CN113719123A - Intelligent engineering robot suitable for modular building - Google Patents
Intelligent engineering robot suitable for modular building Download PDFInfo
- Publication number
- CN113719123A CN113719123A CN202111097432.5A CN202111097432A CN113719123A CN 113719123 A CN113719123 A CN 113719123A CN 202111097432 A CN202111097432 A CN 202111097432A CN 113719123 A CN113719123 A CN 113719123A
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- CN
- China
- Prior art keywords
- robot
- mechanical
- arm
- building
- intelligent engineering
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- 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.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims description 3
- 239000012636 effector Substances 0.000 claims description 2
- 239000007921 spray Substances 0.000 claims 3
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 229910001069 Ti alloy Inorganic materials 0.000 claims 1
- 239000003570 air Substances 0.000 claims 1
- 239000012080 ambient air Substances 0.000 claims 1
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 230000009194 climbing Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Images
Classifications
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent engineering robot suitable for a modular building, which is a multi-legged robot and is used for splicing and building engineering of building modules.
Description
Technical Field
The invention discloses an intelligent engineering robot suitable for a modular building, and relates to the field of intelligent assembly of the modular building.
Background
The modular house is applied more and more widely with the advantages of simple structure, convenient transportation, easy assembly, low cost and the like, no matter the modular house is an assembled integrated house, or a building module is made of a selected novel material, and the splicing project is carried out, so that the corresponding work of the traditional crane/manpower is finished at present, and the time saving and the rapidness in the true sense are not realized.
Disclosure of Invention
Aiming at the feasibility of putting intelligent robots into use in the field of the existing fast-assembly module type house building, the invention provides a novel device which can perform heavy module grabbing, complete high leg lifting/falling actions, automatically complete grabbing, moving and splicing of integrated building modules, and perform leg lifting and climbing along a built house structure to complete splicing work of building modules at higher layers.
The robot comprises the following systems:
the computer control system can drive and control the appointed action at the computer.
And the height measurement/height difference measurement sensor is used for measuring and calculating the height of the building object through the light breaking device and estimating the leg lifting height.
The vacuum effector, the sucking disc device of robot are equipped with the vacuum generator, can adsorb the module building that needs snatch and snatch.
The pressure sensor is mounted on a single large arm of the robot, and can measure the weight of an object to be gripped.
Oil hydraulic cylinder actuating system, the drive of 2 big arms of robot all leans on oil hydraulic cylinder actuating system to provide power, adopts three kinds of oil pressure drive modes: the plunger type oil hydraulic cylinder, the swing type oil hydraulic cylinder and the telescopic type oil hydraulic cylinder complete the moving of the robot mechanical arm with multiple angles and large mass objects.
Drawings
Fig. 1 is a schematic sectional view of an intelligent robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a cross-sectional view of an intelligent engineering robot suitable for a modular building according to an embodiment of the present invention, including a machine body (1), a height measuring sensor (2), a mechanical arm (3), a driving arm (4), a driven arm (5), a mechanical foot (6), a base (7), a vacuum chuck (8), a pressure sensor (9), and the like. The robot realizes the grabbing and transferring of the modular object through a vacuum chuck (8); the main body (1) of the robot is seated on a lower end base (7), and the base is a rotating base and can drive the body to rotate by 360 degrees.
Claims (5)
1. The utility model provides an intelligent engineering robot suitable for modularization building, includes organism (1), height measurement sensor (2), arm (3), actuating arm (4), driven arm (5), machinery foot (6), base (7), vacuum chuck (8), pressure sensor (9) etc, the robot realizes snatching, shifting of modularization object through vacuum chuck (8), vacuum chuck embeds electric vacuum effector, has integrated vacuum monitoring function, and when vacuum chuck contacted with building module surface, the vacuum action generator will produce the compressed air of high-speed injection through the spray tube, forms the efflux at the spray tube export for entrainment flow appears around the spray tube, constantly siphons away ambient air, forms the vacuum environment in the contact space.
2. The intelligent engineering robot suitable for the modular building of claim 1, wherein: the robot is a multi-legged walking robot, and comprises 2 pairs of mechanical feet (6), wherein the mechanical feet can accurately measure the height of an object to be climbed through a height measuring sensor (2), so that the lifting action of the mechanical feet is realized; the height measuring sensor is installed in a machine body cabin of the robot, and the height of an object is detected by using the output change of the miniature sensing head-photoelectric sensing device.
3. The intelligent engineering robot suitable for the modular building of claim 1, wherein: the robot is a multi-foot walking robot, two driving steering engines are mounted in each mechanical foot, one driving steering engine controls the robot to move forward/backward, and the other driving steering engine controls the robot to complete leg lifting and leg falling actions; the action of the robot is instructed by a computer central control system, and the steering engine of the mechanical foot is driven to work by a serial port command.
4. The intelligent engineering robot suitable for the modular building of claim 1, wherein: the robot is mainly driven by a mechanical arm, the mechanical arm of the robot is of a two-section type master-slave movable arm structure, the driving arm of the robot is driven in an oil pressure/hydraulic mode and is forged by titanium alloy steel, and multi-angle and high-power bearing actions of the mechanical arm of the robot are completed by a plunger type oil hydraulic cylinder, a swing type oil hydraulic cylinder and a telescopic type oil hydraulic cylinder.
5. The intelligent engineering robot suitable for the modular building of claim 1, wherein: the main machine body (1) of the robot is seated on the lower end base (7), the base is a rotating base and can drive the machine body to rotate by 360 degrees, and therefore the robot can grab building modules in all directions by utilizing mechanical arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111097432.5A CN113719123A (en) | 2021-09-18 | 2021-09-18 | Intelligent engineering robot suitable for modular building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111097432.5A CN113719123A (en) | 2021-09-18 | 2021-09-18 | Intelligent engineering robot suitable for modular building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113719123A true CN113719123A (en) | 2021-11-30 |
Family
ID=78684357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111097432.5A Pending CN113719123A (en) | 2021-09-18 | 2021-09-18 | Intelligent engineering robot suitable for modular building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113719123A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| CN108706060A (en) * | 2018-06-26 | 2018-10-26 | 石高荣 | Intelligent barrow for upstairs |
| CN208394316U (en) * | 2018-05-14 | 2019-01-18 | 西安理工大学 | A kind of unordered sorting machine people based on 3D vision |
| CN109278885A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of two-part rolls quadruped robot |
| WO2019196754A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Autonomous mobile transfer robot |
| CN112192578A (en) * | 2019-06-23 | 2021-01-08 | 周惠兴 | Double-mechanical-arm ceramic tile paving and pasting robot |
| CN212497788U (en) * | 2020-05-28 | 2021-02-09 | 蓝贝湾(广东)科技有限公司 | Building mold mounting robot |
-
2021
- 2021-09-18 CN CN202111097432.5A patent/CN113719123A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105480036A (en) * | 2015-11-30 | 2016-04-13 | 北京机械设备研究所 | Intelligent amphibious robot |
| WO2019196754A1 (en) * | 2018-04-08 | 2019-10-17 | AIrobot株式会社 | Autonomous mobile transfer robot |
| CN208394316U (en) * | 2018-05-14 | 2019-01-18 | 西安理工大学 | A kind of unordered sorting machine people based on 3D vision |
| CN108706060A (en) * | 2018-06-26 | 2018-10-26 | 石高荣 | Intelligent barrow for upstairs |
| CN109278885A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of two-part rolls quadruped robot |
| CN112192578A (en) * | 2019-06-23 | 2021-01-08 | 周惠兴 | Double-mechanical-arm ceramic tile paving and pasting robot |
| CN212497788U (en) * | 2020-05-28 | 2021-02-09 | 蓝贝湾(广东)科技有限公司 | Building mold mounting robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211130 |
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| RJ01 | Rejection of invention patent application after publication |