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CN-117927027-B - Intelligent building-based material distribution robot

CN117927027BCN 117927027 BCN117927027 BCN 117927027BCN-117927027-B

Abstract

The invention relates to the technical field of building material distribution, and discloses a material distribution robot based on intelligent construction, which comprises a material distribution rack, a conveying pipe, a supporting arm, a horizontal movable joint and a material distribution hose, wherein the end part of the supporting arm positioned at the tail end is movably connected with a storage type double-shaft motion platform through a vertical movable joint and a connecting frame, the tail end of the material distribution hose horizontally moves through the storage type double-shaft motion platform, and the storage type double-shaft motion platform consists of a storage module and a motion module; the rope type structure is adopted to build the X-Y horizontal movement platform, meanwhile, the problem that the space cannot be occupied excessively in a non-use state is solved, when the X-axis extending movable joint drives the movement platform support force arm rod to rotate, the length of the X-axis is increased, and when the Y-axis extending movable joint drives the movement platform support force arm rod to move, the length of the Y-axis is increased. The X-axis connection motion robot is located between two Y-axes. The dynamic form can adjust rectangular coverage according to actual requirements.

Inventors

  • Quan Zhunlong
  • WANG YANG
  • LI SILIN
  • XIA ZHENXING
  • ZHAO SHIZHONG
  • ZHANG ZHIQIANG

Assignees

  • 中国建筑第四工程局有限公司

Dates

Publication Date
20260505
Application Date
20240308

Claims (7)

  1. 1. The intelligent construction-based cloth robot comprises a cloth rack (1), a conveying pipe (11), a supporting arm (12), a horizontal movable joint (13) and a cloth hose (15), and is characterized in that the end part of the supporting arm (12) at the tail end is movably connected with a storage type double-shaft motion platform through a vertical movable joint (14) and a connecting frame (141), the tail end of the cloth hose (15) horizontally moves through the storage type double-shaft motion platform, and the storage type double-shaft motion platform consists of a storage module and a motion module; the storage module comprises two X-axis extending movable joints (2) symmetrically arranged on two sides of the connecting frame (141), two motion platform supporting force arm rods (4) are connected to the X-axis extending movable joints (2) through Y-axis extending movable joints (3) in a rotating mode, Y-axis motion guide assemblies (5) are arranged between the end portions of the two motion platform supporting force arm rods (4) on the same X-axis extending movable joint (2), and each Y-axis motion guide assembly (5) comprises Y-axis release control units (51) arranged at the end portions of the corresponding motion platform supporting force arm rods (4) and Y-axis motion carrier ropes (52) wound between the two Y-axis release control units (51); The motion module comprises an X-axis connecting motion robot (6), two adjacent Y-axis motion carrier ropes (52) are provided with the X-axis connecting motion robot (6), the X-axis connecting motion robot (6) comprises a bin body (61), an X-axis traction unit (62), a Y-axis displacement control unit (63), an X-axis displacement control unit (64) and a hose fixing unit (65), the hose fixing unit (65) is arranged in the bin body (61) and used for fixing the vertical movable joints (14), the X-axis traction unit (62) is wound on two sides of the bin body (61) through the X-axis displacement control unit (64), and the end part of the X-axis traction unit (62) is in relative sliding with the Y-axis motion carrier ropes (52) through the Y-axis displacement control unit (63).
  2. 2. The intelligent construction-based distribution robot is characterized in that an inlet flow monitoring unit (7) is arranged at the conveying pipe (11), an outlet flow monitoring unit (8) is arranged at the open end of a distribution hose (15), and after detection data of the inlet flow monitoring unit (7) and the outlet flow monitoring unit (8) are calculated by an external computer, a hose winding and releasing unit (9) is controlled by a controller to wind and release the distribution hose (15).
  3. 3. The intelligent construction-based distribution robot according to claim 1, wherein the thickness of the connection frame (141) is larger than the diameter of the distribution hose (15), and the thickness of the connection frame (141) is not smaller than the width of the bin body (61).
  4. 4. The intelligent construction-based cloth robot according to claim 1, wherein a driver for controlling the winding of the Y-axis motion carrier rope (52) in the Y-axis release control unit (51) is a brake motor.
  5. 5. The intelligent construction-based cloth robot according to claim 1, wherein the Y-axis motion carrier rope (52) is a toothed belt or a steel cable.
  6. 6. The intelligent construction-based cloth robot according to claim 2, wherein the connection frame (141) has a space for accommodating the cloth hose (15) therein, the hose winding and releasing unit (9) is installed in the space, both ends of the cloth hose (15) are provided with a allowance, and the allowance of the cloth hose (15) is wound inside the hose winding and releasing unit (9).
  7. 7. The intelligent construction-based distribution robot according to claim 1, wherein the distribution frame (1) has a vertical lifting structure.

Description

Intelligent building-based material distribution robot Technical Field The invention relates to the technical field of building material distribution, in particular to a material distribution robot based on intelligent construction. Background The spreader is typically mounted on a top platform of the building machine, and the bottom of the spreader is secured to the platform in a single-point manner for efficient use of space. The multi-point movement of the material distribution pipe is realized by a mode of multiple force arms and multiple movable joints. However, the space above the building machine is often rectangular, and most of the material distribution area is rectangular. Therefore, if the cloth pipe is required to realize the moving cloth coverage of a rectangular area, a plurality of movable parts are required to cooperate, the least movable parts are double parts, and the motion control is nonlinear motion control, so that the horizontal motion bidirectional translation can be realized. Although the X-Y motion platform is erected to control the motion track of the hose to be linear control, the X-Y axis motion platform is erected on the top surface, and if a single fulcrum mode is adopted, the X-Y axis motion platform is influenced by the length of a force arm, so that the fixation is unstable. The double pivot or the four pivot causes the space at the top to be occupied, and the application effect is not good. Disclosure of Invention The invention aims to provide a distribution robot based on intelligent construction, which solves the problems in the background technology. In order to achieve the above purpose, the present invention provides the following technical solutions: The intelligent construction-based material distribution robot comprises a material distribution rack, a conveying pipe, a supporting arm, a horizontal movable joint and a material distribution hose, wherein the end part of the supporting arm at the tail end is movably connected with a storage type double-shaft movement platform through a vertical movable joint and a connecting frame, the tail end of the material distribution hose horizontally moves through the storage type double-shaft movement platform, and the storage type double-shaft movement platform consists of a storage module and a movement module; the storage module comprises two X-axis extending movable joints symmetrically arranged on two sides of the connecting frame, two motion platform supporting force arm rods are connected to the X-axis extending movable joints in a rotating mode through Y-axis extending movable joints, Y-axis motion guide assemblies are arranged between the end parts of the two motion platform supporting force arm rods on the same X-axis extending movable joint, and each Y-axis motion guide assembly comprises a Y-axis release control unit and a Y-axis motion carrier rope, wherein the Y-axis release control unit is arranged at the end part of each motion platform supporting force arm rod, and the Y-axis motion carrier rope is wound between the two Y-axis release control units; The motion module comprises X-axis connection motion robots, wherein the X-axis connection motion robots are arranged between two adjacent Y-axis motion carrier ropes, each X-axis connection motion robot comprises a bin body, an X-axis traction unit, a Y-axis displacement control unit, an X-axis displacement control unit and a hose fixing unit, the hose fixing units are arranged in the bin body and used for fixing the vertical movable joints, the X-axis traction units are wound on two sides of the bin body through the X-axis displacement control units, and the ends of the X-axis traction units realize relative sliding with the Y-axis motion carrier ropes through the Y-axis displacement control units. As a still further scheme of the invention, an inlet flow monitoring unit is arranged at the conveying pipe, an outlet flow monitoring unit is arranged at the open end of the cloth hose, and after the detection data of the inlet flow monitoring unit and the outlet flow monitoring unit are calculated by an external computer, a hose winding and releasing unit is controlled by a controller to wind and release the cloth hose. As a still further proposal of the invention, the thickness of the connecting frame is larger than the diameter of the cloth hose, and the thickness of the connecting frame is not smaller than the width of the bin body. As a still further scheme of the invention, a driver in the Y-axis release control unit for controlling the winding of the Y-axis motion carrier rope is a brake motor. As a still further aspect of the invention, the Y-axis motion carrier rope is a toothed belt or a steel cable. As a still further proposal of the invention, the connecting frame is internally provided with a space for accommodating the cloth hose, the hose winding and releasing unit is arranged in the space, the two ends of the cloth hose are respectively provided with a