WO2023125167A1 - Robot de construction de bâtiment - Google Patents

Robot de construction de bâtiment Download PDF

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Publication number
WO2023125167A1
WO2023125167A1 PCT/CN2022/140445 CN2022140445W WO2023125167A1 WO 2023125167 A1 WO2023125167 A1 WO 2023125167A1 CN 2022140445 W CN2022140445 W CN 2022140445W WO 2023125167 A1 WO2023125167 A1 WO 2023125167A1
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WO
WIPO (PCT)
Prior art keywords
floor
cutting
module
building construction
construction robot
Prior art date
Application number
PCT/CN2022/140445
Other languages
English (en)
Chinese (zh)
Inventor
秦博远
周伟安
成露
梁逸泓
Original Assignee
广东博智林机器人有限公司
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Filing date
Publication date
Application filed by 广东博智林机器人有限公司 filed Critical 广东博智林机器人有限公司
Publication of WO2023125167A1 publication Critical patent/WO2023125167A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27M—WORKING OF WOOD NOT PROVIDED FOR IN SUBCLASSES B27B - B27L; MANUFACTURE OF SPECIFIC WOODEN ARTICLES
    • B27M3/00—Manufacture or reconditioning of specific semi-finished or finished articles
    • B27M3/04—Manufacture or reconditioning of specific semi-finished or finished articles of flooring elements, e.g. parqueting blocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
    • B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
    • B27B5/16—Saw benches
    • B27B5/18—Saw benches with feedable circular saw blade, e.g. arranged on a carriage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
    • B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
    • B27B5/29—Details; Component parts; Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
    • B27C5/00—Machines designed for producing special profiles or shaped work, e.g. by rotary cutters; Equipment therefor
    • B27C5/02—Machines with table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27C—PLANING, DRILLING, MILLING, TURNING OR UNIVERSAL MACHINES FOR WOOD OR SIMILAR MATERIAL
    • B27C5/00—Machines designed for producing special profiles or shaped work, e.g. by rotary cutters; Equipment therefor
    • B27C5/02—Machines with table
    • B27C5/06—Arrangements for clamping or feeding work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27G—ACCESSORY MACHINES OR APPARATUS FOR WORKING WOOD OR SIMILAR MATERIALS; TOOLS FOR WORKING WOOD OR SIMILAR MATERIALS; SAFETY DEVICES FOR WOOD WORKING MACHINES OR TOOLS
    • B27G3/00—Arrangements for removing bark-zones, chips, waste, or dust, specially designed for use in connection with wood-working machine or in wood-working plants
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F21/00—Implements for finishing work on buildings
    • E04F21/20—Implements for finishing work on buildings for laying flooring

Definitions

  • the present application relates to the field of building construction equipment, in particular, to a building construction robot.
  • the lock floor is widely used in the field of home improvement because it does not need to use adhesives during the installation process, is safe and environmentally friendly, and is easy to install.
  • the floor in the building is usually installed manually, but this construction method leads to low floor installation efficiency and high labor intensity. Therefore, in order to improve floor laying efficiency, save labor costs, and realize automatic floor installation, an automatic floor installation robot is usually used to install the floor.
  • the floor installation robot in the prior art needs to manually cut the floor first, and then lay the floor through the floor installation robot, which leads to the risk of manual hand injury during the floor cutting process, and the resulting The noise and dust of the floor can easily cause harm to the construction personnel, which in turn leads to greater safety hazards in the construction process of the floor.
  • An embodiment of the present application provides a building construction robot to solve the problem that there are relatively large potential safety hazards in the process of floor construction.
  • the embodiment of the present application provides a building construction robot, which is used for installing floors.
  • the building construction robot includes: a chassis; a first warehouse, the first warehouse is installed on the chassis, and The silo is used to store the floor; the cutting module is installed on the chassis, and the cutting module is used to cut the floor; and the execution module is installed on the On the chassis, the execution module is used to pick up the floor located in the first bin, and transfer the floor to the cutting module, and the execution module is also used to transfer the cutting die The floor after group cutting is installed on the ground.
  • the building construction robot includes a first silo and a cutting module
  • the first silo is used to store the floor
  • the cutting module is used to cut the floor, so that the floor is cut into the actual required size before
  • the execution module set on the chassis can pick up the floor stored in the first silo, and can transfer the floor to the cutting module after cutting, and then install the floor on the ground, so that the construction robot integrates Floor cutting and installation functions are provided.
  • the building construction robot with this structure realizes the integration of floor cutting and installation. On the one hand, it improves the automation of floor installation operations, thereby effectively reducing labor costs and improving floor installation efficiency, which in turn helps to shorten floor installation.
  • the chassis includes a main body and a traveling mechanism arranged at the bottom of the main body; the first magazine is installed on the first side of the main body in the left-right direction, and the cutting module is installed on the first side of the main body
  • the walking mechanism is located on the second side of the main body away from the first bunker in the left-right direction, and the execution module is installed on the top of the main body.
  • the mutual interference between the cutting module and the first bin can be effectively reduced , so that the execution module picks up the floor in the first silo and transfers the floor to the cutting module for cutting.
  • the execution module picks up the floor in the first silo and transfers the floor to the cutting module for cutting.
  • the execution module includes a rotation mechanism and an execution mechanism; the rotation mechanism is installed on the top of the main body, the execution mechanism is connected to the rotation mechanism, and the rotation mechanism is used to drive the The floor board picked up by the actuator is rotated from the first side to the second side so that the actuator can transfer the floor board on the first side to the cutting module.
  • the execution module is provided with a rotation mechanism and an execution mechanism for picking up the floor.
  • the rotation mechanism can drive the execution mechanism to rotate relative to the main body around the axis arranged in the up and down direction, so as to remove the floor picked up by the execution mechanism from the main body.
  • the first side is rotated to the second side, so that the execution module transfers the floor in the first bin to the cutting module for cutting.
  • the actuator includes a drive unit and a pick-up unit; the drive unit is connected to the rotating mechanism, the pick-up unit is connected to the drive unit, and the pick-up unit is used to pick up the floor,
  • the drive unit is used to drive the pick-up unit to move horizontally, vertically and vertically, so that the pick-up unit can protrude from the side of the first bin facing away from the main body in the left-right direction and
  • the floor is installed on the ground.
  • the actuator is provided with a drive unit, and the pick-up unit is connected to the rotating mechanism through the drive unit, so that the drive unit can drive the pick-up unit to move in three mutually perpendicular directions of horizontal, vertical and vertical.
  • the pick-up unit picks up the floor in the first silo and places the floor on the cutting module, which can effectively reduce the interference between the pick-up unit and other components.
  • the drive unit can drive the pick-up unit to extend to the first A material bin is away from the side of the main body in the left and right direction, so that the picking unit can avoid the first material bin and install the floor on the ground, so that the building construction robot can install the floor.
  • the chassis includes a main body and a traveling mechanism disposed at the bottom of the main body; the first magazine and the cutting module are installed on the first side of the main body in the left-right direction.
  • the first hopper and the cutting module are arranged on the same side, and the distance between the two is closer, so that It is beneficial to optimize the motion trajectory of the execution module to drive the floor to move.
  • the main body and the cutting module are installed above the chassis along the left-right direction
  • the first magazine is installed on the side edge of the first side of the chassis
  • the execution module Installed on the top of the main body and telescopically arranged, the execution module extends to pick up the floor located in the first bin, and retracts to transfer the floor to the cutting module.
  • the execution module is installed on the top of the main body and is telescopically arranged, the execution module extends to pick up the floor located in the first silo, and the execution module retracts to transfer the floor to
  • the cutting module and the execution module are installed on the top of the main body, which can effectively reduce the programming difficulty and operation difficulty of the building construction robot.
  • the driving unit includes a first moving seat, a first driving member, a second moving seat, a second driving member, a third moving seat and a third driving member;
  • the main body is movably arranged laterally, and the first driving member is used to drive the first moving seat to move relative to the main body along the left and right directions;
  • the second moving seat is movably arranged along the vertical direction.
  • the second driving member is used to drive the second moving seat to move vertically relative to the first moving seat;
  • the third moving seat can move along the longitudinal direction is arranged on the second moving base, the third driving member is used to drive the third moving base to move relative to the second moving base along the longitudinal direction, and the pick-up unit is installed on the third moving base .
  • the third driving member can drive the third moving base to move longitudinally, that is, move in the front and rear direction relative to the second moving base, and similarly, by driving the second
  • the component can drive the second moving seat to move vertically relative to the first moving seat
  • the first driving member can drive the first moving seat to move laterally, that is, to the left and right relative to the main body, so that the driving unit can drive the pickup unit to move in the lateral direction through this structure.
  • longitudinal and vertical three mutually perpendicular directions to move, simple structure, easy to realize, and high stability.
  • the drive unit further includes a rotating seat and a fourth driving member; the rotating seat is rotatably arranged on the first moving seat in a circumferential direction, and the rotation axis of the rotating seat is arranged along the vertical direction,
  • the fourth driving member is used to drive the rotating seat to rotate relative to the first moving seat;
  • the second moving seat is movably arranged on the rotating seat along the vertical direction, and the second driving member is used for and driving the second moving seat to move vertically relative to the rotating seat.
  • the second moving seat is connected to the first moving seat through the rotating seat, so that when the fourth driving member drives the rotating seat to rotate, it can Drive the second moving seat to rotate to drive the pick-up unit to rotate, so that the angle of the pick-up unit in the horizontal plane can be switched to switch the installation direction of the floor picked up by the pick-up unit, so that the construction robot can complete the floor installation in different directions Operation, that is to say, when the building construction robot is close to the wall in the process of installing the floor, it is necessary to change the direction of travel of the building construction robot, so that the installation direction of the floor can be kept unchanged by switching the angle of the picking unit in the horizontal plane, so as to Ensure that the floor continues to be installed and laid, and then the building construction robot with this structure can meet the operating requirements in various environments, which is conducive to expanding the scope of application of the building construction robot.
  • the pick-up unit includes a base, a pick-up piece, and a first knocking piece; the base is connected to the drive unit; the pick-up piece is installed on the base, and the pick-up piece is used Pick up the floor; the first knocking piece is installed on one end of the base in the width direction, and the first knocking piece is used to knock the one end of the floor in the width direction, so that the The other end of the floor in the width direction is fastened to the adjacent floor.
  • the pick-up unit is provided with a first knocking piece, through which one end in the width direction of the floor can be knocked when the floor is installed on the ground, so as to clamp the other end of the floor on the On the floor that has been installed, manual participation is not required, which is conducive to saving labor costs and improving the installation efficiency of the floor.
  • the first knocking member has a hook portion and a first knocking portion; the hook portion is installed on the base, and the hook portion is used to lift the floor in the width One end in the direction; the first knocking part is movably arranged on the base along the width direction of the base, and the first knocking part is used to knock the floor by the hook part The raised end is used to fasten the other end of the floor in the width direction to the adjacent floor.
  • the first knocking part is provided with a hook part and a first knocking part, and one end in the width direction of the floor can be lifted by the hook part, so as to keep the floor at an inclination angle, so that the floor Under the knocking action of the first knocking part, it can be smoothly stuck on the installed floor, so as to complete the automatic installation of the floor at one end of the width direction.
  • the picking unit further includes a second knocking piece; the second knocking piece is installed at one end of the base in the length direction, and the second knocking piece is used to knock the one end of the floor in the length direction, so that the other end of the floor in the length direction is clamped to the adjacent floor.
  • the pick-up unit is also provided with a second knocking piece, and by setting the second knocking piece at one end of the base in the length direction, the second knocking piece is installed at one end of the floor in the width direction. After completion, one end in the length direction of the floor can be tapped to clamp the end in the length direction of the floor on the installed floor, thereby completing the automatic installation of the end of the floor in the length direction.
  • the pick-up unit further includes a pressing piece; the pressing piece is mounted on one end of the base away from the second knocking piece in the length direction, and the pressing piece is used for The two knocking parts press the floor when they strike the floor.
  • the pick-up unit is also provided with a pressing piece, by arranging the pressing piece on the end of the base away from the second knocking piece in the length direction, so that the pressing piece hits the floor in the lengthwise direction when the second knocking piece hits the floor.
  • One end on the floor can press the other end of the floor in the length direction, that is to say, the end of the floor to be clamped can be pressed by the pressing piece, so as to reduce the impact of the floor when it is struck by the second knocking piece.
  • the phenomenon of warping occurs, thereby ensuring that the floor is installed in place, which is beneficial to improving the installation quality of the floor.
  • the cutting module includes a positioning mechanism and a cutting mechanism, the positioning mechanism and the cutting mechanism are located on the same side of the main body, the positioning mechanism is used to position the floor, and the cutting mechanism for cutting the floor on the positioning mechanism.
  • the cutting module is provided with a positioning mechanism and a cutting mechanism, and the positioning mechanism can undertake the floor picked up by the execution module and position the floor, thereby effectively alleviating the shaking of the floor during the cutting process.
  • the positioning mechanism can undertake the floor picked up by the execution module and position the floor, thereby effectively alleviating the shaking of the floor during the cutting process.
  • the cutting module includes a positioning mechanism and a cutting mechanism; the positioning mechanism is installed on the traveling mechanism, and the positioning mechanism is located on the second side in the left-right direction, the The positioning mechanism is used for positioning the floor; the cutting mechanism is installed on the second side of the main body, and the cutting mechanism is used for cutting the floor on the positioning mechanism.
  • the cutting module is provided with a positioning mechanism and a cutting mechanism, and the positioning mechanism can undertake the floor picked up by the execution module and position the floor, thereby effectively alleviating the shaking of the floor during the cutting process.
  • the positioning mechanism can undertake the floor picked up by the execution module and position the floor, thereby effectively alleviating the shaking of the floor during the cutting process.
  • the positioning mechanism includes a placement frame and an adjustment assembly; the placement frame is installed on the walking mechanism, and the placement frame is used to support the floor; the adjustment assembly is installed on the placement frame , the adjustment assembly is used to adjust the position of the floor on the placement frame in the front-rear direction, so as to adjust the floor to a position to be cut by the cutting mechanism.
  • the adjustment assembly can drive the floor placed on the placement frame to move in the front and rear direction relative to the placement frame to adjust the position of the floor in the front and rear direction, so that the floor Move to the position to be cut to achieve the positioning of the floor.
  • the positioning mechanism adopting this structure can effectively improve the cutting precision of the cutting mechanism on the floor, so as to cut the floor into the actual required size, thereby helping to improve the installation quality of the floor.
  • the adjusting assembly includes an absorbing part and a fifth driving part; the absorbing part is movably arranged on the placing frame along the front-rear direction, and the absorbing part is used to absorb the the floor above; the fifth driving member is installed on the placement frame, and the fifth driving member is used to drive the adsorption member to move relative to the placement frame along the front and rear directions, so as to move the floor to the position to be cut.
  • the absorbing part is movably arranged on the placing frame along the front and rear directions, so that after the absorbing part absorbs the floor placed on the placing frame, it can drive the floor relative to the placing frame to move forward and backward under the drive of the fifth driving part.
  • the structure is simple, and the operation is convenient.
  • the adjusting component is provided with an absorbing piece, through which the floor placed on the shelf can be absorbed, and in this way, scratches or damages on the floor can be effectively reduced.
  • the cutting mechanism has a cutter for cutting the floor; a first cutting groove is opened on the placement frame, and the first cutting groove is used for Keep the cutter out of the way when placing the floor on the shelf.
  • the first cutting groove for avoiding the cutter is provided on the placement frame to reduce interference or collision between the placement frame and the cutter, thereby improving the cutting quality of the cutting mechanism on the floor, and having It is beneficial to prolong the service life of the cutting mechanism.
  • the positioning mechanism also includes a clamping assembly; the clamping assembly is arranged on the placement frame, and the clamping assembly is used to clamp the floor on the placement frame to place The floor is fixed at the position to be cut.
  • the clamping assembly for clamping the floor by setting the clamping assembly for clamping the floor on the placement frame, the floor is fixed at the position to be cut on the placement frame, thereby reducing the shaking of the floor during the cutting by the cutting mechanism.
  • the phenomenon of displacement is beneficial to ensure the smooth progress of the floor cutting work, and can effectively improve the cutting accuracy of the floor.
  • the positioning mechanism also includes a waste box; the waste box is installed at one end of the placement frame in the front-rear direction, and the waste box is used to recycle the floor after being cut by the cutting mechanism.
  • Waste material the executive module is also used to transfer the waste material cut by the cutting mechanism from the floor into the waste material box.
  • a waste box is provided at one end of the placement frame in the front-rear direction, so that the waste box can collect the waste after the floor is cut, so that on the one hand, it is convenient to carry out centralized treatment of the waste after the floor is installed. It is beneficial to save manpower, and on the other hand, it can alleviate the adverse effects of waste materials scattered on the ground on the construction process of the building construction robot.
  • the upper side of the placing frame in the vertical direction has a supporting surface for supporting the floor; the opening of the waste box does not exceed the supporting surface in the vertical direction.
  • the opening of the waste box does not exceed the support surface of the placement frame for supporting the floor in the up and down direction, so that the executive module can transfer the waste after cutting the floor into the waste box, thereby avoiding the waste caused by waste.
  • the opening of the bin is too high to cause the waste material to be blocked by the waste bin when it enters the waste bin.
  • the positioning mechanism includes two waste bins; the two waste bins are respectively installed at both ends of the placing frame in the front-rear direction.
  • the waste after cutting the floor will be in different positions on the front and rear directions of the placement frame , and then by setting waste boxes at both ends in the front and rear directions of the placement frame, it is convenient to collect the waste after cutting the floor, which is beneficial to shorten the moving stroke for executing the module to transfer the waste.
  • the second side of the main body is provided with an installation cavity;
  • the cutting mechanism includes a cutting assembly for cutting the floor, and the cutting assembly has a first state and a second state; when the When the cutting assembly is in the first state, the cutting assembly retracts into the installation cavity to avoid the positioning mechanism; when the cutting assembly is in the second state, the cutting assembly extends in the installation cavity to cut the floor on the positioning mechanism.
  • the cutting mechanism is installed in the installation cavity, and the cutting assembly used by the cutting mechanism to cut the floor has a first state retracted in the installation cavity and a second state extending out of the installation cavity, so that the cutting assembly is in the In the first state, the positioning mechanism can be avoided, so that the execution module can place the floor on the positioning mechanism, and when the cutting assembly is in the second state, it can protrude from the installation cavity and carry out the operation on the floor placed on the positioning mechanism. cutting to complete the cutting work of the floor.
  • the cutting mechanism with this structure can effectively reduce the interference phenomenon between the floor picked up by the execution module and the cutting mechanism when it is placed on the positioning mechanism, so that it is convenient for the execution module to place the floor on the positioning mechanism, which is conducive to optimization. Execute the motion track of the module.
  • the cutting mechanism further includes a moving assembly; the moving assembly is installed in the installation cavity, the cutting assembly is connected to the moving assembly, and the moving assembly is used to drive the cutting assembly relative to The main body moves along the left-right direction, so that the cutting assembly retracts into the installation cavity or extends out of the installation cavity, so that the cutting assembly is in the first state or the second state.
  • the cutting mechanism is provided with a moving assembly, and the moving assembly is installed in the installation cavity, and the moving assembly can drive the cutting assembly to move in the left and right direction relative to the main body, so as to realize the cutting assembly in the first state and Cutting between the second states is easy to realize and has high stability.
  • the cutting track of the cutting component can be completed by continuing to drive the cutting component to move in the left and right directions, so as to place the floor on the positioning mechanism cutting, which is beneficial to simplify the structure of the cutting assembly, and facilitate the cutting assembly to cut the floor.
  • the cutting assembly includes a box and a cutting member; the box is movably arranged on the main body along the left-right direction, and the box is connected to the moving assembly, and the moving The assembly is used to drive the box body to move along the left and right directions; the cutting part is installed in the box body, the cutting part has a cutter for cutting the floor, and the bottom wall of the box body is provided with There is a strip-shaped slot running through the bottom wall of the box, the cutting knife is inserted in the strip-shaped slot, and at least part of the cutting knife extends out of the box body.
  • the cutting assembly of the structure only needs to move the assembly to drive the box to move in the left and right directions to realize the movement of the cutting piece in the left and right directions, which is convenient for installation and operation.
  • the box can protect the cutting piece to a certain extent and shielding operations to reduce the risk of damage to the cutting parts, thereby effectively prolonging the service life of the cutting parts, and reducing the possibility of direct contact between the cutting parts and the operator, thereby reducing the potential safety hazards of construction robots during the construction process .
  • the cutting assembly further includes a fan; the fan is installed in the box, and the fan is used to recover dust generated when the cutting member cuts the floor.
  • the cutting assembly is also equipped with a fan, which can absorb the dust generated when the cutting piece cuts the floor by installing the fan in the box, so as to reduce the adverse effect of the dust on the cutting piece, which is beneficial to prolong the cutting time.
  • the service life of the parts can be improved, and it can alleviate the phenomenon of dust in the construction site.
  • the moving assembly includes a fixed seat, a sixth driving member and a transmission unit; the fixed seat is installed in the installation cavity, and the cutting assembly is movably connected to the A fixed seat; the sixth driving member is installed on the fixed seat, the sixth driving member is in transmission connection with the cutting assembly through the transmission unit, and the sixth driving member is used to drive the cutting assembly through the transmission unit
  • the cutting assembly moves along the left and right directions.
  • the moving assembly is provided with a fixed seat, a sixth driving member and a transmission unit, and the cutting assembly is in transmission connection with the sixth driving member through the transmission unit, so that the sixth driving member can drive the cutting assembly in the left and right direction relative to the fixed seat.
  • the moving assembly with this structure makes the force of the sixth driving member acting on the cutting assembly, the direction of the force and the moving range of the cutting assembly easy to adjust through the transmission unit to meet different operation requirements.
  • the transmission unit includes a sliding block and a swing rod; the sliding block is movably connected to the cutting assembly along the front and rear directions; one end of the swing rod is connected to the sixth driving member, so The other end of the swing rod is hinged to the sliding block, and the sixth driving member is used to drive the swing rod to rotate around the axis arranged in the up and down direction, so as to drive the cutting assembly along the left and right through the sliding block. direction to move.
  • one end of the swing rod is connected to the output end of the sixth driving member, the other end is hinged to the sliding block, and the sliding block is movably connected to the cutting assembly along the front and rear direction, so that the sixth driving member is driving
  • the swinging rod swings, it can drive the sliding block to move in the front and back direction on the cutting assembly, and make the sliding block apply force in the left and right direction to the cutting assembly to drive the cutting assembly to move in the left and right direction relative to the fixed seat.
  • the structure is simple and easy to realize. And high stability.
  • the cutting module includes two cutting mechanisms; the two cutting mechanisms are arranged at intervals along the front-rear direction on the main body, and the two cutting mechanisms are not in the front-rear direction. beyond the ends of the positioning mechanism.
  • the floor needs to be cut into different lengths according to the actual needs during the use of the floor, so that the cutting positions of the floor are different, so by arranging two cutting mechanisms at intervals along the front and rear directions on the main body, and the two The cutting mechanism is located within the length range of the positioning mechanism in the front-rear direction, so that the building construction robot can select cutting mechanisms in different positions according to the different cutting positions of the floor in the front-rear direction, thereby facilitating the cutting of the floor and helping to shorten the length of the positioning mechanism.
  • the length in the front-back direction is to reduce the occupied space of the building construction robot.
  • the cutting module further includes a second silo; the second silo is installed on the traveling mechanism, and the second silo is located on the second side in the left-right direction , and the second warehouse is located between the walking mechanism and the positioning mechanism in the up and down direction, the second warehouse is used to store the floor after being cut by the cutting mechanism; the execution mold The group is also used to transfer the floorboards cut by the cutting mechanism into the second storage bin.
  • the cutting module is also provided with a second silo, through which the floor cut by the cutting mechanism can be stored, so that the subsequent execution module can pick up the floor in the second silo for re-cutting Use, thereby helping to reduce the waste of the floor, so as to reduce the installation cost of the floor.
  • the second storage bin includes a bin body, a seventh driving member, and a plurality of placement plates;
  • the bin body is installed on the traveling mechanism, and the bin body deviates from the One side of the main body is provided with an accommodating cavity;
  • a plurality of the placing plates are arranged at intervals in the accommodating cavity along the up-down direction, and the placing plates are movably connected to the bin body along the left-right direction, and the placing plates
  • the board is used to place the floor after being cut by the cutting mechanism, and the placement board has a placement position protruding from the accommodation chamber and a storage position retracted into the accommodation chamber in the left-right direction;
  • the seventh driving member is installed on the bin body, and the seventh driving member is used to selectively drive one of the placing plates to move along the left and right direction, so that the placing plate The board is toggled between the rest position and the storage position.
  • the seventh driving member can selectively drive the plurality of placement plates.
  • One of the two placement plates moves between the placement position and the recovery position along the left and right directions.
  • the second storage bin with this structure can simultaneously store a plurality of cut floors, and is conducive to the adjustment of different lengths after cutting. The floors are stored differently for subsequent use.
  • the placement board is set to be able to switch between the placement position protruding from the accommodation cavity and the storage position retracted into the accommodation cavity, so as to facilitate the implementation of the module.
  • the cut floor is placed on the placing board, and the floor is conveniently stored after the placing board is retracted into the accommodating cavity, which is beneficial to save the occupied space of the second material bin.
  • the top of the main body is higher than the cutting die set, and the second side of the main body and the top of the cutting die set jointly define an accommodating space extending along the front-rear direction;
  • the execution The module has a pick-up unit for picking up the floor, and the accommodation space is used to accommodate the pick-up unit.
  • the pick-up unit does not move in the left-right direction. beyond the edge of the running gear.
  • the top of the main body is set higher than the cutting module, so that the main body and the cutting module form a stepped structure, thereby jointly defining an accommodation space extending along the front and rear directions, so that the pick-up unit of the execution module is in the When it is in a non-working state, it can be accommodated in the accommodation space, and the pick-up unit does not exceed the edge of the traveling mechanism in the left and right directions, which is conducive to reducing the width of the construction robot when it is in a non-working state. Move in tight spaces.
  • accommodating the pick-up unit of the execution module in the accommodating space can also protect the pick-up unit to a certain extent, so as to reduce collision damage of the pick-up unit.
  • the first storage bin has a bottom wall for placing the floor; the first storage bin is reversibly connected to the first storage bin of the main body around an axis arranged in the front-rear direction.
  • the first silo On one side, the first silo has a working position and a storage position; when the first silo is turned over to the working position relative to the chassis, the first silo moves from the The first side protrudes from the walking mechanism, and the bottom wall faces up and down to bear the floor; when the first storage bin turns over to the storage position relative to the chassis, the bottom wall Covering downwards on the top of the chassis along the up-down direction.
  • the first storage bin is reversibly connected to the first side of the main body around the axis arranged in the front-back direction, so that the first storage bin has a working position and a storage position, so that when the first storage bin is in the In the working position, the first feed bin is located on one side of the traveling mechanism in the left and right direction, so that the bottom wall of the first feed bin can bear the floor, and when the first feed bin is in the storage position, the bottom wall of the first feed bin can It is covered on the top of the main body so that the first storage bin is accommodated on the main body, so that the building construction robot can reduce the occupied width of the first storage bin and the chassis when the first storage bin is in the storage position.
  • the building construction robot adopting this structure can effectively reduce the width dimension of the building construction robot by turning over the first material bin to the storage position before installing the floor, so that the building construction robot can enter the indoor operation, and in the building After the construction robot enters the room, it only needs to turn the first material bin to the working position to store the floor through the first material bin, so that there is no need to disassemble the first material bin before the building construction robot enters the room, and after entering the room
  • Assembling the first silo can effectively reduce the preparatory work of the building construction robot when installing the floor, shorten the construction period for the building construction robot to install the floor, and improve the floor installation efficiency.
  • the edge of the walking mechanism close to the first side in the left-right direction forms an abutment side; when the first storage bin is in the working position, the first storage bin is The left-right direction leans against the abutting side; when the first material bin is at the storage position, the first material bin does not exceed the abutting side in the left-right direction.
  • the width dimension of the construction robot is when the first storage bin is at the storage position. It will not be affected by the first silo, which can further reduce the impact of the first silo on the width of the construction robot, and make the width of the walking mechanism equal to the width of the construction robot, which is beneficial to the construction robot through narrow areas.
  • the building construction robot further includes a control module; the cutting module and the execution module are both electrically connected to the control module, and the control module is used to control the cutting module and the The execution module acts; the control module has a first working mode and a second working mode; when the control module is in the first working mode, the control module is used to control the execution module to pick up the the floor in a silo, and drive the floor to move to the ground so as to install the floor on the ground; when the control module is in the second working mode, the control module is used to control the execution The module picks up the floor located in the first silo, transfers the floor to the cutting module for cutting, and drives the floor cut by the cutting module to move to the ground, so that Install the floor after being cut by the cutting module on the ground.
  • the building construction robot is also provided with a control module, through which two working modes of the building construction robot can be realized, and when the control module is in the first working mode, the execution module can be picked up in the first bin
  • the floor is directly installed on the ground to meet the installation requirements that the floor does not need to be cut, and when the control module is in the second working mode, the execution module can transfer the floor to the cutting mold after picking up the floor in the first silo Group, and install the floor on the ground after the cutting module cuts the floor, so as to meet the needs of the floor after cutting according to the actual situation, which is conducive to improving the automation of the construction robot to achieve different floors. of the installation.
  • the first magazine is arranged on one side of the chassis in the left-right direction
  • the cutting module is arranged on the other side of the chassis in the left-right direction
  • the axis arranged in the up and down direction is rotatably installed on the chassis, and the installation position of the execution module is located between the first magazine and the cutting module in the left and right direction;
  • the execution module The activity path of the group includes a first position, a second position and a third position; the execution module located at the first position is used to pick up the floor located in the first bin, and the execution module The set overlaps with the projection of the first silo in the up and down direction; the execution module located at the second position is used to place the floor to the cutting module, and the execution module and The projections of the cutting modules in the up and down direction overlap;
  • the execution module located at the third position is used to install the floor cut by the cutting module on the ground, and the One side of the execution module in the left-right direction exceeds the first storage bin.
  • Fig. 1 is a schematic structural diagram of a building construction robot provided by an embodiment of the present application
  • Fig. 2 is the front view of the building construction robot shown in Fig. 1;
  • Fig. 3 is a structural schematic diagram of the chassis of the building construction robot shown in Fig. 1;
  • Fig. 4 is the structural representation of the building construction robot shown in Fig. 1 (when installing the floor);
  • Fig. 5 is a structural schematic diagram of the building construction robot shown in Fig. 1 (when the first feed bin is in the storage position);
  • Fig. 6 is a schematic diagram of the connection between the chassis of the building construction robot shown in Fig. 1 and the first silo;
  • Fig. 7 is a schematic structural view of the first silo of the building construction robot shown in Fig. 1;
  • Fig. 8 is a schematic diagram of the connection between the cutting module and the chassis of the building construction robot shown in Fig. 1;
  • Fig. 9 is a schematic diagram of the connection between the cutting mechanism shown in Fig. 8 (when the cutting assembly is in the first state) and the main body;
  • Fig. 10 is a schematic diagram of the connection between the cutting mechanism shown in Fig. 8 (when the cutting assembly is in the second state) and the main body;
  • Fig. 11 is a schematic structural view of the cutting mechanism shown in Fig. 9;
  • Fig. 12 is a schematic structural view of a fixed seat of the moving assembly shown in Fig. 11;
  • Fig. 13 is a schematic structural view of the cutting assembly shown in Fig. 11 (when the top cover of the casing is removed);
  • Fig. 14 is a schematic diagram of the connection between the cutting member shown in Fig. 13 and the bottom wall of the box;
  • Fig. 15 is a structural schematic diagram of the positioning mechanism of the building construction robot shown in Fig. 1;
  • Fig. 16 is a partial enlarged view of A of the positioning mechanism shown in Fig. 15;
  • Fig. 17 is a structural schematic diagram of the adjustment assembly of the positioning mechanism shown in Fig. 15;
  • Fig. 18 is a schematic structural view of the second silo of the building construction robot shown in Fig. 1;
  • Fig. 19 is a schematic structural diagram of the execution module of the building construction robot shown in Fig. 1;
  • FIG. 20 is a schematic structural diagram of the pick-up unit of the execution module shown in FIG. 19;
  • FIG. 21 is a schematic structural view of a first knocking member of the pickup unit shown in FIG. 20;
  • Figure 22 is a front view of the pickup unit shown in Figure 20;
  • FIG. 23 is a schematic structural diagram of a second knocking member of the pickup unit shown in FIG. 22;
  • FIG. 24 is a schematic structural diagram of a pressing member of the pickup unit shown in FIG. 22;
  • Fig. 25 is a schematic structural diagram of a building construction robot provided in an alternative embodiment of the present application.
  • the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the application is used, or the orientation or positional relationship of this application.
  • Orientations or positional relationships commonly understood by those skilled in the art are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood For the limitation of this application.
  • the terms “first”, “second”, “third”, etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.
  • the embodiment of the present application provides a building construction robot, which can improve the floor installation robot in the prior art, which needs to manually cut the floor first, and then lay the floor through the floor installation robot, resulting in the process of manually cutting the floor There is a risk of hand injury, and the noise and dust generated by cutting the floor are very likely to cause harm to the construction personnel, which will lead to a greater safety hazard during the construction of the floor.
  • the specific structure is described in detail.
  • a building construction robot 100 includes a chassis 10 , a first storage bin 20 , a cutting module 30 and an execution module 40 .
  • the first storage bin 20 is installed on the chassis 10, and the first storage bin 20 is used for storing floors.
  • the cutting module 30 is installed on the chassis 10, and the cutting module 30 is used for cutting the floor.
  • the execution module 40 is installed on the chassis 10, the execution module 40 is used to pick up the floor located in the first warehouse 20, and transfers the floor to the cutting module 30, and the execution module 40 is also used to cut the cutting module 30 After the floor is installed on the ground.
  • the building construction robot 100 includes a first silo 20 and a cutting module 30.
  • the first silo 20 is used to store the floor
  • the cutting module 30 is used to cut the floor, so that the floor is cut into the actual required size before proceeding.
  • the execution module 40 arranged on the chassis 10 can pick up the floor stored in the first warehouse 20, and can transfer the floor to the cutting module 30 after cutting, and then install the floor on the ground, so that the building
  • the construction robot 100 integrates floor cutting and installation functions.
  • the building construction robot 100 with this structure realizes the integration of floor cutting and installation. On the one hand, it improves the automation of floor installation operations, thereby effectively reducing labor costs and improving floor installation efficiency.
  • the first storage bin 20 is disposed on one side of the chassis 10 in the left-right direction Y, and the first storage bin 20 is used for storing floors.
  • the cutting module 30 is disposed on the other side of the chassis 10 in the left-right direction Y, and the cutting module 30 is used for cutting the floor.
  • the chassis 10 is respectively provided with a first material bin 20 and a cutting module 30 on both sides of the left and right direction Y, the first material bin 20 is used to store the floor, and the cutting module 30 is used to cut the floor, so that the floor is cut
  • the execution module 40 arranged on the chassis 10 can pick up the floor stored in the first bin 20, and can transfer the floor to the cutting module 30 for cutting, and then the floor Installed on the ground
  • the building construction robot 100 integrates the functions of floor cutting and installation.
  • the building construction robot 100 with this structure realizes the integration of floor cutting and installation. On the one hand, it improves the automation of floor installation operations, thereby effectively reducing labor costs and improving floor installation efficiency.
  • the chassis 10 includes a main body 11 and a running gear 12 arranged at the bottom of the main body 11 .
  • the first bin 20 is installed on the first side 111 of the main body 11 in the left-right direction Y
  • the cutting module 30 is installed on the traveling mechanism 12, and is located on the second side of the main body 11 away from the first bin 20 in the left-right direction Y.
  • the execution module 40 is installed on the top of the main body 11 .
  • the execution module 40 picks up the floor in the first bin 20 and transfers the floor to the cutting module 30 for cutting.
  • the execution module 40 by installing the execution module 40 on the top of the main body 11, so that the execution module 40 transfers the floor in the first bin 20 to the cutting module 30, it is beneficial to optimize the movement of the execution module 40 to drive the floor to move The trajectory can effectively reduce the difficulty of programming and operation of the building construction robot 100 .
  • the running mechanism 12 can be an AGV trolley (Automated Guided Vehicle, automatic guided vehicle).
  • the traveling mechanism 12 is a wheat wheel trolley, and the traveling mechanism 12 adopting this structure is not easy to scratch the installed floor during the installation process of the building construction robot 100 .
  • the main body 11 is a control cabinet installed on the traveling mechanism 12, and the building construction robot 100 also includes a control module, which is arranged in the control cabinet. Both the cutting module 30 and the execution module 40 are electrically connected to the control module, and the control module is used to control the actions of the cutting module 30 and the execution module 40 .
  • the control module has a first working mode and a second working mode. When the control module is in the first working mode, the control module is used to control the execution module 40 to pick up the floor in the first storage bin 20 and drive the floor to move to the ground so as to install the floor on the ground.
  • control module When the control module is in the second working mode, the control module is used to control the execution module 40 to pick up the floor located in the first bin 20, and transfer the floor to the cutting module 30 for cutting, and drive the cutting module 30 to cut After the floor is moved to the ground, the floor cut by the cutting module 30 is installed on the ground.
  • Two working modes of the building construction robot 100 can be realized through the control module.
  • the executive module 40 can be directly installed on the ground after picking up the floor in the first silo 20 to meet the needs of the floor. There is no need for cutting installation requirements, and when the control module is in the second working mode, it can make the execution module 40 transfer the floor to the cutting module 30 after picking up the floor in the first bin 20, and the cutting module 30 pairs After the floor is cut, the floor is installed on the ground, so as to meet the requirement that the floor needs to be cut and then installed according to the actual situation, so as to improve the automation degree of the building construction robot 100, so as to realize different installation conditions of the floor.
  • the execution module 40 when the execution module 40 installs the floor, the execution module 40 can drive the floor to move in the left and right direction Y to the side of the first storage bin 20 away from the main body 11, so as to The floor is installed on the ground.
  • the first material bin 20 is disposed on one side of the chassis 10 in the left-right direction Y
  • the cutting module 30 is disposed on the other side of the chassis 10 in the left-right direction Y.
  • the execution module 40 is rotatably mounted on the main body 11 of the chassis 10 around the axis arranged in the up-down direction Z, and the installation position of the execution module 40 is between the first magazine 20 and the cutting module 30 in the left-right direction Y .
  • the activity path of the execution module 40 includes a first location, a second location and a third location.
  • the execution module 40 at the first position is used to pick up the floor located in the first warehouse 20 , and the execution module 40 overlaps with the projection of the first warehouse 20 in the vertical direction Z.
  • the execution module 40 located at the second position is used to place the floor to the cutting module 30, and the projection of the execution module 40 and the cutting module 30 in the vertical direction Z overlaps.
  • the execution module 40 at the third position is used to install the floor cut by the cutting module 30 on the ground, and one side of the execution module 40 in the left-right direction Y exceeds the first storage bin 20 .
  • the first storage bin 20 has a bottom wall 21 for placing a floor.
  • the first storage bin 20 is reversibly connected to the first side 111 of the main body 11 around the axis arranged in the front-back direction X, and the first storage bin 20 has a working position (see FIG. 1 ) and a storage position (see FIG. 5 . ).
  • the first silo 20 When the first silo 20 is turned over to the working position relative to the chassis 10, the first silo 20 protrudes from the first side 111 to the running mechanism 12 in the left-right direction Y, and the bottom wall 21 faces upward along the up-down direction Z to carry the floor .
  • the bottom wall 21 covers the top of the chassis 10 downward along the up-down direction Z.
  • the first storage bin 20 By reversibly connecting the first storage bin 20 to the first side 111 of the main body 11 around the axis arranged along the front-rear direction X, the first storage bin 20 has a working position and a storage position, so that when the first storage bin 20 is located In the working position, the first storage bin 20 is located on one side of the traveling mechanism 12 in the left-right direction Y, so that the bottom wall 21 of the first storage bin 20 can bear the floor, and when the first storage bin 20 is in the storage position, the first The bottom wall 21 of the storage bin 20 can cover the top of the main body 11, so that the first storage bin 20 can be accommodated on the main body 11, and then the building construction robot 100 can shrink the first storage bin 20 when the first storage bin 20 is in the storage position.
  • the building construction robot 100 adopting this structure can effectively reduce the width dimension of the building construction robot 100 by turning over the first material bin 20 to the storage position before installing the floor, so that the building construction robot 100 can enter the indoor operation. , and after the building construction robot 100 enters the room, it is only necessary to turn the first material bin 20 to the working position to store the floor through the first material bin 20, so that there is no need to first check the first material bin 20 before the building construction robot 100 enters the room. 20 is disassembled, and the first silo 20 is assembled after entering the room, which can effectively reduce the preparatory work of the building construction robot 100 when performing floor installation operations, so as to shorten the construction period for the building construction robot 100 to install the floor. It is beneficial to improve the installation efficiency of the floor.
  • the edge of the traveling mechanism 12 in the left-right direction Y close to the first side 111 forms an abutment side 121 .
  • the first silo 20 abuts against the abutting side 121 in the left-right direction Y.
  • the first storage bin 20 does not exceed the abutment side 121 in the left-right direction Y.
  • the width dimension of the traveling mechanism 12 is the width dimension of the building construction robot 100, and then It is advantageous for the building construction robot 100 to pass through narrow areas.
  • the first silo 20 has a bottom wall 21, a first side wall 22 and a second side wall 23, the first side wall 22 is connected to one end of the bottom wall 21 in the left-right direction Y, and the first side wall 22 passes through
  • the hinge is rotatably connected to the first side 111 of the main body 11 , so that the first magazine 20 is reversibly disposed on the main body 11 .
  • the second side wall 23 is connected to the bottom wall 21 and one end of the first side wall 22 in the front-rear direction X.
  • the bottom wall 21 , the first side wall 22 and the second side wall 23 enclose a storage space for storing floors.
  • the first side 111 of the main body 11 is flush with the abutting side 121 of the traveling mechanism 12, and the first side 111 of the main body 11 is provided with an escape groove 113, when the first material bin 20 is turned over to the storage position, the first The first side wall 22 of the silo 20 is accommodated in the avoidance groove 113, and the side edge of the first silo 20 in the left-right direction Y does not exceed the second side 112 of the main body 11, so that the first silo 20 can move in the left-right direction Y.
  • the side edge on Y does not extend beyond the abutment side 121 of the chassis 12 .
  • the top of the main body 11 has an installation area 114 for installing the execution module 40
  • the bottom wall 21 of the first storage bin 20 is provided with a notch 211 for avoidance.
  • the escape notch 211 of the bottom wall 21 is used to avoid the installation area 114 , so that the execution module 40 can be avoided, so as to avoid interference between the first magazine 20 and the execution module 40 .
  • a first locking member 24 and a second locking member 25 are also provided on the first storage bin 20, and the first locking member 24 is used to lock the first storage bin 20 when the first storage bin 20 is in the storage position.
  • the bottom wall 21 of the bin 20 is releasably locked to the top of the main body 11 to hold the first bin 20 in the stowed position.
  • the second locking member 25 is used to releasably lock the first side wall 22 of the first storage bin 20 and the first side 111 of the main body 11 when the first storage bin 20 is in the working position, so that the first storage bin 20 20 remains in the working position.
  • the first locking member 24 is a buckle
  • the second locking member 25 is a locking wrench.
  • the specific structure of the lock and the locking wrench can be referred to related technologies, and will not be repeated here.
  • the cutting module 30 includes a cutting mechanism 31 and a positioning mechanism 32.
  • the positioning mechanism 32 and the cutting mechanism 31 are located on the same side of the main body 11.
  • the positioning mechanism 32 is used for positioning the floor, and the cutting mechanism 31 is used for cutting. 32 floors.
  • the positioning mechanism 32 can accept the floor picked up by the execution module 40 and position the floor, thereby effectively alleviating the shaking of the floor during the cutting process, reducing the possibility of the floor being cut and scrapped, and further reducing the floor. installation cost.
  • the cutting module 30 includes a cutting mechanism 31 and a positioning mechanism 32 .
  • the positioning mechanism 32 is installed on the traveling mechanism 12, and the positioning mechanism 32 is located on the second side 112 in the left-right direction Y, and the positioning mechanism 32 is used for positioning the floor.
  • the cutting mechanism 31 is installed on the second side 112 of the main body 11 , and the cutting mechanism 31 is used for cutting the floor on the positioning mechanism 32 .
  • the positioning mechanism 32 can accept the floor picked up by the execution module 40 and position the floor, thereby effectively alleviating the shaking of the floor during the cutting process, reducing the possibility of the floor being cut and scrapped, and further reducing the floor. installation cost.
  • the second side 112 of the main body 11 defines an installation cavity 115 .
  • the cutting mechanism 31 includes a cutting assembly 311 for cutting the floor, and the cutting assembly 311 has a first state and a second state. When the cutting assembly 311 is in the first state (as shown in FIG. 9 ), the cutting assembly 311 retracts into the installation cavity 115 to avoid the positioning mechanism 32 . When the cutting assembly 311 is in the second state (refer to FIG. 10 ), the cutting assembly 311 extends out of the installation cavity 115 to cut the floor on the positioning mechanism 32 .
  • the cutting mechanism 31 is installed in the installation cavity 115, and the cutting mechanism 31 is used to cut the cutting assembly 311 of the floor.
  • the positioning mechanism 32 can be avoided, so that the execution module 40 can place the floor on the positioning mechanism 32, and the cutting assembly 311 can extend out of the installation cavity 115 and be placed on the positioning mechanism 32 when it is in the second state.
  • the floor on the positioning mechanism 32 is cut, thereby completing the cutting operation of the floor.
  • the cutting mechanism 31 with this structure can effectively reduce the interference phenomenon between the floor picked up by the execution module 40 and the cutting mechanism 31 during the process of placing it on the positioning mechanism 32, thereby facilitating the execution module 40 to place the floor on the positioning mechanism 32
  • the cutting assembly 311 when the cutting assembly 311 is in the second state, that is, when the cutting assembly 311 protrudes from the installation cavity 115 and is located above the positioning mechanism 32 , the cutting assembly 311 can cut the floor on the positioning mechanism 32 .
  • the second side 112 of the main body 11 can be provided with the installation cavity 115 for installing the cutting assembly 311, or there is no installation cavity 115, that is to say, the cutting assembly 311 can be directly installed on the second side of the main body 11.
  • the positioning mechanism 32 and the main body 11 need to be arranged at intervals in the left and right direction Y, so that there is a space between the positioning mechanism 32 and the main body 11 for accommodating the cutting assembly.
  • the cutting assembly 311 can be located between the positioning mechanism 32 and the main body 11 when it is in the first state, and when the cutting assembly 311 is in the second state, it can protrude out of the placement space along the left and right direction Y and can cut and locate The floor on the mechanism 32 to realize avoidance of the positioning mechanism 32.
  • the space occupied by the main body 11 and the positioning mechanism 32 in the left and right direction Y will become larger. Therefore, by opening an installation cavity for installing the cutting assembly 311 on the second side 112 of the main body 11 115 can effectively save the space occupied by the main body 11 and the positioning mechanism 32 in the left-right direction Y.
  • the cutting module 30 includes two cutting mechanisms 31, the two cutting mechanisms 31 are arranged at intervals along the front and rear direction X on the main body 11, and the two cutting mechanisms 31 do not exceed the positioning position in the front and rear direction X. Both ends of the mechanism 32 , the two cutting mechanisms 31 are installed in the installation cavity 115 of the main body 11 .
  • the building construction robot 100 can select the cutting mechanism 31 at different positions according to the different cutting positions of the floor in the front-rear direction X, thereby facilitating the cutting of the floor and facilitating shortening.
  • the length of the positioning mechanism 32 in the front-back direction X is to reduce the occupied space of the building construction robot 100 .
  • the cutting mechanism 31 further includes a moving assembly 312 .
  • the moving assembly 312 is installed in the installation cavity 115, the cutting assembly 311 is connected to the moving assembly 312, the moving assembly 312 is used to drive the cutting assembly 311 to move relative to the main body 11 in the left and right direction Y, so that the cutting assembly 311 retracts in the installation cavity 115 or extends Out of the installation cavity 115, the cutting assembly 311 is in the first state or the second state.
  • the moving component 312 can drive the cutting component 311 to move relative to the main body 11 in the left and right direction Y, so that the cutting component 311 can cut between the first state and the second state by moving, which is easy to realize and has high stability.
  • the cutting assembly 311 can be positioned on the positioning mechanism 32 by moving the cutting assembly 311 to move in the left-right direction Y. Move above the floor to complete the cutting trajectory of the cutting assembly 311, thereby completing the cutting of the floor placed on the positioning mechanism 32, which is conducive to simplifying the structure of the cutting assembly 311 and facilitating the cutting of the floor by the cutting assembly 311.
  • the moving assembly 312 includes a fixed seat 3121 , a sixth driving member 3122 and a transmission unit 3123 .
  • the fixing base 3121 is installed in the installation cavity 115 , and the cutting assembly 311 is movably connected to the fixing base 3121 along the left-right direction Y.
  • the sixth driving member 3122 is mounted on the fixing base 3121, and the sixth driving member 3122 is in transmission connection with the cutting assembly 311 through the transmission unit 3123, and the sixth driving member 3122 is used to drive the cutting assembly 311 to move in the left-right direction Y through the transmission unit 3123.
  • the cutting assembly 311 is in transmission connection with the sixth driving member 3122 through the transmission unit 3123, so that the sixth driving member 3122 can drive the cutting assembly 311 to move in the left and right direction Y relative to the fixed seat 3121.
  • the moving assembly 312 with this structure makes the sixth drive
  • the force of the member 3122 acting on the cutting assembly 311 , the direction of the force and the movement range of the cutting assembly 311 are conveniently adjusted through the transmission unit 3123 to meet different operation requirements.
  • the fixing base 3121 has an installation platform 3121a for installing the sixth driving member 3122, and the sixth driving member 3122 is screwed to the installation platform 3121a by bolts.
  • the fixing seat 3121 is provided with two sliding rails 3121b, the two sliding rails 3121b are arranged at intervals along the front and rear direction X, and the sliding rails 3121b extend along the left and right direction Y, the cutting assembly 311 has a first slider that cooperates with the sliding rails 3121b, In order to realize that the cutting assembly 311 is movably connected to the fixing seat 3121 along the left-right direction Y.
  • the transmission unit 3123 includes a sliding block 3123a and a swing rod 3123b.
  • the sliding block 3123a is movably connected to the cutting assembly 311 along the front-back direction X.
  • One end of the swing rod 3123b is connected to the sixth drive member 3122, and the other end of the swing rod 3123b is hinged to the sliding block 3123a.
  • the sixth drive member 3122 is used to drive the swing rod 3123b to rotate around the axis arranged in the up-down direction Z to pass through the sliding block.
  • 3123a drives the cutting assembly 311 to move along the left-right direction Y.
  • the structure of the transmission unit 3123 is not limited thereto.
  • the transmission unit 3123 can also have other structures, for example, the transmission unit 3123 is a rack and pinion structure or a worm gear structure.
  • the swing rod 3123b By connecting one end of the swing rod 3123b to the output end of the sixth driving member 3122, the other end is hinged to the sliding block 3123a, and the sliding block 3123a is movably connected to the cutting assembly 311 along the front and rear direction X, so that the sixth driving member 3122 is
  • the swing rod 3123b When the swing rod 3123b is driven to swing, it can drive the sliding block 3123a to move along the front and rear direction X on the cutting assembly 311, and make the sliding block 3123a apply a force along the left and right direction Y to the cutting assembly 311, so as to drive the cutting assembly 311 to move along the direction X relative to the fixed seat 3121.
  • Left and right direction Y movement simple structure, easy to implement, and high stability.
  • the sixth driving member 3122 is a motor, and the output shaft of the motor is connected to the swing rod 3123b to drive the swing rod 3123b to swing.
  • the sixth driving member 3122 can also be a hydraulic motor or the like.
  • the moving assembly 312 can also be of other structures, such as the moving assembly 312 is an air cylinder or an electric push rod, etc., the air cylinder or electric push rod is installed in the installation cavity 115 of the main body 11, and the cutting assembly 311 Connected to the output end of the cylinder or the electric push rod, so that the cutting assembly 311 can be driven to move in the left and right direction Y by the cylinder or the electric push rod, so as to realize the switching between the first state and the second state of the cutting assembly 311 .
  • the moving assembly 312 is an air cylinder or an electric push rod, etc.
  • the air cylinder or electric push rod is installed in the installation cavity 115 of the main body 11
  • the cutting assembly 311 Connected to the output end of the cylinder or the electric push rod, so that the cutting assembly 311 can be driven to move in the left and right direction Y by the cylinder or the electric push rod, so as to realize the switching between the first state and the second state of the cutting assembly 311 .
  • the cutting assembly 311 includes a box body 3111 and a cutting member 3112 .
  • the box body 3111 is movably arranged on the fixed seat 3121 of the moving assembly 312 along the left-right direction Y, and the box body 3111 is connected to the transmission unit 3123 of the moving assembly 312, and the moving assembly 312 is used to drive the box body 3111 to move in the left-right direction Y.
  • the cutting part 3112 is installed in the box body 3111, and is fixed on the box bottom wall 21 of the box body 3111.
  • the cutting part 3112 has a cutting knife 3112a for cutting the floor.
  • the strip-shaped slot 3111a, the cutting knife 3112a is inserted in the strip-shaped slot 3111a, and at least part of the cutting knife 3112a extends out of the box body 3111.
  • the cutting assembly 311 with this structure only needs to move the moving assembly 312 to drive the box body 3111 to move in the left and right direction Y to realize the movement of the cutting member 3112 in the left and right direction Y, which is convenient for installation and operation.
  • the box body 3111 It can protect the cutting part 3112 and cover operations to reduce the risk of damage to the cutting part 3112, thereby effectively prolonging the service life of the cutting part 3112 and reducing the possibility of direct contact between the cutting part 3112 and the operator. Therefore, the potential safety hazards existing in the construction process of the building construction robot 100 can be reduced.
  • the cutting knife 3112a extends out of the box body 3111, that is, the cutting part 3112 is installed in the box body 3111, and the cutting knife 3112a of the cutting part 3112 protrudes from the box body 3111 through the strip groove 3111a, thereby moving the assembly 312
  • the cutting member 3112 can be driven to move along the left and right direction Y above the floor placed on the positioning mechanism 32, and then the cutting knife 3112a protruding from the box body 3111 can be used to cut the floor. cutting.
  • the cutting knife 3112a since at least part of the cutting knife 3112a extends out of the box body 3111 through the bar-shaped groove 3111a, there is also a groove extending along the left-right direction Y on the fixed seat 3121 of the moving assembly 312 .
  • the notch 3121c, the notch 3121c is used to accommodate the cutter 3112a when the cutting assembly 311 retracts into the installation cavity 115 of the main body 11, so as to avoid the cutter 3112a, that is, when the cutting assembly 311 moves along the left and right direction Y
  • the cutting knife 3112a When reaching above the fixing seat 3121 , the cutting knife 3112a is located in the notch 3121c, thereby effectively avoiding interference between the cutting knife 3112a and the fixing seat 3121 .
  • the cutting part 3112 also has an eighth driving part 3112b, the eighth driving part 3112b is installed on the box bottom wall 21 of the box body 3111, the cutter 3112a is connected to the output shaft of the eighth driving part 3112b, and the eighth driving part 3112b is used for The cutter 3112a is driven to rotate to cut the floor.
  • the eighth driving member 3112b is a motor, and the output shaft of the motor is connected to the cutter 3112a to drive the cutter 3112a to rotate.
  • the eighth driving member 3112b can also be a hydraulic motor or the like.
  • the cutting assembly 311 further includes a blower 3113 .
  • the blower 3113 is installed in the box 3111 , and the blower 3113 is used to recover the dust generated when the cutting member 3112 cuts the floor.
  • the fan 3113 By arranging the fan 3113 in the box body 3111, the dust generated when the cutting part 3112 cuts the floor can be absorbed to reduce the adverse effect of the dust on the cutting part 3112, thereby helping to prolong the service life of the cutting part 3112, and can Mitigate the phenomenon of dust in the construction site.
  • the specific structure of the fan 3113 reference may be made to related technologies, which will not be repeated here.
  • the positioning mechanism 32 includes a placing frame 321 and an adjusting assembly 322 .
  • the placing frame 321 is installed on the running gear 12, and the placing frame 321 is used for supporting the floor.
  • the adjustment assembly 322 is installed on the placement frame 321 , and the adjustment assembly 322 is used to adjust the position of the floor on the placement frame 321 in the front-rear direction X, so as to adjust the floor to a position to be cut by the cutting mechanism 31 .
  • the adjustment assembly 322 can drive the floor placed on the placement frame 321 to move in the front and rear direction X relative to the placement frame 321, so as to adjust the position of the floor in the front and rear direction X, so that The floor moves to the position to be cut to realize the positioning of the floor.
  • the positioning mechanism 32 with such a structure can effectively improve the cutting accuracy of the cutting mechanism 31 on the floor, so as to cut the floor to the actual required size, thereby improving the installation quality of the floor.
  • the cutting mechanism 31 has a cutting knife 3112a for cutting the floor.
  • the placing frame 321 is provided with a first cutting groove 3211 , and the first cutting groove 3211 is used to avoid the cutting knife 3112 a when the cutting knife 3112 a cuts the floor on the placing frame 321 .
  • the first cutting groove 3211 for avoiding the cutter 3112a on the placement frame 321, to reduce the phenomenon of interference or collision between the placement frame 321 and the cutter 3112a, thereby the cutting quality of the cutting mechanism 31 to the floor can be improved, and there is It is beneficial to prolong the service life of the cutting mechanism 31 .
  • the adjustment assembly 322 includes a suction member 3221 and a fifth driving member 3222 .
  • the absorbing part 3221 is movably disposed on the placing frame 321 along the front-rear direction X, and the absorbing part 3221 is used for absorbing the floor on the placing frame 321 .
  • the fifth driving part 3222 is installed on the placing frame 321, and the fifth driving part 3222 is used to drive the absorbing part 3221 to move relative to the placing frame 321 along the front and rear direction X, so as to move the floor to the position to be cut.
  • the adsorption piece 3221 By arranging the adsorption piece 3221 on the placement frame 321 movably along the front-rear direction X, after the adsorption piece 3221 absorbs the floor placed on the placement frame 321, it can drive the floor relative to the placement frame 321 under the drive of the fifth driving member 3222. Move in the front-rear direction X to realize the function of adjusting the position of the floor in the front-rear direction X by the adjustment component 322 , which has a simple structure and is easy to operate.
  • the adjustment component 322 is provided with an adsorption piece 3221, through which the floor placed on the shelf 321 can be adsorbed, and in this way, scratches or damages on the floor can be effectively reduced.
  • the adjustment assembly 322 also includes a moving guide rail 3223 and an adjusting seat 3224, the moving guide rail 3223 is installed on the placement frame 321, and the moving guide rail 3223 is arranged along the front and rear direction X, and the adjustment seat 3224 is movably arranged on the moving guide rail 3223 along the front and rear direction X .
  • the absorber 3221 is installed on the adjusting base 3224, and the fifth driving member 3222 is used to drive the adjusting base 3224 to move along the front-rear direction X on the moving guide rail 3223, so as to drive the absorber 3221 to move relative to the shelf 321 along the front-rear direction X.
  • adsorption pieces 3221 there can be one or more adsorption pieces 3221 .
  • FIG. 17 there are four absorbing pieces 3221 , and in other embodiments, there may be one, two, three or five absorbing pieces 3221 .
  • the adsorption part 3221 is a suction cup
  • the fifth driving part 3222 is a motor, which can be connected to the adjustment seat 3224 through a rack and pinion or a worm gear, so as to drive the adjustment seat 3224 to move on the moving guide rail 3223 along the front-back direction X.
  • the fifth driving member 3222 can also be a cylinder or an electric push rod, etc., and the output end of the cylinder or electric push rod is connected with the adjustment seat 3224 to push the adjustment seat 3224 to move the guide rail 3223 along the front and rear direction X. move up.
  • the positioning mechanism 32 further includes a clamping assembly 323 .
  • the clamping assembly 323 is disposed on the placing frame 321, and the clamping assembly 323 is used for clamping the floor on the placing frame 321, so as to fix the floor at the position to be cut.
  • the floor is fixed on the position to be cut on the placement frame 321, thereby reducing shaking and displacement of the floor during cutting by the cutting mechanism 31
  • the phenomenon which in turn helps to ensure the smooth progress of the floor cutting work, and can effectively improve the cutting accuracy of the floor.
  • the clamping assembly 323 includes a limit baffle 3231 and a clamping unit 3232
  • the limit baffle 3231 is installed on the side of the placement frame 321 close to the main body 11 in the left-right direction Y, and the limit baffle 3231 is along the front-rear direction X extends
  • the clamping unit 3232 is installed on the side of the placement frame 321 away from the limit baffle 3231 in the left and right direction Y
  • the clamping unit 3232 is used to cooperate with the limit baffle 3231 to clamp the floor on the placement frame 321, To fix the floor at the position to be cut for the cutting mechanism 31 to cut.
  • clamping units 3232 There can be one or more clamping units 3232 .
  • FIG. 15 there are two clamping units 3232, and the two clamping units 3232 are arranged at intervals along the front-rear direction X on the placement frame 321, so that the two clamping units 3232 and the limit baffle 3231 can be matched.
  • the floor on the placing frame 321 is clamped and fixed, which is beneficial to improve the stability of clamping the floor.
  • the clamping unit 3232 includes a limit push plate 3232a and a ninth driving member 3232b
  • the limit push plate 3232a is movably connected to the placement frame 321 along the left and right direction Y
  • the ninth drive member 3232b is used to drive the limit push plate 3232a
  • the relative placement frame 321 moves along the left and right direction Y, so that the limit push plate 3232 a cooperates with the limit baffle plate 3231 to clamp the floor on the placement frame 321 .
  • the ninth driving member 3232b is an electric push rod, and in other embodiments, the ninth driving member 3232b may also be an air cylinder or the like.
  • the clamping unit 3232 is installed on the placement frame 321 at a position corresponding to the first cutting groove 3211, and in the front-rear direction X, a second cutting groove 3232c is opened at the position where the limit push plate 3232a corresponds to the first cutting groove 3211,
  • the second cutting groove 3232c is used to avoid the cutter 3112a when the cutting mechanism 31 cuts the floor on the placement frame 321, that is to say, the clamping unit 3232 is arranged on the cutting trajectory line of the cutting mechanism 31 cutting the floor, because the floor is cut
  • the part cut by the mechanism 31 receives the largest force, so that the part of the floor to be cut is clamped and fixed by the clamping unit 3232, which is conducive to improving the stability of the floor when it is cut by the cutting mechanism 31, so as to reduce the stress of the floor during cutting. Vibration or movement occurs during the process.
  • the positioning mechanism 32 further includes a waste box 324 .
  • the waste box 324 is installed at one end of the placing frame 321 in the front-back direction X, and the waste box 324 is used for recovering the waste after the floor is cut by the cutting mechanism 31 .
  • the execution module 40 is also used to transfer the waste materials cut by the cutting mechanism 31 into the waste bin 324 .
  • the waste box 324 can collect the waste after the floor is cut, so that on the one hand, it is convenient to carry out centralized treatment of the waste after the floor is installed, which is beneficial to saving Manpower, on the other hand, can alleviate the adverse effects of waste materials scattered on the ground on the construction process of the building construction robot 100 .
  • the upper side of the placing frame 321 in the vertical direction Z has a supporting surface for supporting the floor.
  • the opening of the waste box 324 does not exceed the support surface in the vertical direction Z.
  • the positioning mechanism 32 includes two waste bins 324 .
  • the two waste bins 324 are respectively mounted on two ends of the placing frame 321 in the front-back direction X.
  • the positioning mechanism 32 may also be provided with only one waste box 324 .
  • the waste after cutting the floor will be in different positions of the placement frame 321 in the front and rear direction X, and then through the Both ends of the placement frame 321 in the front and rear direction X are provided with waste bins 324, so as to collect the waste after cutting the floor, which is beneficial to shorten the moving stroke of the execution module 40 to transfer the waste.
  • the cutting module 30 further includes a second magazine 33 .
  • the second feed bin 33 is installed on the running mechanism 12, the second feed bin 33 is located on the second side 112 in the left-right direction Y, and the second feed bin 33 is located between the running gear 12 and the positioning mechanism 32 in the up-down direction Z,
  • the second storage bin 33 is used for storing the floors cut by the cutting mechanism 31 .
  • the execution module 40 is also used to transfer the floor after being cut by the cutting mechanism 31 into the second storage bin 33 .
  • the cutting module 30 is also provided with a second silo 33, through which the floor cut by the cutting mechanism 31 can be stored, so that the subsequent execution module 40 picks up the floor in the second silo 33 for re-cutting. Use, thereby helping to reduce the waste of the floor, so as to reduce the installation cost of the floor.
  • the second storage bin 33 includes a bin body 331 , a seventh driving member 332 and a plurality of placement plates 333 .
  • the bin body 331 is installed on the running mechanism 12 , and the bin body 331 defines a receiving chamber 3311 on a side facing away from the main body 11 in the left-right direction Y.
  • a plurality of placement plates 333 are arranged at intervals in the accommodation chamber 3311 along the vertical direction Z, and the placement plates 333 are movably connected to the bin body 331 along the left and right direction Y, and the placement plates 333 are used to place the floor cut by the cutting mechanism 31, the placement plates 333 has a placement position protruding from the accommodating cavity 3311 and a storage position retracted in the accommodating cavity 3311 in the left-right direction Y.
  • the seventh driving member 332 is installed on the bin body 331, and the seventh driving member 332 is used to selectively drive one of the placing plates 333 to move along the left and right direction Y, so that the placing plate 333 is in the placing position and the storage position switch between.
  • each placement board 333 By arranging a plurality of placement plates 333 in the accommodation cavity 3311 of the bin body 331 along the vertical direction Z, and each placement board 333 can move relative to the bin body 331 along the left-right direction Y, so that the seventh driving member 332 can selectively One of the multiple placement plates 333 is driven to move between the placement position and the recovery position along the left-right direction Y.
  • the second storage bin 33 adopting this structure can simultaneously store a plurality of cut floors on the one hand, and has It is beneficial to store different lengths of floors after cutting for subsequent use.
  • the placement plate 333 by setting the placement plate 333 to be able to extend from the placement position of the accommodation cavity 3311 to the storage position retracted in the accommodation cavity 3311 switch between them, so that it is convenient for the execution module 40 to place the cut floor on the placement plate 333, and it is convenient to store the floor after the placement plate 333 retracts in the accommodation cavity 3311, which is beneficial to save the second material bin 33. Takes up space.
  • each placing plate 333 in the front-rear direction X are provided with second sliders, and the two cavity side walls of the receiving chamber 3311 opposite in the front-rear direction X are respectively provided with second sliders.
  • the first slide rails cooperate with each other to realize that the placement plate 333 can move relative to the bin body 331 in the left and right direction Y, so that the placement board 333 protrudes from the accommodation cavity 3311 of the bin body 331 to facilitate the placement of the cut floor by the execution module 40 , and make the placement plate 333 retracted in the accommodation cavity 3311 to store the cut floor, so as to save the floor space occupied by the second storage bin 33 .
  • FIG. 18 there are four placement plates 333 , and the four placement plates 333 are arranged at intervals along the vertical direction Z in the accommodation chamber 3311 of the bin body 331 .
  • the number of placement plates 333 can also be two, three, five or six, etc., which can be set according to actual needs.
  • the seventh driving member 332 is a plurality of electric push rods arranged on the bin body 331, and the output end of each electric push rod is correspondingly connected to a placement plate 333, so that the corresponding placement plate is pushed by the electric push rod
  • the movement of the 333 along the left and right direction Y can realize the switching of the placement plate 333 between the placement position and the recovery position.
  • the seventh driving member 332 can also be a plurality of air cylinders disposed on the bin body 331 , and the output end of each air cylinder is correspondingly connected to a placement plate 333 .
  • the actuating module 40 includes a rotating mechanism 41 and an actuating mechanism 42 .
  • the rotating mechanism 41 is installed on the top of the main body 11, and the actuator 42 is connected to the rotating mechanism 41.
  • the rotating mechanism 41 is used to drive the floor picked up by the actuator 42 to rotate from the first side 111 to the second side 112, so that the actuator 42 can The floor on the first side 111 is transferred to the cutting die set 30 .
  • the execution module 40 is provided with a rotation mechanism 41 and an execution mechanism 42 for picking up the floor.
  • the rotation mechanism 41 can drive the execution mechanism 42 to rotate relative to the main body 11 around the axis arranged in the up and down direction Z, so as to remove the floor picked up by the execution mechanism 42 from The first side 111 of the main body 11 is rotated to the second side 112, so that the execution module 40 transfers the floor in the first storage bin 20 to the cutting module 30 for cutting.
  • the rotating mechanism 41 has a rotating seat 411 for the actuator 42 to be mounted on, the actuator 42 is mounted on the rotating seat 411, and the rotating mechanism 41 can drive the rotating seat 411 to rotate relative to the main body 11 around the axis arranged along the vertical direction Z, thereby driving the execution
  • the mechanism 42 rotates relative to the main body 11 around an axis arranged along the up-down direction Z, so as to realize that the floor picked up by the actuator 42 moves on both sides in the left-right direction Y of the main body 11 .
  • the rotating mechanism 41 is a rotating table.
  • the specific structure of the rotary table reference may be made to related technologies, which will not be repeated here.
  • the actuator 42 includes a driving unit 421 and a pick-up unit 422 .
  • the drive unit 421 is connected to the rotating mechanism 41
  • the pick-up unit 422 is connected to the drive unit 421
  • the pick-up unit 422 is used to pick up the floor
  • the drive unit 421 is used to drive the pick-up unit 422 to move horizontally, vertically and vertically, so that the pick-up unit 422 can It protrudes from the side of the first storage bin 20 facing away from the main body 11 in the left-right direction Y and installs the floor on the ground.
  • the pick-up unit 422 is connected to the rotary mechanism 41 through the drive unit 421, thereby the drive unit 421 can drive the pick-up unit 422 to move in three mutually perpendicular directions of horizontal, vertical and vertical, on the one hand, it is convenient for the pick-up unit 422 to first bin 20 to pick up the floor and place the floor on the cutting module 30, thereby effectively reducing the phenomenon of interference between the pick-up unit 422 and other components.
  • the bin 20 is away from the side of the main body 11 in the left-right direction Y, so that the picking unit 422 can avoid the first bin 20 and then install the floor on the ground, so that the building construction robot 100 can install the floor.
  • the drive unit 421 can drive the pick-up unit 422 to move horizontally, vertically and vertically, that is, the drive unit 421 can drive the pick-up unit 422 to move in three mutually perpendicular directions, since the drive unit 421 is connected to the rotating mechanism 41 , so that the drive unit 421 can rotate in the horizontal plane under the action of the rotation mechanism 41 , so that the drive unit 421 drives the pick-up unit 422 to move horizontally, vertically and vertically.
  • the rotating mechanism 41 drives the actuator 42 to rotate to the side where the floor in the first bin 20 is picked up (as shown in FIG. 19 )
  • the three directions in which the driving unit 421 can drive the picking unit 422 to move are the left and right directions Y, Up-down direction Z and front-back direction X.
  • the driving unit 421 includes a first moving seat 4211 , a first driving member 4212 , a second moving seat 4213 , a second driving member 4214 , a third moving seat 4215 and a third driving member 4216 .
  • the first moving base 4211 is movably connected to the rotating mechanism 41 along the lateral direction, and the first driving member 4212 is used to drive the first moving base 4211 to move relative to the rotating mechanism 41 along the lateral direction.
  • the first moving base 4211 is movably connected to the main body 11 along the lateral direction, and the first driving member 4212 is used to drive the first moving base 4211 to move relative to the main body 11 in the left-right direction Y.
  • the second moving base 4213 is vertically movably connected to the first moving base 4211 , and the second driving member 4214 is used to drive the second moving base 4213 to move vertically relative to the first moving base 4211 .
  • the third moving base 4215 is movably connected to the second moving base 4213 along the longitudinal direction, and the third driving member 4216 is used to drive the third moving base 4215 to move relative to the second moving base 4213 along the longitudinal direction.
  • the third driving member 4216 is used to drive the third moving base 4215 to move relative to the second moving base 4213 along the front-rear direction X.
  • the picking unit 422 is mounted on the third moving base 4215 .
  • the third driving member 4216 can drive the third moving base 4215 to move longitudinally, that is, the front and rear direction X relative to the second moving base 4213.
  • the second The piece 4214 can drive the second moving base 4213 to move vertically relative to the first moving base 4211
  • the first driving piece 4212 can drive the first moving base 4211 to move laterally relative to the rotation mechanism 41.
  • the first driving piece 4212 It can drive the first moving seat 4211 to move relative to the main body 11 laterally, that is, in the left-right direction Y, so that the driving unit 421 can drive the picking unit 422 to move in three mutually perpendicular directions: horizontal, vertical and vertical, and the structure is simple. It is easy to implement and has high stability.
  • the following description of the structure of the driving unit 421 is the description performed when the rotating mechanism 41 drives the actuator 42 to rotate to pick up the floor in the first bin 20 , as shown in FIG. 19 .
  • the first moving seat 4211 is movably connected to the rotating seat 411 of the rotating mechanism 41 along the left-right direction Y, and the rotating seat 411 is provided with a chute extending along the left-right direction Y.
  • the third sliding block matched with the slide groove realizes that the first moving base 4211 can move relative to the rotating base 411 in the left-right direction Y.
  • the first driving member 4212 is a motor, the motor is installed on the rotating base 411, and the motor is rotationally connected with the first moving base 4211 through a rack and pinion structure, so that the first driving member 4212 can drive the first moving base 4211 to be able to rotate relative to the rotating base 411 Move in the left and right direction Y.
  • the first driving member 4212 can also be a hydraulic motor, etc.
  • the first driving member 4212 can also be rotatably connected with the first moving base 4211 through a worm gear structure.
  • the second moving seat 4213 is movably arranged on the first moving seat 4211 along the vertical direction Z, the first moving seat 4211 is provided with a guide hole extending along the vertical direction Z, and the second moving seat 4213 is connected with a The guide rod 4213a arranged in the vertical direction Z, the guide rod 4213a is inserted into the guide hole, so that the second moving base 4213 can move in the vertical direction Z relative to the first moving base 4211 .
  • the second driving member 4214 is a motor, and the motor is connected to the second moving seat 4213 through the structure of the screw and the screw cover, that is, the screw is connected to the second moving seat 4213, and the screw is arranged along the vertical direction Z, and the screw cover It is rotatably arranged on the first moving seat 4211, and the screw sleeve is sleeved on the outer peripheral side of the screw rod.
  • the screw sleeve is driven by the motor to rotate, it can drive the screw rod to move in the up and down direction Z, thereby driving the second moving seat 4213 to move relative to the first moving seat 4213.
  • a moving seat 4211 moves along the up and down direction Z.
  • the second driving member 4214 can also be a hydraulic motor, etc.
  • the second driving member 4214 can also be rotatably connected with the second moving base 4213 through a rack and pinion structure.
  • the third moving base 4215 is movably connected to the second moving base 4213 along the front-to-back direction X
  • the third moving base 4215 is provided with a second sliding rail arranged along the front-rear direction X
  • the second moving base 4213 is provided with
  • the third driving member 4216 is a motor, which is connected to the third moving seat 4215 through a rack and pinion structure. As can be seen in FIG.
  • the transmission rod 4217 is rotatably arranged on the second moving seat 4213 around its axis, and one end of the transmission rod 4217 is connected to the third moving seat 4215 through a rack and pinion structure, so that the third driving member 4216 and the transmission rod 4217 are opposite to each other.
  • the second moving base 4213 rotates, it can drive the third moving base 4215 to move relative to the second moving base 4213 along the front-rear direction X through the rack and pinion structure.
  • the third driving member 4216 can also be a hydraulic motor, etc.
  • the third driving member 4216 can also be rotatably connected with the third moving base 4215 through a worm gear structure.
  • the driving unit 421 further includes a rotating seat 4218 and a fourth driving member 4219 .
  • the rotating base 4218 is rotatably arranged on the first moving base 4211 in the circumferential direction, the rotation axis of the rotating base 4218 is arranged along the vertical direction Z, and the fourth driving member 4219 is used to drive the rotating base 4218 to rotate relative to the first moving base 4211 .
  • the second moving base 4213 is vertically movably disposed on the rotating base 4218 , and the second driving member 4214 is used to drive the second moving base 4213 to move vertically relative to the rotating base 4218 .
  • the rotating seat 4218 is rotatably arranged on the first moving seat 4211 in the circumferential direction, and the second moving seat 4213 is movably arranged on the rotating seat 4218 along the vertical direction, that is, the rotating seat 4218 is arranged on the first moving seat 4211 and the second moving seat 4213.
  • the rotating seat 4218 is rotatably connected to the first moving seat 4211 in the circumferential direction
  • the second moving seat 4213 is movably connected to the rotating seat 4218 along the up and down direction Z for the second
  • the guide hole through which the guide rod of the moving base 4213 passes is opened on the rotating base 4218
  • the second driving member 4214 is also installed on the rotating base 4218, so that the second driving member 4214 can drive the second moving base 4213 relative to the rotating base 4218 Move in the up and down direction Z.
  • the second moving seat 4213 By setting the rotating seat 4218 between the first moving seat 4211 and the second moving seat 4213, the second moving seat 4213 is connected to the first moving seat 4211 through the rotating seat 4218, thereby driving the rotating seat 4218 to rotate in the fourth driving member 4219 At the same time, it can drive the second moving seat 4213 to rotate to drive the pick-up unit 422 to rotate, so that the angle of the pick-up unit 422 in the horizontal plane can be switched, so as to switch the installation direction of the floor picked up by the pick-up unit 422, so that the building construction robot 100 can Complete the floor installation work in different directions. For example, when the building construction robot 100 is close to the wall in the process of installing the floor, it is necessary to change the traveling direction of the building construction robot 100.
  • the building construction robot 100 needs to change the traveling direction after switching the traveling direction (that is, the original ground rotation 180 degrees) will cause the installation direction of the floor picked up by the pick-up unit 422 to rotate 180 degrees, so that the installation direction of the floor can be kept unchanged by switching the angle of the pick-up unit 422 in the horizontal plane (that is, driven by the fourth driving member 4219
  • the rotating seat 4218 rotates 180 degrees, so that the second mobile seat 4213 can rotate 180 degrees in the horizontal plane, so that the pick-up unit 422 connected to the second mobile seat 4213 by the third mobile seat 4215 can rotate 180 degrees in the horizontal plane, so that Change the installation direction of the floor in the front and rear direction X) to ensure that the floor can continue to be installed and laid, and then the building construction robot 100 with this structure can meet the operating requirements in various environments, which is conducive to expanding the application of the building construction robot 100 scope.
  • the fourth driving member 4219 is a motor installed on the first moving base 4211, an outer ring gear is provided on the outer peripheral side of the rotating base 4218, and an outer ring gear that matches the outer gearing of the rotating base 4218 is connected to the output shaft of the motor. gears, so that the fourth driving member 4219 can drive the rotating base 4218 to rotate circumferentially relative to the first moving base 4211 .
  • the picking unit 422 includes a base 4221 , a picking piece 4222 and a first knocking piece 4223 .
  • the base 4221 is connected to the driving unit 421 .
  • the pick-up piece 4222 is installed on the base 4221, and the pick-up piece 4222 is used for picking up the floor.
  • the first knocking piece 4223 is installed on one end of the base 4221 in the width direction, and the first knocking piece 4223 is used to knock the one end of the floor in the width direction, so as to clamp the other end of the floor in the width direction on the adjacent floor.
  • the first knocking piece 4223 can be used to knock one end of the floor in the width direction, so as to clamp the other end of the floor on the installed floor, without manual participation, which is beneficial to saving Labor costs are reduced, and the installation efficiency of the floor can be improved.
  • the pick-up part 4222 is a plurality of suction cups arranged on the base 4221, and the plurality of suction cups are used to match and absorb the floor.
  • the pick-up piece 4222 with this structure can reduce the damage to the floor surface on the one hand, and on the other hand, it is beneficial to enhance the adsorption strength of the pick-up piece 4222 to the floor.
  • the base 4221 is connected to the third moving seat 4215 of the drive unit 421.
  • the execution unit of the execution module 40 drives the pick-up unit 422 to rotate the floor
  • the length direction of the base 4221 is the front-rear direction X
  • the length direction of the base 4221 is The width direction is the left-right direction Y.
  • the first knocking member 4223 has a hook portion 4223a and a first knocking portion 4223b.
  • the hook portion 4223a is installed on the base 4221, and the hook portion 4223a is used to lift one end of the floor in the width direction.
  • the first knocking part 4223b is movably arranged on the base 4221 along the width direction of the base 4221. The first knocking part 4223b is used to knock the end of the floor lifted by the hook part 4223a, so as to lift the floor in the width direction. The other end snaps to the adjacent floor.
  • the first knocking part 4223 is provided with a hook portion 4223a and a first knocking portion 4223b, and one end in the width direction of the floor can be lifted by the hook portion 4223a to keep the floor at an inclination angle, so that the floor is at the first Under the knocking action of the knocking part 4223b, it can be smoothly stuck on the installed floor, so as to complete the automatic installation of the floor at one end in the width direction.
  • the first knocking part 4223 also includes a tenth driving part 4223c, the tenth driving part 4223c is installed on the base 4221, the hook part 4223a is fixedly installed on the tenth driving part 4223c, and the first knocking part 4223b is connected to the tenth driving part 4223c.
  • the tenth driving member 4223c is an electric push rod. In other embodiments, the tenth driving member 4223c may also be a cylinder or the like.
  • first knocking members 4223 there may be one or more first knocking members 4223 .
  • first knocking members 4223 there are four first knocking pieces 4223 , and the four first knocking pieces 4223 are arranged at intervals along the length direction of the base 4221 to improve the knocking effect on the floor.
  • the pick-up unit 422 further includes a second knocking member 4224 .
  • the second knocking piece 4224 is installed on one end of the base 4221 in the length direction, and the second knocking piece 4224 is used to knock the floor at one end in the length direction, so as to clamp the other end of the floor in the length direction on the adjacent floor.
  • the pick-up unit 422 is also provided with a second knocking piece 4224, by setting the second knocking piece 4224 on one end of the base 4221 in the length direction, so that the second knocking piece 4224 is in the width direction of the floor After the installation of one end on the floor is completed, one end in the length direction of the floor can be tapped to clamp the end in the length direction of the floor to the installed floor, thereby completing the automatic installation of the end of the floor in the length direction.
  • the second knocking part 4224 includes a second knocking part 4224a and an eleventh driving part 4224b, the eleventh driving part 4224b is installed on the base 4221, and the second knocking part 4224a is connected to the eleventh driving part 4224b.
  • Output end so that the eleventh driving member 4224b can drive the second knocking part 4224a to move along the length direction of the base 4221, to knock one end on the length direction of the floor, so as to clamp the other end on the length direction of the floor. installed on the floor.
  • the eleventh driving member 4224b is an electric push rod. In other embodiments, the eleventh driving member 4224b may also be a cylinder or the like.
  • the pick-up unit 422 further includes a pressing member 4225 .
  • the pressing part 4225 is installed on the end of the base 4221 away from the second knocking part 4224 in the length direction, and the pressing part 4225 is used for pressing the floor when the second knocking part 4224 hits the floor.
  • the pressing piece 4225 By arranging the pressing piece 4225 on the end of the base 4221 away from the second knocking piece 4224 in the length direction, the pressing piece 4225 can strike the floor in the lengthwise direction when the second knocking piece 4224 hits one end of the floor in the lengthwise direction.
  • the other end in the direction is pressed, that is to say, the end of the floor to be clamped can be pressed by the pressing member 4225, so as to reduce the phenomenon that the floor is lifted during the process of being struck by the second knocking member 4224, thereby It can ensure that the floor is installed in place, and is conducive to improving the installation quality of the floor.
  • the pressing member 4225 includes a pressing seat 4225a and a roller 4225b, the pressing seat 4225a is installed on the end of the base 4221 away from the second knocking member 4224 in the length direction, the roller 4225b is installed on the bottom of the pressing member 4225, and the roller 4225b is used for When the second knocking member 4224 hits one end in the length direction of the floor, it is pressed against the other end in the length direction of the floor.
  • the pressing member 4225 with this structure can change the sliding friction between the pressing member 4225 and the floor into rolling friction , so as to reduce the phenomenon that the pressing part 4225 causes scratches to the surface of the floor, thereby ensuring the surface quality of the floor.
  • the pressing member 4225 is provided with two rollers 4225b, and the two rollers 4225b are arranged on the bottom of the pressing seat 4225a at intervals along the length direction of the base 4221, and the two rollers 4225b are used to cooperate with pressing the floor.
  • the number of rollers 4225b can also be one, three or four.
  • the pressing member 4225 further includes a twelfth driving member 4225c, the pressing seat 4225a is connected to the base 4221 through the twelfth driving member 4225c, and the twelfth driving member 4225c is used to drive the pressing seat 4225a relative to the base 4221 along the Move in the up and down direction Z to drive the rollers 4225b to press on the floor, so that the rollers 4225b can press the floor when installing the floor.
  • the twelfth driving member 4225c is an electric push rod. Certainly, in other embodiments, the twelfth driving member 4225c may also be a cylinder or the like.
  • the top of the main body 11 is higher than the cutting module 30 , and the second side 112 of the main body 11 and the top of the cutting module 30 jointly define an accommodating space extending along the front-rear direction X. .
  • the execution module 40 has a pick-up unit 422 for picking up the floor, and the accommodation space is used to accommodate the pick-up unit 422. When the pick-up unit 422 is accommodated in the accommodation space, the pick-up unit 422 does not exceed the edge of the running gear 12 in the left-right direction Y.
  • the main body 11 and the cutting module 30 form a stepped structure, thereby jointly defining an accommodation space extending along the front and rear direction X, so that the pick-up unit 422 of the execution module 40 When it is in a non-working state, it can be accommodated in the accommodation space, and the pick-up unit 422 does not exceed the edge of the traveling mechanism 12 in the left-right direction Y, which is conducive to reducing the width of the building construction robot 100 when it is in a non-working state, so that Because the building construction robot 100 moves in a narrow space.
  • storing the pick-up unit 422 of the execution module 40 in the accommodation space can also protect the pick-up unit 422 to a certain extent, so as to reduce the possibility of collision damage to the pick-up unit 422 Phenomenon.
  • the building construction robot 100 includes a chassis 10 , a first material bin 20 , a cutting module 30 and an execution module 40 .
  • the first storage bin 20 is installed on the chassis 10, and the first storage bin 20 is used for storing floors.
  • the cutting module 30 is installed on the chassis 10, and the cutting module 30 is used for cutting the floor.
  • the execution module 40 is installed on the chassis 10, the execution module 40 is used to pick up the floor located in the first warehouse 20, and transfers the floor to the cutting module 30, and the execution module 40 is also used to cut the cutting module 30 After the floor is installed on the ground.
  • the chassis 10 includes a main body 11 and a running mechanism 12 arranged at the bottom of the main body 11 .
  • Both the first magazine 20 and the cutting module 30 are installed on the first side 111 of the main body 11 in the left-right direction.
  • the main body 11 and the cutting module 30 are installed above the chassis 10 along the left-right direction Y
  • the first bin 20 is installed on the side edge of the first side 111 of the chassis 10
  • the execution module 40 is installed on the main body 11
  • the top is retractable, and the execution module 40 extends to pick up the floor located in the first bin 20 and retracts to transfer the floor to the cutting module 30 .
  • the execution module 40 Since the execution module 40 is installed on the top of the main body 11 and is telescopically arranged, the execution module 40 stretches out to pick up the floor located in the first bin 20, and the execution module 40 retracts to transfer the floor to the cutting die. Group 30. In addition, by installing the execution module 40 on the top of the main body 11 , it is also beneficial to optimize the movement track of the floor movement driven by the execution module 40 , thereby effectively reducing the difficulty of programming and operation of the building construction robot 100 .
  • the cutting module 30 includes a cutting mechanism 31 and a positioning mechanism 32.
  • the positioning mechanism 32 and the cutting mechanism 31 are located on the same side of the main body 11.
  • the positioning mechanism 32 is used for positioning the floor, and the cutting mechanism 31 is used for cutting. 32 floors.
  • the positioning mechanism 32 can accept the floor picked up by the execution module 40 and position the floor, thereby effectively alleviating the shaking of the floor during the cutting process, reducing the possibility of the floor being cut and scrapped, and further reducing the floor. installation cost.
  • a first material bin 20 and a cutting module 30 are provided, the first material bin 20 is used for storing the floor, and the cutting module 30 is used for cutting the floor so that the floor is After being cut to the actual required size, the floor can be picked up and stored in the first silo 20 through the executive module 40 arranged on the chassis 10, and the floor can be transferred to the cutting module 30 for cutting, and then the The floor is installed on the ground, so that the building construction robot 100 integrates floor cutting and installation functions.
  • the building construction robot 100 with this structure realizes the integration of floor cutting and installation. On the one hand, it improves the automation of floor installation operations, thereby effectively reducing labor costs and improving floor installation efficiency.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Wood Science & Technology (AREA)
  • Forests & Forestry (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Manufacturing & Machinery (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Abstract

La présente demande concerne un robot de construction de bâtiment, relevant du domaine de l'équipement de construction de bâtiment. Le robot de construction de bâtiment comprend un châssis, un premier bac de stockage, un module de coupe et un module d'exécution. Le premier bac de stockage est installé sur le châssis et est utilisé pour stocker des planchers. Le module de coupe est installé sur le châssis et est utilisé pour couper les planchers. Le module d'exécution est installé sur le châssis, est utilisé pour saisir des planchers situés dans le premier bac de stockage et transférer les planchers au module de coupe, et est en outre utilisé pour installer les planchers coupés par le module de coupe sur le sol. Avec la structure ci-dessus, le robot de construction de bâtiment intègre la coupe et l'installation de planchers. D'une part, le degré d'automatisation d'une opération d'installation de plancher est amélioré et les coûts de main-d'œuvre sont efficacement économisés. D'autre part, le phénomène selon lequel des mains sont blessées lors d'un processus de coupe manuelle des planchers peut être évité, et les dommages aux constructeurs provoqués par le bruit et la poussière provenant de la coupe des planchers peuvent être efficacement atténués.
PCT/CN2022/140445 2021-12-31 2022-12-20 Robot de construction de bâtiment WO2023125167A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111668706.1A CN116408863A (zh) 2021-12-31 2021-12-31 一种建筑施工机器人
CN202111668706.1 2021-12-31

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WO2023125167A1 true WO2023125167A1 (fr) 2023-07-06

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CN (1) CN116408863A (fr)
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080273948A1 (en) * 2007-03-16 2008-11-06 Murata Machinery, Ltd. Plate Material Carry-Out Device and Plate Material Carry-Out Method
CN109648653A (zh) * 2019-02-01 2019-04-19 嘉兴洛可可实业有限公司 一种便捷式木地板铺设用切割机
JP2019183457A (ja) * 2018-04-05 2019-10-24 極東産機株式会社 畳床の裁断装置
CN111546429A (zh) * 2020-05-21 2020-08-18 广东博智林机器人有限公司 地板切割设备、地板备料系统、多机协作地板铺装系统
CN212241440U (zh) * 2020-03-29 2020-12-29 资溪县泰伯竹业有限公司 一种竹地板生产加工用切割装置
CN113799534A (zh) * 2021-09-22 2021-12-17 广东博智林机器人有限公司 一种裁切装置及墙纸铺贴机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080273948A1 (en) * 2007-03-16 2008-11-06 Murata Machinery, Ltd. Plate Material Carry-Out Device and Plate Material Carry-Out Method
JP2019183457A (ja) * 2018-04-05 2019-10-24 極東産機株式会社 畳床の裁断装置
CN109648653A (zh) * 2019-02-01 2019-04-19 嘉兴洛可可实业有限公司 一种便捷式木地板铺设用切割机
CN212241440U (zh) * 2020-03-29 2020-12-29 资溪县泰伯竹业有限公司 一种竹地板生产加工用切割装置
CN111546429A (zh) * 2020-05-21 2020-08-18 广东博智林机器人有限公司 地板切割设备、地板备料系统、多机协作地板铺装系统
CN113799534A (zh) * 2021-09-22 2021-12-17 广东博智林机器人有限公司 一种裁切装置及墙纸铺贴机器人

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