm 2 to rotate relatively along the first rotation axis 42 through the third belt 38, and the second motor 33 drives the second robotic arm 2 and the third robot arm 3 rotate relatively along the second rotation axis 34, the third motor 35 drives the third robot arm 3 and the fourth robot arm 4 to rotate relatively along the third rotation axis 36, and the fourth motor 11 drives the fourth robot arm 4 and the fifth robot arm 5 rotate relatively along the fourth rotation axis 10, the fifth motor 16 drives the fifth robot arm 5 and the sixth robot arm 6 to rotate relative to the fifth rotation axis 15, and the sixth motor 13 drives the sixth robot arm 6 and the seventh robotic arm 7 rotate relatively along the sixth rotation axis 14, and the seventh motor 17 drives the seventh robotic arm 7 and the eighth robotic arm 8 to rotate relative to each other along the seventh rotation axis 19 through the first belt 18 to realize eight mechanical The arms rotate relative to each other along seven rotation axes;

The tenth motor 35 drives the first bevel gear transmission group 43 through the fourth belt 40 , the first bevel gear transmission group 43 drives the second screw 41 to push the first push block 44 , and the first push block 44 drives the first push block 44 through the first push rod 45 . A grasping ring 49 rotates along the eleventh rotation axis 46, and the first push block 44 drives the second grasping ring 50 to rotate along the twelfth rotation axis 48 through the second push rod 47, thereby realizing the grasping and loosening of the first mechanical arm 1 side. Open the steel pipe; the ninth motor 24 drives the second bevel gear transmission group 27 through the second belt 25, the second bevel gear transmission group 27 drives the first screw 26 to push the second push block 29, and the second push block 29 passes the third push rod 20 drives the third grasping ring 22 to rotate along the eighth rotation axis 28, and the second push block 29 drives the fourth grasping ring 23 to rotate along the tenth rotation axis 30 through the fourth push rod 21, thus realizing the grasping and loosen the steel pipe;

The first robotic arm 1 side grasps the scaffolding steel pipe, then the eight robotic arms 8 rotate relative to each other along the seven rotation axes to adjust the position, then the eighth robotic arm 8 side grasps the scaffolding steel pipe, and then the first robotic arm 1 side releases the scaffolding steel pipe, then The eight manipulators rotate relative to each other along the seven rotation axes to adjust their positions, then the first manipulator 1 side grabs the scaffolding steel pipe, and then the eighth manipulator 8 side releases the scaffolding steel pipe, thus realizing the cycle and walking freely on the scaffolding steel pipe.

The eleventh motor 51 drives the fastener installation box 53 to descend through the third screw 52 ; the fifteenth motor 80 drives the fourth push block 73 to move forward, and the fourth push block 73 pushes the first grab block 74 along the seventeenth rotation axis 75 Rotating, the fourth push block 73 pushes the second grab block 78 to rotate along the eighteenth rotation axis 77, thereby clamping the fastener bolt 79; the twelfth motor 55 drives the third push block 57 forward through the fourth screw 56, the first The three push blocks 57 drive the rotation block 60 to rotate along the thirteenth rotation axis 59 through the connecting rod 58, and the rotation block 60 pushes the fastener base 62 to rotate along the fourteenth rotation axis 61, thus placing the fastener base 62 on the steel pipe 81; The fourteenth motor 68 drives the pendulum rod 70 to rotate along the fifteenth rotation axis 67 through the sixth screw 69 , and the pendulum rod 70 pushes the fastener pressing block 71 to rotate along the sixteenth rotation axis 72 , thereby connecting the fastener pressing block 72 to the sixteenth rotation axis 72 . The fastener bolts 79 are interlocked; the thirteenth motor 63 drives the wrench base 65 forward through the fifth screw 64 , and the electric wrench 66 locks the fastener nut 76 ;

The eighth motor 32 drives the fastener storage disk 9 to rotate along the eighth rotation axis 31, the pressure of the spring 84 drives the right self-locking block 86 to self-lock along the nineteenth rotation axis 83, and the left self-locking block 85 and the right self-locking block 86 are clamped The fastener bolt 79, the first grab block 74 and the second grab block 78 clamp the fastener bolt 79, the sixteenth motor 87 drives the fastener clamp 88 to rotate, loosens the fastener, and the third motor 35 drives the third The robotic arm 3 and the fourth robotic arm 4 rotate relative to each other along the third rotation axis 36 so as to grab the fastener.

The above is only a preferable feasible implementation case of the present invention, and is not intended to limit the protection scope of the present invention. Various modifications or applications made according to the above examples are all within the protection scope of this technical solution.

Claims

A scaffolding installation and dismantling robot, characterized in that: the first motor (37) drives a first mechanical arm (1) and a second mechanical arm (2) along a first rotation axis (42) through a third belt (38) For relative rotation, the second motor (33) drives the second robotic arm (2) and the third robotic arm (3) to rotate relatively along the second rotation axis (34), and the third motor (35) drives the third robotic arm 3 and the third robotic arm (3) to rotate relative to each other. The fourth mechanical arm (4) rotates relatively along the third rotation axis (36), and the fourth motor (11) drives the fourth mechanical arm (4) and the fifth mechanical arm (5) to rotate relatively along the fourth rotation axis (10), The fifth motor (16) drives the fifth manipulator (5) and the sixth manipulator (6) to rotate relative to each other along the fifth rotation axis (15), and the sixth motor (13) drives the sixth manipulator (6) and the seventh manipulator (6). The robotic arm (7) rotates relatively along the sixth rotation axis (14), and the seventh motor (17) drives the seventh robotic arm (7) and the eighth robotic arm (8) along the seventh rotation axis through the first belt (18) (19) Relative rotation, to realize the relative rotation of eight mechanical arms along seven rotation axes;

The tenth motor (35) drives the first bevel gear transmission group (43) through the fourth belt (40), the first bevel gear transmission group (43) drives the second screw (41) to push the first push block (44), and the first bevel gear transmission group (43) drives the second screw (41) to push the first push block (44). A push block (44) drives the first grip ring (49) to rotate along the eleventh rotation axis (46) through the first push rod (45), and the first push block (44) drives the second push rod (47) through the second push rod (47). The second grasping ring (50) rotates along the twelfth rotation axis (48), thus realizing the first mechanical arm (1) side grasping and releasing the steel pipe (81); the ninth motor (24) is driven by the second belt (25) The second bevel gear transmission group (27), the second bevel gear transmission group (27) drives the first screw (26) to push the second push block (29), and the second push block (29) passes through the third push rod (20) The third grasping ring (22) is driven to rotate along the eighth rotation axis (28), and the second push block (29) drives the fourth grasping ring (23) to rotate along the tenth rotation axis (30) through the fourth push rod (21). , so that the eighth mechanical arm (8) side grasps and releases the steel pipe (81);

The first robotic arm (1) side grasps the scaffolding steel pipe, then the eight robotic arms (8) rotate relative to each other along the seven rotation axes to adjust the position, then the eighth robotic arm (8) side grasps the scaffolding steel pipe, and then the first robotic arm (1) ) side release the scaffold steel pipe, and then the eight manipulator arms rotate relative to each other along the seven rotation axes to adjust the position, then the first manipulator (1) side grasps the scaffold steel pipe, and then the eighth manipulator (8) side releases the scaffold steel pipe, so Realize circulation and walk freely on the scaffolding steel pipe.
The scaffold installation and disassembly robot according to claim 1, characterized in that: the eleventh motor (51) drives the fastener installation box (53) to descend through the third screw (52); the fifteenth motor (80) drives The fourth push block (73) moves forward, the fourth push block (73) pushes the first grab block (74) to rotate along the seventeenth rotation axis (75), and the fourth push block (73) pushes the second grab block ( 78) Rotate along the eighteenth rotation axis (77), thereby clamping the fastener bolt (79); the twelfth motor (55) drives the third push block (57) forward through the fourth screw (56), and the third push The block (57) drives the rotation block (60) to rotate along the thirteenth rotation axis (59) through the connecting rod (58), and the rotation block (60) pushes the fastener base (62) to rotate along the fourteenth rotation axis (61), Therefore, the fastener base (62) is placed on the steel pipe (81); the fourteenth motor (68) drives the pendulum (70) to rotate along the fifteenth rotation axis (67) through the sixth screw (69), and the pendulum (68) rotates. 70) Push the fastener pressing block (71) to rotate along the sixteenth rotation axis (72) so as to fasten the fastener pressing block (72) with the fastener bolt (79); the thirteenth motor (63) passes through the The five screws (64) drive the wrench base (65) forward, and the electric wrench (66) locks the fastener nut (76); thus the installation fastener is fixed on the steel pipe (81).
The scaffold installation and disassembly robot according to claim 1, characterized in that: the eighth motor (32) drives the fastener storage plate (9) to rotate along the eighth rotation axis (31), and the pressure of the spring (84) drives the right self-driving The locking block (86) is self-locking along the nineteenth rotation axis (83), the left self-locking block (85) and the right self-locking block (86) clamp the fastener bolt (79), the first grab block (74) and The second grabbing block (78) clamps the fastener bolt (79), the sixteenth motor (87) drives the fastener pressing block (88) to rotate, releases the fastener, and the third motor (35) drives the third mechanical arm (3) Relatively rotate with the fourth mechanical arm (4) along the third rotation axis (36), thereby grasping the fastener.