WO2024164451A1 - 一种建筑施工机器人 - Google Patents

一种建筑施工机器人 Download PDF

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Publication number
WO2024164451A1
WO2024164451A1 PCT/CN2023/094796 CN2023094796W WO2024164451A1 WO 2024164451 A1 WO2024164451 A1 WO 2024164451A1 CN 2023094796 W CN2023094796 W CN 2023094796W WO 2024164451 A1 WO2024164451 A1 WO 2024164451A1
Authority
WO
WIPO (PCT)
Prior art keywords
fixedly connected
vehicle body
mounting frame
rod
rack
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/094796
Other languages
English (en)
French (fr)
Inventor
李杨
陈成军
张学峰
王光政
王永琪
梁丽萍
刘建泽
杨发展
任付娥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Qingdao University of Technology
Original Assignee
Qingdao University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Qingdao University of Technology filed Critical Qingdao University of Technology
Priority to US18/281,513 priority Critical patent/US20250084652A1/en
Publication of WO2024164451A1 publication Critical patent/WO2024164451A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • E04F21/24—Implements for finishing work on buildings for laying flooring of masses made in situ, e.g. smoothing tools
    • E04F21/241—Elongated smoothing blades or plates, e.g. screed apparatus
    • E04F21/242—Elongated smoothing blades or plates, e.g. screed apparatus with vibrating means, e.g. vibrating screeds
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/06—Solidifying concrete, e.g. by application of vacuum before hardening
    • E04G21/08—Internal vibrators, e.g. needle vibrators
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/10—Devices for levelling, e.g. templates or boards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces

Definitions

  • the present invention relates to the technical field of building construction, and in particular to a building construction robot.
  • Building construction refers to the production activities during the implementation stage of engineering construction. It is the construction process of various types of buildings. It can also be said to be the process of turning various lines on the design drawings into physical objects at designated locations. It includes foundation engineering construction, main structure construction, roofing engineering construction, decoration engineering construction, etc.
  • the purpose of the present invention is to provide a construction robot to solve the above problems.
  • the present invention provides the following solutions:
  • a construction robot comprises a vehicle body, wherein a feeding assembly is arranged in the vehicle body, a mounting frame is fixedly connected to one end of the vehicle body, the mounting frame is located near the discharge end of the feeding assembly, one end of a vibrating assembly is fixedly connected to the top end of the vehicle body, the other end of the vibrating assembly passes through the middle of the mounting frame, a leveling assembly is arranged at the end of the mounting frame away from the vehicle body, a measuring part is arranged on the top of the mounting frame, and a moving part is arranged at the bottom of the vehicle body.
  • the feeding assembly includes a feeding channel, the feeding channel is located in the vehicle body, the discharge port of the feeding channel is close to the mounting frame, the top of one end of the feeding channel away from the mounting frame is connected to a feeding pipe, and a transport part is rotatably connected in the feeding channel.
  • the transport part includes a driving disk, which is located in the feeding channel, and the side wall of the driving disk is in contact with the inner wall of the feeding channel and is slidably arranged, one end of the driving disk is axially fixedly connected to one end of the driving part, the other end of the driving part is fixedly connected to the side wall of the vehicle body, and the other end of the driving disk is fixedly connected to a hollow auger, which matches the feeding channel.
  • a driving disk which is located in the feeding channel, and the side wall of the driving disk is in contact with the inner wall of the feeding channel and is slidably arranged, one end of the driving disk is axially fixedly connected to one end of the driving part, the other end of the driving part is fixedly connected to the side wall of the vehicle body, and the other end of the driving disk is fixedly connected to a hollow auger, which matches the feeding channel.
  • the driving unit comprises a driving motor, an output shaft of the driving motor is connected to the central axis of the driving disk, and a fixed end of the driving motor is fixedly connected to the side wall of the vehicle body.
  • the vibrating assembly includes a rectangular upright pole, the rectangular upright pole is fixedly connected to one end of the top of the vehicle body, a sliding sleeve is arranged outside the rectangular upright pole and vertically slides, a rectangular cross bar is fixedly connected to the outer wall of the sliding sleeve, a reciprocating lifting part is sleeved on the rectangular cross bar and horizontally slides, a vibrating rod is rotatably connected to the reciprocating lifting part, the vibrating rod is vertically arranged, the vibrating rod is located in the middle of the mounting frame, a guide bracket is sleeved in the middle of the vibrating rod and slidably connected, the guide bracket is fixed to one end of the top of the vehicle body, one end of the telescopic part is fixed to the middle of the rectangular cross bar, and the other end of the telescopic part is fixed to the top of the vehicle body.
  • the reciprocating lifting part includes a slider, which is sleeved and horizontally slidably arranged outside the rectangular cross bar.
  • a sliding groove is opened on one side of the slider, and the sliding groove is a horizontally arranged isosceles triangle structure.
  • a sliding shaft is slidably connected in the sliding groove, and a hinge shaft is slidably arranged on the axis of the sliding shaft.
  • the hinge shaft is rotatably connected to the vibrating rod, and a spring is arranged between the vibrating rod and the sliding shaft, and the spring is sleeved outside the sliding shaft.
  • the reciprocating part is fixedly connected to the top of the slider.
  • the reciprocating part includes a second rack, the bottom of the second rack is fixedly connected to the top of the slider, the top of the second rack is meshedly connected with two symmetrically arranged second gears, the axes of the two second gears are rotatably connected to the two ends of a gear connecting rod, the middle of the gear connecting rod is rotatably connected to one end of a second connecting rod, the other end of the second connecting rod is rotatably connected to one end of a first rotating rod, the other end of the first rotating rod is fixedly connected to the output shaft of a third motor, the bottom of the third motor is fixedly connected to the top of the rectangular cross bar, the tops of the two second gears are meshedly connected with a third rack, one end of the third rack is fixedly connected to a fixing rod, and the bottom of the fixing rod is fixedly connected to one end of the top of the rectangular cross bar.
  • the leveling assembly includes two symmetrically arranged racks, the racks penetrate and are slidably arranged at both ends of the mounting frame, the racks are meshingly connected with gears, the two gear shafts are fixedly connected to the two ends of a dual-axis motor, the dual-axis motor is fixedly connected to the top of the mounting frame, the bottom of the rack is fixedly connected to a first connecting rod, the two first connecting rods are fixedly connected to the two ends of a scraping plate at one end close to the vehicle body, the two first connecting rods are fixedly connected to a vibration plate at one end away from the vehicle body, the top center of the vibration plate is fixedly connected to a vibration motor, the vibration plate is fixedly connected to two symmetrically arranged diagonal struts at one end away from the vehicle body, and the ends of the two diagonal struts are respectively fixedly connected to the tops of the two racks.
  • the measuring part comprises two symmetrically arranged receiver mounting frames, the receiver mounting frames are fixedly connected to two ends of the mounting frame, and a laser receiver is fixedly connected to the top of the receiver mounting frame.
  • the moving part includes four wheels, and the four wheels are respectively arranged around the vehicle body, and the middle part of the wheels is transmission-connected with an electric motor.
  • the present invention has the following technical effects: when in use, the vehicle body is placed on the floor to be poured, and concrete slurry is fed into a feeding assembly arranged in the vehicle body. Then, the vehicle body is moved along a specified path by remote control or program control, and the movement of the vehicle body is driven by the moving part. As the vehicle body moves, the concrete slurry is discharged through the discharge end of the feeding assembly to realize floor pouring. At the same time, a vibrating assembly fixedly connected to one end of the top of the vehicle body vibrates the concrete slurry to make the concrete vibrated evenly. A mounting frame fixedly connected to one end of the vehicle body drives the leveling assembly to smooth and level the surface of the vibrated concrete.
  • the measuring part arranged on the top of the mounting frame measures the flatness of the ground in real time to ensure the uniformity of the flatness of the ground.
  • the device can realize the processes of pouring, vibrating and smoothing concrete at one time, enriching the functions of the construction robot, and does not require a lot of manpower when the device is working, thereby improving production efficiency and quality.
  • Fig. 1 is a schematic diagram of the structure of the present invention
  • FIG2 is a schematic diagram of the structure of the reciprocating lifting part of the present invention.
  • FIG3 is an exploded view of the structure at point A in FIG2 of the present invention.
  • Fig. 4 is a schematic diagram of the cross-sectional structure taken along line B-B in Fig. 1 of the present invention
  • FIG5 is a schematic diagram of the structure of Embodiment 2 of the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the present embodiment provides a construction robot, including a body 1, a feeding assembly is provided in the body 1, a mounting frame 14 is fixedly connected to one end of the body 1, the mounting frame 14 is located near the discharge end of the feeding assembly, one end of the top end of the body 1 is fixedly connected to one end of the vibrating assembly, the other end of the vibrating assembly passes through the middle of the mounting frame 14, a leveling assembly is provided at the end of the mounting frame 14 away from the body 1, a measuring part is provided on the top of the mounting frame 14, and a moving part is provided at the bottom of the body 1.
  • the vehicle body 1 When in use, the vehicle body 1 is placed on the floor to be poured, and concrete slurry is fed into the feeding assembly arranged in the vehicle body 1. Then, the vehicle body 1 is moved along the specified path by remote control or program control, and the movement of the vehicle body 1 is driven by the moving part. As the vehicle body 1 moves, the concrete slurry is discharged through the discharge end of the feeding assembly to realize floor pouring. At the same time, the vibrating assembly fixed at one end of the top of the vehicle body 1 vibrates the concrete slurry to make the concrete vibrated evenly. The mounting frame 14 fixed at one end of the vehicle body 1 drives the leveling assembly to smooth and level the vibrated concrete surface.
  • the measuring part arranged on the top of the mounting frame 14 measures the flatness of the ground in real time to ensure the uniformity of the flatness of the ground.
  • the device can realize the processes of pouring, vibrating and smoothing concrete at one time, enriching the functions of the construction robot, and does not require a lot of manpower when the device is working, thereby improving production efficiency and quality.
  • the feeding assembly includes a feeding channel 2, which is located in the vehicle body 1, the discharge port of the feeding channel 2 is close to the mounting frame 14, the top of one end of the feeding channel 2 away from the mounting frame 14 is connected to a feed pipe 6, and a transport part is rotatably connected inside the feeding channel 2.
  • the transport unit comprises a drive disk 4, which is located in the feeding channel 2, wherein the side wall of the drive disk 4 contacts and slides with the inner wall of the feeding channel 2, wherein one end of the drive disk 4 is axially fixedly connected to one end of the drive unit, and the other end of the drive unit is fixedly connected to the side wall of the vehicle body 1, and the other end of the drive disk 4 is fixedly connected to a hollow auger 5, which matches the feeding channel 2.
  • the driving unit includes a driving motor 3 , the output shaft of the driving motor 3 is connected to the central axis of the driving disc 4 , and the fixed end of the driving motor 3 is fixedly connected to the side wall of the vehicle body 1 .
  • One end of the feed pipe 6 is connected to the concrete pump, and the other end of the feed pipe 6 is located at the top of the vehicle body 1 and is connected to one end of the top of the feed channel 2, so that the concrete slurry can be transported into the feed channel 2.
  • a hollow auger 5 is arranged in the feeding channel 2. Concrete falling into the feeding channel 2 will move along the hollow auger 5 to the discharge end of the feeding channel 2.
  • the axis of the hollow auger 5 is a hollow structure, which is convenient for concrete to pass through. As shown in FIG1 , the conveying direction of the hollow auger 5 is from left to right.
  • the outer diameter of the hollow auger 5 is matched with the inner diameter of the feeding channel 2.
  • One end of the hollow auger 5 is fixedly connected to the driving disk 4.
  • the output shaft of the driving motor 3 passes through the side wall of the vehicle body 1 and is fixedly connected to the axis of the driving disk 4. When the driving motor 3 drives the driving disk 4 to rotate, the driving disk 4 drives the hollow auger 5 to rotate, thereby realizing the conveying of concrete slurry.
  • the concrete slurry Since the concrete slurry is easy to solidify, the concrete slurry is stirred while being transported by the hollow auger 5 , thereby preventing the concrete slurry from solidifying in the feeding channel 2 .
  • the vibrating assembly includes a rectangular upright pole 20, which is fixedly connected to one end of the top of the vehicle body 1, a sliding sleeve 21 is arranged outside the rectangular upright pole 20 and vertically slides, a rectangular cross bar 22 is fixedly connected to the outer wall of the sliding sleeve 21, a reciprocating lifting portion is sleeved on the rectangular cross bar 22 and horizontally slides, a vibrating rod 8 is rotatably connected to the reciprocating lifting portion, the vibrating rod 8 is vertically arranged, the vibrating rod 8 is located in the middle of the mounting frame 14, a guide bracket 27 is sleeved in the middle of the vibrating rod 8 and slidably connected, the guide bracket 27 is fixedly connected to one end of the top of the vehicle body 1, one end of the telescopic portion is fixedly connected to the middle of the rectangular cross bar 22, and the other end of the telescopic portion is fixedly connected to the top of the vehicle body 1.
  • the rectangular cross bar 22 is driven up and down by the telescopic part, so that the sliding sleeve 21 at the end of the rectangular cross bar 22 slides on the outside of the rectangular vertical bar 20, thereby driving the reciprocating lifting part and the vibrating rod 8 rotatably connected to the reciprocating lifting part to move up and down.
  • the vibrating rod 8 is vertically arranged, and the guide bracket 27 sleeved and slidably connected in the middle of the vibrating rod 8 can keep the vibrating rod 8 vertical, so that when the reciprocating lifting part drives the vibrating rod 8 to vibrate, it can ensure that the vibrating rod 8 is vertically inserted into the concrete, and the telescopic part can change the bottom height of the vibrating rod 8, thereby ensuring that the vibration can start from the bottom of the concrete slurry.
  • the reciprocating lifting part includes a slider 28, which is sleeved and horizontally slidably arranged outside the rectangular cross bar 22.
  • a slide groove 35 is opened on one side of the slider 28, and the slide groove 35 is a horizontally arranged isosceles triangle structure.
  • a sliding shaft 36 is slidably connected in the slide groove 35, and a hinge shaft 34 is axially slidably arranged on the sliding shaft 36.
  • the hinge shaft 34 is rotatably connected to the vibrating rod 8, and a spring 37 is arranged between the vibrating rod 8 and the sliding shaft 36.
  • the spring 37 is sleeved outside the sliding shaft 36, and the reciprocating part is fixedly connected to the top of the slider 28.
  • the slide groove 35 is a horizontally arranged isosceles triangle structure, and the sliding shaft 36 slides in the slide groove 35.
  • each side of the slide groove 35 is provided with a slope, and each side is sequentially connected end to end from low to high, and each side is also provided with a step-type structure at the connection point, and when the sliding shaft 36 slides along each side of the slide groove 35, the step-type structure can prevent the sliding shaft 36 from sliding in the reverse direction.
  • the sliding shaft 36 is axially slidably provided with a hinge shaft 34, and the hinge shaft 34 is rotatably connected to the vibrating rod 8.
  • a spring 37 is provided between the vibrating rod 8 and the sliding shaft 36. Since the middle part of the vibrating rod 8 is slidably connected to the guide bracket 27, the guide bracket 27 limits the vertical displacement of the vibrating rod 8 while also limiting the movement of the vibrating rod 8 in other directions. As a result, when the sliding shaft 36 moves along the ramps on each side of the slide groove 35, it will slide along the hinge shaft 34.
  • the initial state of the spring 37 is a compressed state.
  • the spring 37 ensures that the bottom of the sliding shaft 36 is always in close contact with the side wall of the slide groove 35, thereby preventing the sliding shaft 36 from slipping off the slide groove 35.
  • the vibrating rod 8 When in use, after adjusting the bottom height of the vibrating rod 8 by the telescopic rod 26, the vibrating rod 8 is completely immersed in the concrete, and the sliding shaft 36 first moves along the waist side of the isosceles triangle of the slide groove 35. Since the waist side slope of the slide groove 35 is small, with the movement of the sliding shaft 36, the vibrating rod 8 is slowly lifted to simulate the process of slowly pulling out the vibrating rod 8 during manual vibration.
  • the vibrating rod 8 falls quickly to simulate the process of quickly inserting the vibrating rod 8 during manual vibration, thereby ensuring the requirements of quick insertion, slow pulling and vertical insertion of the vibrating rod 8 during concrete vibration.
  • the reciprocating part includes a second rack 29, the bottom of the second rack 29 is fixedly connected to the top of the slider 28, the top of the second rack 29 is meshed and connected with two symmetrically arranged second gears 31, the axes of the two second gears 31 are rotatably connected to the two ends of the gear connecting rod 30 respectively, the middle part of the gear connecting rod 30 is rotatably connected to one end of the second connecting rod 25, the other end of the second connecting rod 25 is rotatably connected to one end of the first rotating rod 24, the other end of the first rotating rod 24 is fixedly connected to the output shaft of the third motor 23, the bottom of the third motor 23 is fixedly connected to the top of the rectangular cross bar 22, the tops of the two second gears 31 are meshed and connected with the third rack 32, A fixing rod 33 is fixedly connected to one end of the third rack 32 , and a bottom of the fixing rod 33 is fixedly connected to one end of the top of the rectangular cross bar 22 .
  • the output shaft of the third motor 23 drives the first rotating rod 24 to rotate, and the end of the first rotating rod 24 drives one end of the second connecting rod 25 to rotate, so that one end of the second connecting rod 25 drives the gear connecting rod 30 to slide repeatedly between the third rack 32 and the second rack 29, and the two ends of the gear connecting rod 30 are respectively rotatably connected with the second gear 31, and the edges of the second gear 31 are respectively meshed and connected with the third rack 32 and the second rack 29, and the fixing rod 33 fixes the third rack 32 to the rectangular cross bar 22.
  • the gear connecting rod 30 drives the two second gears 31 to move horizontally
  • the third rack 32 causes the second gear 31 to rotate, and the rotation of the second gear 31 drives the second rack 29 to move, thereby realizing the reciprocating motion of the slider 28.
  • the second rack 29 is driven to move by the rotation of the second gear 31, so that the horizontal movement range of the second rack 29 is greatly increased, thereby enabling the size of the equipment to be reduced.
  • the leveling assembly comprises two symmetrically arranged racks 17, the racks 17 penetrate through and are slidably arranged at both ends of the mounting frame 14, the racks 17 are meshingly connected with gears 16, the two ends of the dual-axis motor 15 are fixedly connected to the axes of the two gears 16, the dual-axis motor 15 is fixedly connected to the top of the mounting frame 14, the bottom of the racks 17 is fixedly connected to the first connecting rod 10, the two ends of the scraping plate 9 are fixedly connected to one end of the two first connecting rods 10 close to the vehicle body 1, the two ends of the first connecting rods 10 away from the vehicle body 1 are fixedly connected to a vibration plate 11, the top center of the vibration plate 11 is fixedly connected to a vibration motor 12, the end of the vibration plate 11 away from the vehicle body 1 is fixedly connected to two symmetrically arranged diagonal struts 13, and the ends of the two diagonal struts 13 are respectively fixedly connected to the tops of the two racks 17.
  • the gears 16 at both ends are driven to rotate by a dual-axis motor 15, thereby driving the rack 17 meshing with the gear 16 to move up and down at the same time, thereby changing the height of the scraper plate 9 and the vibration plate 11.
  • the height of the scraper plate 9 and the vibration plate 11 is adjusted according to the real-time measurement data of the measuring unit, thereby ensuring that the laid board surface is level, greatly reducing errors, and ensuring flatness.
  • the scraper plate 9 scrapes the concrete surface as the vehicle body 1 moves, and then the vibration motor 12 drives the vibration plate 11 to vibrate and vibrate the concrete surface to further discharge bubbles on the concrete surface, making the concrete surface more compact and less prone to cracks.
  • the bottom of the scraper plate 9 and the bottom of the vibration plate 11 are on the same horizontal plane.
  • the scraper plate 9 and the vibration plate 11 are connected by a first connecting rod 10.
  • the top middle part of the first connecting rod 10 is fixedly connected to the bottom of the rack 17, and then the scraper plate 9 and the vibration plate 11 are lifted and lowered simultaneously by the up and down movement of the rack 17.
  • one end of the vibration plate 11 away from the scraping plate 9 is also fixedly connected to one end of an inclined diagonal support rod 13 , and the other end of the diagonal support rod 13 is fixedly connected to the top of the rack 17 to ensure that the left and right ends of the vibration plate 11 will rise and fall simultaneously when the rack 17 rises and falls.
  • the measuring part includes two symmetrically arranged receiver mounting frames 18 , the receiver mounting frames 18 are fixedly connected to two ends of the mounting frame 14 , and a laser measuring system 19 is fixedly connected to the top of the receiver mounting frames 18 .
  • a laser measuring system 19 is fixedly installed on the top of the two receiver mounting frames 18.
  • the laser measuring system 19 includes sensors such as an electronic level, a laser gyroscope and a laser receiver.
  • the sensors are all connected to the laser measurement and control system signal, and the laser measurement and control system signal is connected to the computer control system; the electronic level and the laser gyroscope emit lasers to measure the relative horizontal plane and angle information.
  • the laser receiver After receiving the signal, the laser receiver feeds the signal back to the laser measurement and control system for analysis, and the analyzed deviation data is fed back to the computer control system, and the computer control system makes corresponding instructions accordingly.
  • the moving part includes four wheels 7, which are respectively arranged around the vehicle body 1, and the middle of the wheel 7 is connected to a motor (not shown in the figure).
  • the four wheels 7 are respectively connected to a motor (not shown in the figure) in a transmission manner, and the turning direction and forward and backward movement of the vehicle body 1 can be controlled by controlling the rotation speed of different motors.
  • the wheel 7 is preferably a vacuum rubber tire.
  • the wheels 7 can preferably be Mecanum wheels, and the four wheels 7 are adapted to each other.
  • the Mecanum wheels can enrich the movement modes of the vehicle body 1 and realize the lateral movement, on-site turning and other actions of the vehicle body 1.
  • the working process of this embodiment is as follows: when in use, the vehicle body 1 is placed on the floor to be poured, one end of the feed pipe 6 is connected to the concrete pump, and the other end of the feed pipe 6 is connected to the top end of the feed channel 2, and then the concrete slurry is transported to the feed channel 2, and the driving motor 3 drives the driving disc 4 to rotate and then drives the hollow auger 5 to rotate, and the concrete slurry is transported to the discharge end of the feed channel 2 to realize pouring.
  • the vibrating rod 8 After the bottom height of the vibrating rod 8 is adjusted in advance by the telescopic rod 26, the vibrating rod 8 is completely immersed in the concrete during pouring, and then the first rotating rod 24 is driven to rotate by the output shaft of the third motor 23, and the end of the first rotating rod 24 drives one end of the second connecting rod 25 to rotate, so that one end of the second connecting rod 25 drives the gear connecting rod 30 to slide repeatedly between the third rack 32 and the second rack 29, and the two ends of the gear connecting rod 30 are respectively rotatably connected to the second gear 31, and the edges of the second gear 31 are respectively connected to the third rack 32 and the second rack 29.
  • the third rack 32 is meshedly connected with the second rack 29, and the fixing rod 33 fixes the third rack 32 to the rectangular cross bar 22.
  • the reciprocating motion of the slider 28 causes the sliding shaft 36 to first move along the waist of the isosceles triangle of the slide groove 35. Since the waist slope of the slide groove 35 is small, as the sliding shaft 36 moves, the vibrating rod 8 is slowly lifted to simulate the process of slowly pulling out the vibrating rod 8 during manual vibration. When the sliding shaft 36 slides to the base of the isosceles triangle structure of the slide groove 35, due to the large slope of the base, the vibrating rod 8 drops quickly to simulate the process of quickly inserting the vibrating rod 8 during manual vibration, thereby ensuring the requirements of quick insertion, slow pulling and vertical insertion of the vibrating rod 8 during concrete vibration.
  • a laser measuring system 19 is fixedly installed on the top of two receiver mounting frames 18 to measure the flatness of the ground and obtain information.
  • the gears 16 at both ends are driven to rotate by a dual-axis motor 15, thereby driving the rack 17 meshing with the gear 16 to move up and down at the same time, adjusting the horizontal height of the bottom of the scraper plate 9 and the bottom of the vibration plate 11. After the pouring and vibration are completed, the concrete surface is scraped and vibrated as the vehicle body 1 moves.
  • the vehicle body 1 is moved along a specified path by remote control or program control, and is driven by four wheels 7. As the vehicle body 1 moves, the pouring, vibrating and smoothing of concrete can be accomplished at one time, thereby enriching the functions of the construction robot. In addition, a large amount of manpower is not required when the device is working, thereby improving production efficiency and quality.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the vehicle body 1 is connected to the electric hoist 45 on all sides through steel cables 46, the top of the electric hoist 45 is fixedly connected to the bottom of the threaded block 44, the outer wall of the threaded block 44 is slidably connected to the crossbeam 42, the middle part of the crossbeam 42 is rotatably connected to the lead screw 43, the lead screw 43 is threadedly connected to the threaded block 44, the two ends of the crossbeam 42 are respectively fixedly connected to the frame 38, the central axis of either end of the lead screw 43 is connected to the output end of the fourth motor 41, the fixed end of the fourth motor 41 is fixedly connected to the side wall of the frame 38, the bottom of the frame 38 is fixedly connected to the sliding block 40, and the sliding block 40 is slidably connected to the slide rail 39.
  • a driving motor (not shown) and a driving wheel (not shown) are fixedly connected to both ends of the sliding block 40.
  • the driving motor and the driving wheel push the sliding block 40 to slide in the slide rail 39, thereby driving the frame 38 to move.
  • the top floor of the house usually has double-layer and bidirectional steel bars.
  • the car body 1 presses down the steel bars on the upper layer, so that the distance between the two layers of steel bars of the roof panel is close, which affects the quality of the roof panel. Therefore, during the construction of the roof panel, slide rails 39 can be set on both sides of the roof, and the car body 1 can be lifted by the frame 38 and the cross beam 42, the threaded block 44 on the cross beam 42, and the electric hoist 45 through the steel cable 46.
  • the sliding direction of the threaded block 44 is vertically set to the sliding direction of the sliding block 40 on the slide rail 39.
  • the height of the vehicle body 1 is controlled by the electric hoist 45 and the steel cable 46 , and the fourth motor 41 drives the lead screw 43 to rotate, thereby sliding the threaded block 44 and the sliding block 40 on the slide rail 39 to achieve movement in the X and Y directions.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

一种建筑施工机器人，包括车体（1），车体（1）内设有送料组件，车体（1）的一端固接有安装架（14），安装架（14）位于靠近送料组件的出料端，车体（1）顶部一端固接有振捣组件的一端，振捣组件的另一端穿过安装架（14）的中部，安装架（14）远离车体（1）一端设置有找平组件，安装架（14）顶部设置有测量部，车体（1）底部设置有移动部。本设备可一次实现混凝土的浇筑、振捣和抹平，提高生产效率和质量。

Description

一种建筑施工机器人 技术领域
本发明涉及建筑施工技术领域，特别是涉及一种建筑施工机器人。
背景技术
建筑施工是指工程建设实施阶段的生产活动，是各类建筑物的建造过程，也可以说是把设计图纸上的各种线条，在指定的地点，变成实物的过程，它包括基础工程施工、主体结构施工、屋面工程施工、装饰工程施工等。
随着科学技术的发展，通过机器人作业代替了人工作业，提高了施工效率和质量。
在现有楼板施工过程中，仍需人工进行钢筋搭设、模板搭设和混凝土浇筑，浇筑振捣完成后再实用找平机器人对楼板进行找平，在施工过程中，主要耗费人力的工作过程仍无法被机器人取代，找平机器人仅能替代较少部分的人力作业，因此亟需一种建筑施工机器人来解决。
发明内容
本发明的目的是提供一种建筑施工机器人，以解决上述问题。
为实现上述目的，本发明提供了如下方案：
一种建筑施工机器人，包括车体，所述车体内设有送料组件，所述车体的一端固接有安装架，所述安装架位于靠近所述送料组件的出料端，所述车体顶部一端固接有振捣组件的一端，所述振捣组件的另一端穿过与所述安装架的中部，所述安装架远离所述车体一端设置有找平组件，所述安装架顶部设置有测量部，所述车体底部设置有移动部。
优选的，所述送料组件包括送料通道，所述送料通道位于所述车体内，所述送料通道的出料口靠近所述安装架，所述送料通道远离所述安装架的一端顶部连通有进料管，所述送料通道内转动连接有运输部。
优选的，所述运输部包括驱动盘，所述驱动盘位于所述送料通道内，所述驱动盘的侧壁与所述送料通道内壁接触并滑动设置，所述驱动盘的一端轴心固接有驱动部的一端，所述驱动部的另一端与所述车体侧壁固接，所述驱动盘的另一端固接有中空绞龙，所述中空绞龙与所述送料通道相匹配。
优选的，所述驱动部包括驱动电机，所述驱动电机的输出轴与所述驱动盘中心轴接，所述驱动电机的固定端与所述车体侧壁固接。
优选的，所述振捣组件包括矩形立杆，所述矩形立杆与所述车体顶部一端固接，所述矩形立杆外套设并竖直滑动设置有滑套，所述滑套外侧壁固接有矩形横杆，所述矩形横杆上套设并水平滑动设置有往复提升部，所述往复提升部转动连接有振捣棒，所述振捣棒竖直设置，所述振捣棒位于所述安装架中部，所述振捣棒中部套设并滑动连接有导向支架，所述导向支架与所述车体顶部一端固接，所述矩形横杆中部固接有伸缩部的一端，所述伸缩部的另一端与所述车体顶部固接。
优选的，所述往复提升部包括滑块，所述滑块套设并水平滑动设置在所述矩形横杆外，所述滑块一侧开设有滑槽，所述滑槽为水平设置的等腰三角形结构，所述滑槽内滑动连接有滑动轴，所述滑动轴轴心滑动设置有铰接轴，所述铰接轴与所述振捣棒转动连接，所述振捣棒与所述滑动轴之间设置有弹簧，所述弹簧套设在所述滑动轴外，所述滑块顶部固接有往复部。
优选的，所述往复部包括第二齿条，所述第二齿条底部与所述滑块顶部固接，所述第二齿条顶部啮合连接有两对称设置的第二齿轮，两所述第二齿轮的轴心分别转动连接有齿轮连接杆的两端，所述齿轮连接杆中部转动连接有第二连杆的一端，所述第二连杆的另一端转动连接有第一转动杆的一端，所述第一转动杆的另一端固接有第三电机的输出轴，所述第三电机的底部与所述矩形横杆顶部固接，两所述第二齿轮顶部啮合连接有第三齿条，所述第三齿条的一端固接有固定杆，所述固定杆底部与所述矩形横杆顶部一端固接。
优选的，所述找平组件包括两对称设置的齿条，所述齿条贯穿并滑动设置在所述安装架的两端，所述齿条啮合连接有齿轮，两所述齿轮轴心固接有双轴电机的两端，所述双轴电机与所述安装架顶部固接，所述齿条底部固接有第一连杆，两所述第一连杆靠近所述车体一端固接有刮平板的两端，两所述第一连杆远离所述车体一端固接有振动板，所述振动板顶部中心固接有振动电机，所述振动板远离所述车体一端固接有两对称设置的斜撑杆，两所述斜撑杆的端部分别与两所述齿条顶部固接。
优选的，所述测量部包括两对称设置的接收器安装架，所述接收器安装架固接在所述安装架的两端，所述接收器安装架顶部固接有激光接收器。
优选的，所述移动部包括四个轮子，四个所述轮子分别设置在所述车体的四周，所述轮子中部传动连接有电动机。
本发明具有如下技术效果：使用时，将车体安置于需浇筑的楼层，向车体内设置的送料组件内送入混凝土浆料，随后通过遥控车体或通过程序控制车体沿指定路径移动，通过移动部带动车体的移动，随着车体移动，混凝土浆料经送料组件出料端排出，实现楼板浇筑，同时，车体顶部一端固接的振捣组件对混凝土浆料进行振捣，使得混凝土振捣均匀，车体的一端固接的安装架带动找平组件对振捣后的混凝土表面进行抹平及找平，通过安装架顶部设置的测量部对地面平整度实时测量，以保证地面平整的均匀性，通过本装置可一次实现混凝土的浇筑、振捣和抹平这些工序，丰富了施工机器人的功能，且在本装置工作时无需耗费大量人力，提高生产效率和质量。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明结构示意图；
图2为本发明往复提升部结构示意图；
图3为本发明图2中A处结构爆炸图；
图4为本发明图1中B-B剖面结构示意图；
图5为本发明实施例2结构示意图；
附图标记说明：1、车体；2、送料通道；3、驱动电机；4、驱动盘；5、中空绞龙；6、进料管；7、轮子；8、振捣棒；9、刮平板；10、第一连杆；11、振动板；12、振动电机；13、斜撑杆；14、安装架；15、双轴电机；16、齿轮；17、齿条；18、接收器安装架；19、激光测量系统；20、矩形立杆；21、滑套；22、矩形横杆；23、第三电机；24、第一转动杆；25、第二连杆；26、伸缩杆；27、导向支架；28、滑块；29、第二齿条；30、齿轮连接杆；31、第二齿轮； 32、第三齿条；33、固定杆；34、铰接轴；35、滑槽；36、滑动轴；37、弹簧；38、框架；39、滑轨；40、滑动块；41、第四电机；42、横梁；43、丝杠；44、螺纹块；45、电葫芦；46、钢索。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
实施例1：
参照图1、图2、图3和图4，本实施例提供一种建筑施工机器人，包括车体1，车体1内设有送料组件，车体1的一端固接有安装架14，安装架14位于靠近送料组件的出料端，车体1顶部一端固接有振捣组件的一端，振捣组件的另一端穿过与安装架14的中部，安装架14远离车体1一端设置有找平组件，安装架14顶部设置有测量部，车体1底部设置有移动部。
使用时，将车体1安置于需浇筑的楼层，向车体1内设置的送料组件内送入混凝土浆料，随后通过遥控车体1或通过程序控制车体1沿指定路径移动，通过移动部带动车体1的移动，随着车体1移动，混凝土浆料经送料组件出料端排出，实现楼板浇筑，同时，车体1顶部一端固接的振捣组件对混凝土浆料进行振捣，使得混凝土振捣均匀，车体1的一端固接的安装架14带动找平组件对振捣后的混凝土表面进行抹平及找平，通过安装架14顶部设置的测量部对地面平整度实时测量，以保证地面平整的均匀性，通过本装置可一次实现混凝土的浇筑、振捣和抹平这些工序，丰富了施工机器人的功能，且在本装置工作时无需耗费大量人力，提高生产效率和质量。
进一步优化方案，送料组件包括送料通道2，送料通道2位于车体1内，送料通道2的出料口靠近安装架14，送料通道2远离安装架14的一端顶部连通有进料管6，送料通道2内转动连接有运输部。
进一步优化方案，运输部包括驱动盘4，驱动盘4位于送料通道2内，驱动盘4的侧壁与送料通道2内壁接触并滑动设置，驱动盘4的一端轴心固接有驱动部的一端，驱动部的另一端与车体1侧壁固接，驱动盘4的另一端固接有中空绞龙5，中空绞龙5与送料通道2相匹配。
进一步优化方案，驱动部包括驱动电机3，驱动电机3的输出轴与驱动盘4中心轴接，驱动电机3的固定端与车体1侧壁固接。
进料管6的一端与混凝土泵送机连通，进料管6的另一端位于车体1的顶部并与送料通道2顶部一端连通，可将混凝土浆料输送至送料通道2内。
送料通道2内设置有中空绞龙5，落入至送料通道2内的混凝土会沿中空绞龙5向送料通道2出料端移动，中空绞龙5的轴心为中空结构，便于混凝土通过，如图1所示，中空绞龙5的输送方向为由左至右，中空绞龙5的外径与送料通道2内径相适配，中空绞龙5的一端与驱动盘4固接，驱动电机3的输出轴贯穿车体1侧壁与驱动盘4轴心固接，当驱动电机3带动驱动盘4转动时，驱动盘4带动中空绞龙5转动，进而实现混凝土浆料的输送。
由于混凝土浆料易凝固，通过中空绞龙5输送时同时搅动混凝土浆料，进而避免混凝土浆料在送料通道2内凝固。
进一步优化方案，振捣组件包括矩形立杆20，矩形立杆20与车体1顶部一端固接，矩形立杆20外套设并竖直滑动设置有滑套21，滑套21外侧壁固接有矩形横杆22，矩形横杆22上套设并水平滑动设置有往复提升部，往复提升部转动连接有振捣棒8，振捣棒8竖直设置，振捣棒8位于安装架14中部，振捣棒8中部套设并滑动连接有导向支架27，导向支架27与车体1顶部一端固接，矩形横杆22中部固接有伸缩部的一端，伸缩部的另一端与车体1顶部固接。
通过伸缩部带动矩形横杆22上下移动，使得矩形横杆22端部的滑套21在矩形立杆20外侧滑动，进而带动往复提升部和与往复提升部转动连接的振捣棒8上下移动，振捣棒8为竖直设置，振捣棒8中部套设并滑动连接的导向支架27能够使振捣棒8保持竖直，进而当往复提升部带动振捣棒8进行振捣时，能够确保振捣棒8垂直插入混凝土中，伸缩部能够改变振捣棒8底部高度，进而确保振捣能由混凝土浆料的底部开始。
进一步优化方案，往复提升部包括滑块28，滑块28套设并水平滑动设置在矩形横杆22外，滑块28一侧开设有滑槽35，滑槽35为水平设置的等腰三角形结构，滑槽35内滑动连接有滑动轴36，滑动轴36轴心滑动设置有铰接轴34，铰接轴34与振捣棒8转动连接，振捣棒8与滑动轴36之间设置有弹簧37，弹簧37套设在滑动轴36外，滑块28顶部固接有往复部。
如图1所示，滑槽35为水平设置的等腰三角形结构，滑动轴36在滑槽35内滑动。如图3所示，滑槽35的各个边设置有坡度，各个边依次由低至高首尾相连，各个边的连接处还设置有台阶型结构，滑动轴36沿滑槽35的各个边滑动时，台阶型结构能够防止滑动轴36逆向滑动。
滑动轴36轴心滑动设置有铰接轴34，铰接轴34与振捣棒8转动连接，振捣棒8与滑动轴36之间设置有弹簧37，由于振捣棒8的中部与导向支架27滑动连接，导向支架27限制了振捣棒8竖向位移的同时也限制了振捣棒8其他方向的移动，进而使得当滑动轴36沿滑槽35各边的坡道移动时，会沿铰接轴34滑动，弹簧37初始状态为压缩状态，通过弹簧37使得滑动轴36的底部始终紧贴滑槽35的侧壁，进而避免滑动轴36与滑槽35滑脱。
使用时，通过伸缩杆26调整好振捣棒8底部高度后，使振捣棒8完全浸没在混凝土内，滑动轴36先是沿滑槽35的等腰三角形的腰边移动，由于滑槽35的腰边斜率较小，随着滑动轴36的移动，振捣棒8缓慢提升，以模拟人工振捣时振捣棒8慢拔的过程，当滑动轴36滑动至滑槽35的等腰三角形结构的底边时，由于底边的斜率较大，振捣棒8快速下落，以模拟人工振捣时振捣棒8快插的过程，进而确保了混凝土振捣时，要求的振捣棒8快插、慢拔和垂直插入的要求。
进一步优化方案，往复部包括第二齿条29，第二齿条29底部与滑块28顶部固接，第二齿条29顶部啮合连接有两对称设置的第二齿轮31，两第二齿轮31的轴心分别转动连接有齿轮连接杆30的两端，齿轮连接杆30中部转动连接有第二连杆25的一端，第二连杆25的另一端转动连接有第一转动杆24的一端，第一转动杆24的另一端固接有第三电机23的输出轴，第三电机23的底部与矩形横杆22顶部固接，两第二齿轮31顶部啮合连接有第三齿条32， 第三齿条32的一端固接有固定杆33，固定杆33底部与矩形横杆22顶部一端固接。
通过第三电机23的输出轴带动第一转动杆24转动，第一转动杆24的端部带动第二连杆25的一端转动，使得第二连杆25的一端带动齿轮连接杆30在第三齿条32和第二齿条29之间反复滑动，齿轮连接杆30的两端分别转动连接有第二齿轮31，第二齿轮31的边缘分别与第三齿条32和第二齿条29啮合连接，固定杆33使第三齿条32与矩形横杆22固接，在齿轮连接杆30带动两第二齿轮31水平移动时，第三齿条32使得第二齿轮31转动，第二齿轮31转动带动第二齿条29移动，进而实现滑块28的往复运动。
相较于传统通过伸缩杆或直接通过曲轴实现往复运动，基于第二齿轮31弧边长度大于水平位移，通过第二齿轮31转动带动第二齿条29移动，使得第二齿条29的水平移动范围大大增加，进而能够实现设备体积的缩小。
进一步优化方案，找平组件包括两对称设置的齿条17，齿条17贯穿并滑动设置在安装架14的两端，齿条17啮合连接有齿轮16，两齿轮16轴心固接有双轴电机15的两端，双轴电机15与安装架14顶部固接，齿条17底部固接有第一连杆10，两第一连杆10靠近车体1一端固接有刮平板9的两端，两第一连杆10远离车体1一端固接有振动板11，振动板11顶部中心固接有振动电机12，振动板11远离车体1一端固接有两对称设置的斜撑杆13，两斜撑杆13的端部分别与两齿条17顶部固接。
如图4所示，通过双轴电机15驱动两端的齿轮16转动，进而带动与齿轮16啮合连接的齿条17同时上下移动，进而实现刮平板9和振动板11的高度的改变，根据测量部的实时测量数据调整刮平板9和振动板11的高度，进而保证铺设的板面水平，大大降低误差，保证平整度。
刮平板9随着车体1的移动，对混凝土表面进行刮平，随后振动电机12带动振动板11振动，对混凝土表面进行振捣，进一步排出混凝土表面的气泡，使得混凝土表面更加密实，不易产生裂缝。
刮平板9的底部与振动板11的底部处于同一水平面上，刮平板9和振动板11之间通过第一连杆10连接，第一连杆10的顶部中部与齿条17底部固接，进而通过齿条17的上下移动，实现刮平板9和振动板11的同时升降。
如图1所示，振动板11远离刮平板9的一端还固接有倾斜设置的斜撑杆13的一端，斜撑杆13的另一端与齿条17顶部固接，以保证齿条17升降时振动板11的左右两端会同时升降。
进一步优化方案，测量部包括两对称设置的接收器安装架18，接收器安装架18固接在安装架14的两端，接收器安装架18顶部固接有激光测量系统19。
两根接收器安装架18的顶端固定设置有激光测量系统19，激光测量系统19包括电子水平仪、激光陀螺仪和激光接收器等传感器，传感器均与激光测控系统信号连接，激光测控系统信号连接有计算机控制系统；电子水平仪和激光陀螺仪发射激光测量相对水平面及角度信息，激光接收器接收到信号之后将信号反馈至激光测控系统进行分析，分析到的偏差数据反馈至计算机控制系统，计算机控制系统由此作出相应指令。
进一步优化方案，移动部包括四个轮子7，四个轮子7分别设置在车体1的四周，轮子7中部传动连接有电动机(图中未画出)。
四个轮子7各自与电动机(图中未画出)传动连接，可通过控制不同电动机的转速来控制车体1的转向和前后移动。
本实施例中轮子7优选为真空橡胶胎。
轮子7可优选为麦克纳姆轮，四个轮子7相适配，通过麦克纳姆轮可丰富车体1的移动方式，实现车体1的横移、原地转向等动作。
本实施例的工作过程如下：使用时，将车体1安置于需浇筑的楼层，将进料管6的一端与混凝土泵送机连通，进料管6的另一端与送料通道2顶部一端连通，随后将混凝土浆料输送至送料通道2内，驱动电机3驱动驱动盘4转动进而带动中空绞龙5转动，将混凝土浆料输送至送料通道2的出料端，实现浇筑。
预先通过伸缩杆26调整好振捣棒8底部高度后，在浇筑的同时，先使振捣棒8完全浸没在混凝土内，随后通过第三电机23的输出轴带动第一转动杆24转动，第一转动杆24的端部带动第二连杆25的一端转动，使得第二连杆25的一端带动齿轮连接杆30在第三齿条32和第二齿条29之间反复滑动，齿轮连接杆30的两端分别转动连接有第二齿轮31，第二齿轮31的边缘分别与 第三齿条32和第二齿条29啮合连接，固定杆33使第三齿条32与矩形横杆22固接，在齿轮连接杆30带动两第二齿轮31水平移动时，第三齿条32使得第二齿轮31转动，第二齿轮31转动带动第二齿条29移动，进而实现滑块28的往复运动。
滑块28的往复运动使得滑动轴36先是沿滑槽35的等腰三角形的腰边移动，由于滑槽35的腰边斜率较小，随着滑动轴36的移动，振捣棒8缓慢提升，以模拟人工振捣时振捣棒8慢拔的过程，当滑动轴36滑动至滑槽35的等腰三角形结构的底边时，由于底边的斜率较大，振捣棒8快速下落，以模拟人工振捣时振捣棒8快插的过程，进而确保了混凝土振捣时，要求的振捣棒8快插、慢拔和垂直插入的要求。
通过两根接收器安装架18的顶端固定设置有激光测量系统19对地面平整度进行测量获取信息，通过双轴电机15驱动两端的齿轮16转动，进而带动与齿轮16啮合连接的齿条17同时上下移动，调整刮平板9的底部与振动板11的底部的水平高度，浇筑振捣完成后，随着车体1的移动对混凝土表面进行刮平和振捣。
通过遥控车体1或通过程序控制车体1沿指定路径移动，通过四个轮子7带动车体1的移动，随着车体1移动，可一次实现混凝土的浇筑、振捣和抹平这些工序，丰富了施工机器人的功能，且在本装置工作时无需耗费大量人力，提高生产效率和质量。
实施例2：
参考图5，本实施例与实施例1的区别仅在于，车体1的四周通过钢索46与电葫芦45连接，电葫芦45的顶部固接有螺纹块44的底部，螺纹块44的外壁滑动连接有横梁42，横梁42中部转动连接有丝杠43，丝杠43与螺纹块44螺纹连接，横梁42的两端分别固接有框架38，丝杠43的任一端中心轴接有第四电机41的输出端，第四电机41的固定端与框架38的侧壁固接，框架38底部固接有滑动块40，滑动块40滑动连接有滑轨39。
滑动块40的两端还固接有驱动电机(图中未画出)和驱动轮(图中未画出)，通过驱动电机和驱动轮推动滑动块40在滑轨39内滑动，进而带动框架38移动。
房屋顶层屋面板通常钢筋设置为双层双向，车体1将位于上层的钢筋向下压，使得屋面板的两层钢筋间距较近，影响屋面板质量，因此在屋面板施工作业时，可在屋面的两侧设置滑轨39，通过框架38和横梁42以及横梁42上的螺纹块44和电葫芦45通过钢索46将车体1吊起。螺纹块44的滑动方向与滑动块40在滑轨39上的滑动方向空间垂直设置。
通过电葫芦45和钢索46控制车体1高度，通过第四电机41驱动丝杠43转动进而使螺纹块44滑动以及滑动块40在滑轨39上滑动实现X、Y方向的移动。
进而避免了车体1直接压向表层的钢筋层，以提高屋面板质量。
在本发明的描述中，需要理解的是，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
以上所述的实施例仅是对本发明的优选方式进行描述，并非对本发明的范围进行限定，在不脱离本发明设计精神的前提下，本领域普通技术人员对本发明的技术方案做出的各种变形和改进，均应落入本发明确定的保护范围内。

Claims (10)

  1. 一种建筑施工机器人，其特征在于：包括车体(1)，所述车体(1)内设有送料组件，所述车体(1)的一端固接有安装架(14)，所述安装架(14)位于靠近所述送料组件的出料端，所述车体(1)顶部一端固接有振捣组件的一端，所述振捣组件的另一端穿过与所述安装架(14)的中部，所述安装架(14)远离所述车体(1)一端设置有找平组件，所述安装架(14)顶部设置有测量部，所述车体(1)底部设置有移动部。
  2. 根据权利要求1所述一种建筑施工机器人，其特征在于：所述送料组件包括送料通道(2)，所述送料通道(2)位于所述车体(1)内，所述送料通道(2)的出料口靠近所述安装架(14)，所述送料通道(2)远离所述安装架(14)的一端顶部连通有进料管(6)，所述送料通道(2)内转动连接有运输部。
  3. 根据权利要求2所述一种建筑施工机器人，其特征在于：所述运输部包括驱动盘(4)，所述驱动盘(4)位于所述送料通道(2)内，所述驱动盘(4)的侧壁与所述送料通道(2)内壁接触并滑动设置，所述驱动盘(4)的一端轴心固接有驱动部的一端，所述驱动部的另一端与所述车体(1)侧壁固接，所述驱动盘(4)的另一端固接有中空绞龙(5)，所述中空绞龙(5)与所述送料通道(2)相匹配。
  4. 根据权利要求3所述一种建筑施工机器人，其特征在于：所述驱动部包括驱动电机(3)，所述驱动电机(3)的输出轴与所述驱动盘(4)中心轴接，所述驱动电机(3)的固定端与所述车体(1)侧壁固接。
  5. 根据权利要求1所述一种建筑施工机器人，其特征在于：所述振捣组件包括矩形立杆(20)，所述矩形立杆(20)与所述车体(1)顶部一端固接，所述矩形立杆(20)外套设并竖直滑动设置有滑套(21)，所述滑套(21)外侧壁固接有矩形横杆(22)，所述矩形横杆(22)上套设并水平滑动设置有往复提升部，所述往复提升部转动连接有振捣棒(8)，所述振捣棒(8)竖直设置，所述振捣棒(8)位于所述安装架(14)中部，所述振捣棒(8)中部套设并滑动连接有导向支架(27)，所述导向支架(27)与所述车体(1)顶部一端固接，所述矩形横杆(22)中部固接有伸缩部的一端，所述伸缩部的另一端与所述车体(1)顶部固接。
  6. 根据权利要求5所述一种建筑施工机器人，其特征在于：所述往复提升 部包括滑块(28)，所述滑块(28)套设并水平滑动设置在所述矩形横杆(22)外，所述滑块(28)一侧开设有滑槽(35)，所述滑槽(35)为水平设置的等腰三角形结构，所述滑槽(35)内滑动连接有滑动轴(36)，所述滑动轴(36)轴心滑动设置有铰接轴(34)，所述铰接轴(34)与所述振捣棒(8)转动连接，所述振捣棒(8)与所述滑动轴(36)之间设置有弹簧(37)，所述弹簧(37)套设在所述滑动轴(36)外，所述滑块(28)顶部固接有往复部。
  7. 根据权利要求6所述一种建筑施工机器人，其特征在于：所述往复部包括第二齿条(29)，所述第二齿条(29)底部与所述滑块(28)顶部固接，所述第二齿条(29)顶部啮合连接有两对称设置的第二齿轮(31)，两所述第二齿轮(31)的轴心分别转动连接有齿轮连接杆(30)的两端，所述齿轮连接杆(30)中部转动连接有第二连杆(25)的一端，所述第二连杆(25)的另一端转动连接有第一转动杆(24)的一端，所述第一转动杆(24)的另一端固接有第三电机(23)的输出轴，所述第三电机(23)的底部与所述矩形横杆(22)顶部固接，两所述第二齿轮(31)顶部啮合连接有第三齿条(32)，所述第三齿条(32)的一端固接有固定杆(33)，所述固定杆(33)底部与所述矩形横杆(22)顶部一端固接。
  8. 根据权利要求1所述一种建筑施工机器人，其特征在于：所述找平组件包括两对称设置的齿条(17)，所述齿条(17)贯穿并滑动设置在所述安装架(14)的两端，所述齿条(17)啮合连接有齿轮(16)，两所述齿轮(16)轴心固接有双轴电机(15)的两端，所述双轴电机(15)与所述安装架(14)顶部固接，所述齿条(17)底部固接有第一连杆(10)，两所述第一连杆(10)靠近所述车体(1)一端固接有刮平板(9)的两端，两所述第一连杆(10)远离所述车体(1)一端固接有振动板(11)，所述振动板(11)顶部中心固接有振动电机(12)，所述振动板(11)远离所述车体(1)一端固接有两对称设置的斜撑杆(13)，两所述斜撑杆(13)的端部分别与两所述齿条(17)顶部固接。
  9. 根据权利要求1所述一种建筑施工机器人，其特征在于：所述测量部包括两对称设置的接收器安装架(18)，所述接收器安装架(18)固接在所述安装架(14)的两端，所述接收器安装架(18)顶部固接有激光接收器(19)。
  10. 根据权利要求1所述一种建筑施工机器人，其特征在于：所述移动部 包括四个轮子(7)，四个所述轮子(7)分别设置在所述车体(1)的四周，所述轮子(7)中部传动连接有电动机。
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