CN114083547A - Automatic tracking positioning building construction slotting robot - Google Patents
Automatic tracking positioning building construction slotting robot Download PDFInfo
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- CN114083547A CN114083547A CN202111266060.4A CN202111266060A CN114083547A CN 114083547 A CN114083547 A CN 114083547A CN 202111266060 A CN202111266060 A CN 202111266060A CN 114083547 A CN114083547 A CN 114083547A
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- 238000009435 building construction Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000010276 construction Methods 0.000 claims abstract description 9
- 239000000428 dust Substances 0.000 claims description 48
- 239000000463 material Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 20
- 230000033001 locomotion Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 7
- 239000003381 stabilizer Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/22—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by cutting, e.g. incising
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/02—Accessories specially adapted for use with machines or devices of the preceding groups for removing or laying dust, e.g. by spraying liquids; for cooling work
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Abstract
The invention provides an automatic tracking and positioning building construction slotting robot, and belongs to the field of building construction auxiliary equipment. The technical scheme is as follows: the automatic cutting machine comprises a vehicle body, an adjusting platform arranged on the vehicle body, an adjusting frame arranged on the adjusting platform and a cutting mechanism arranged on the adjusting frame, wherein the adjusting platform comprises a linear flat motor arranged on the top surface of the vehicle body, a rotating platform is arranged on the linear flat motor, and the adjusting frame is arranged on the rotating platform. The invention has the beneficial effects that: through diversified adjustment, can realize swift efficient wall body fluting, save a large amount of manpower and materials, promote the efficiency of construction greatly.
Description
Technical Field
The invention relates to the field of building construction auxiliary equipment, in particular to an automatic tracking positioning building construction slotting robot.
Background
At present, the common method for building construction is that a constructor holds a slotting machine to slot, and the construction efficiency is balanced; the slotting is not smooth and straight, and the appearance is poor; the width of the slot does not meet the actual use requirement; moreover, the dust of the slotting is large, which causes great harm to the health of slotting personnel;
the prior art can not satisfy actual job site, and prior art fluting position needs the manual work to carry out the setting-out location, and is consuming time power, and the constructor is different, and positioning error also is different, and fluting stage smoke and dust is great, and constructor operational environment is relatively poor, and the fluting look is felt relatively poorly, can not satisfy the construction demand.
Disclosure of Invention
The invention aims to provide an automatic tracking positioning building construction slotting robot which can realize rapid and efficient wall slotting through multi-directional adjustment, save a large amount of manpower and material resources and greatly improve the construction efficiency.
The invention is realized by the following measures:
an automatic tracking and positioning building construction slotting robot is characterized by comprising a vehicle body, an adjusting platform arranged on the vehicle body, an adjusting frame arranged on the adjusting platform, and a cutting mechanism arranged on the adjusting frame;
the adjusting platform comprises a linear flat motor arranged on the top surface of the vehicle body, a rotating platform is arranged on the linear flat motor, and the adjusting frame is arranged on the rotating platform;
preferably, a vehicle power module and a system processing module are arranged in the vehicle body, so that the vehicle body can be accurately positioned, walked and controlled.
The invention has the following specific characteristics:
the adjusting platform comprises a plurality of leveling electric cylinders arranged on the top surface of the vehicle body, and the end parts of the leveling electric cylinders are hinged with the linear flat motor;
preferably, a system processing module for controlling the leveling electric cylinder is arranged in the vehicle body, and a tilt angle sensor is arranged on the rotating platform;
through setting up tilt angle sensor, inclination stable signal transmission transmits to system processing module, amplifies the back through signal amplifier and power amplifier and transmits for leveling electric cylinder, through leveling electric cylinder adjustment, until the dull and stereotyped motor level of straight line, tilt angle sensor no signal spreads this moment, and the leveling is ended, the dull and stereotyped motor of straight line is for the direction of motion at X axle direction motion, chooses for use dull and stereotyped linear electric motor of board slot type for use, and the maximum motion distance is 0.4 meters.
The linear flat motor is provided with the rotating platform through a rotating shaft.
The adjustable linear flat motor is characterized in that an adjusting motor is arranged on one side of the rotary platform and on the linear flat motor, an outer gear ring is arranged on the periphery of the rotary platform, and a driving gear matched with the outer gear ring is arranged at the end of a motor shaft of the adjusting motor.
The adjusting frame comprises a mounting seat arranged on the rotating platform, a first linear motor is hinged to the mounting seat, a rotating motor is arranged on a moving seat of the first linear motor, and a second linear motor is arranged at the end part of a motor shaft of the rotating motor;
the cutting mechanism is arranged on the moving seat of the second linear motor;
the first linear motor is characterized in that the motion direction moves in the Z-axis direction, a plate-slot type linear motor is selected, and the maximum motion distance is 1.5 m;
the motion direction of the second linear motor moves in the Y or Z axis direction, the motion direction of the second linear motor is controlled by the rotary motor, when equipment needs to open a transverse groove of the wire box, the rotary motor rotates the second linear motor to the Y axis direction (can also be adjusted to open the groove at any angle), the cutting mechanism opens the groove in the Y axis direction, the first linear motor vibrates up and down to open the groove according to the width (about 10 cm) of the transverse groove of the wire box, the second linear motor selects a plate groove type linear motor, and the maximum motion distance is 1.0 m;
preferably, a one-way stabilizer is arranged on the top surface of the moving seat of the first linear motor.
A pair of mounting plates are arranged on one side of the mounting seat and the rotary platform, hydraulic push rods are arranged between the mounting plates and the first linear motor, one end of each hydraulic push rod is hinged to the mounting plate, and the other end of each hydraulic push rod is hinged to the first linear motor;
the hydraulic push rod can be used for integrally laying down the slotting equipment such as the first linear motor when the vehicle walks to climb the stairs, so that the gravity center of the vehicle is reduced, and the walking stability of the vehicle is ensured.
The cutting mechanism comprises a slotting device arranged on the second linear motor moving seat.
The cutting mechanism also comprises a dust collection assembly arranged on the linear flat motor;
the dust collection assembly comprises a dust collector arranged on the linear flat motor, a dust collection pipeline is arranged between a dust cover of the slotting device and the dust collector, one end of the dust collection pipeline is connected to the dust collector, and the other end of the dust collection pipeline penetrates through the dust cover and is arranged inside the dust cover;
the dust collector collects the building dust to the dust collecting bag in a unified manner through a dust collecting pipeline by negative pressure dust collection;
the slotting device comprises a cutting machine, a slotting cutting blade of the cutting machine is composed of multiple blades, the slotting width is 5cm, the distance between each blade of the slotting cutting blade is 5mm, and the construction waste is guaranteed to be pulverized into powder;
preferably, the horizontal projection of the cutting machine and the linear flat motor is not coincident
Preferably, the cutting machine is provided with an infrared geminate transistor transmitting device and a steering engine, the constructed wall body is provided with an infrared geminate transistor receiving device, the steering engine can drive the infrared geminate transistor transmitting device to scan in a rotating mode in the horizontal direction, and the infrared geminate transistor transmitting device can search the infrared geminate transistor receiving device in the scanning process;
the dust absorption pipeline is made of a PU pipe, has certain strength and certain toughness and plasticity.
Preferably, a rough tracking processing device, a three-dimensional scanner and a color high-frequency camera are arranged at the position, close to the front end, of the linear flat motor;
preferably, two sides of the vehicle body are provided with tracks, a plurality of laser ranging radars are arranged above the tracks and on the side surfaces of the periphery of the vehicle frame, and the vehicle power module can provide power for the tracks;
the laser ranging radars are distributed around the vehicle body, two laser ranging radars are arranged on each plane, the first laser ranging radars are used for measuring the coordinate information of the position of the vehicle body through the laser ranging radars, the vehicle power module and the system processing module are used for accurately positioning the vehicle body of the robot and then roaming in a room according to a set logic sequence, and the second laser ranging radars are used for enabling the long sides of the trolley to be parallel to the wall in a signal transmission mode by utilizing the principle that perpendicular lines of parallel planes are equal, and the trolley stops 20cm away from the wall;
the crawler belt is wide in rubber and small in walking vibration, and is convenient to go up and down stairs;
the working principle of the invention is as follows: firstly, introducing an established building model (BIM) into a system of the slotting device in the form of the Internet of things or a single machine, and converting the BIM based on the IFC into 3DGIS model data meeting the CityGML standard, wherein the data comprises data such as slotting point location information, room information and the like; the slotting device performs indoor roaming according to a set logic sequence, such as: the sequence is living room-bedroom 1-bedroom 2-kitchen-toilet-public area, and the scanned data is compared with the 3DGIS model data in real time through a self-owned algorithm through three-dimensional scanning, so that the identification and real-time monitoring of each functional room of the building are realized. After the room is identified, the building information of the room is called, the southwest corner of the room is used as a coordinate origin, the coordinate information of the position of the vehicle body is measured by the laser ranging radar, the vehicle power module and the system processing module accurately position the vehicle body of the robot, and then the robot roams in the room according to a set logic sequence, if: the socket 1-the socket 2 … … are arranged in sequence, so that the accurate positioning of the slotting point position is realized (the positioning error can be controlled to be 5 cm);
placing the infrared geminate transistor receiving device at a position of a building 1 meter line, scanning by a robot through an infrared geminate transistor transmitting device and a steering engine, searching the infrared geminate transistor receiving device by the infrared geminate transistor transmitting device in the scanning process, successfully matching the transmitting device and the receiving device when the transmitting device and the receiving device move to the same straight line, then sending a signal to a system processing module, and setting the center of the cutting machine as an origin of coordinates through system correction, such as a socket with the height of 30cm, wherein the system coordinate information of the socket is-70 cm, the system coordinate information of the socket with the height of 130cm is +30 cm; in the process of traveling of the vehicle, because of different thicknesses of floor slabs of a room, deviation can be caused to the position of one meter of a building, a stable signal is output through the one-way stabilizer, the stable signal is amplified by the signal amplifier and the power amplifier and then transmitted to the leveling electric cylinder, a stable moment with the same size in the direction opposite to the interference force is immediately generated, and the grooving origin is kept unchanged; after tracking accurate positioning, the rotary motor rotates the slotting mechanism on the rotary platform to be vertical to the wall surface, and the linear motor completes the action in the X, Y and Z directions according to actual needs;
after the grooving device determines the grooving position, the rotary platform is rotated under the driving of a rotary motor, so that a grooving cutting piece of the cutting machine is perpendicular to a wall surface, the three-dimensional scanner adopts the existing scanner technology, the scanned data is compared with 3DGIS model data in real time through an own algorithm (Slam platform) of a rough tracking processing device through three-dimensional scanning, so that the identification and real-time monitoring of each functional room of a building are realized, the color high-frequency camera adopts the existing camera technology, the camera technology is compared with a BIM model, the room information is corrected, meanwhile, engineering technicians can conveniently and visually see the working state and the spatial position of the robot, the infrared geminate-transistor receiving device is arranged at the position of one meter line of the building and can be detached for repeated use, the one meter line of the building, the wall body, the known data and the entity of the building space are built, building one-meter line is measured through the survey and drawing, be provided with vehicle power module, system processing module and battery module in the automobile body to carry out accurate positioning walking and control to the automobile body, one-way stabilizer is the output steady signal, transmits the leveling electric cylinder after signal amplifier and power amplifier amplify, produces the same steady moment of size with the interference force opposite direction immediately, maintains the fluting initial point and does not change.
The invention has the beneficial effects that: through diversified adjustment, can realize swift efficient wall body fluting, save a large amount of manpower and materials, promote the efficiency of construction greatly.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Wherein the reference numerals are: 1. a crawler belt; 2. a leveling motor; 3. a linear flat motor; 4. a vacuum cleaner; 5. a dust collection duct; 6. a first linear motor; 7. a second type linear motor; 8. a slotting device; 9. an infrared geminate transistor transmitting device and a steering engine; 10. a rotating electric machine; 12. a hydraulic push rod; 13. mounting a plate; 14. a tilt sensor; 15. rotating the platform; 16. adjusting the motor; 17. a three-dimensional scanner; 18. rough tracking processing means; 19. a color high-frequency camera; 20. a laser range radar; 21. an infrared pair tube receiving device; 22. building a one-meter line; 23. a wall body; 24. a vehicle body; 25. a one-way stabilizer.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
Referring to fig. 1, an automatic tracking positioning slotting robot 8 for building construction comprises a vehicle body 24, an adjusting platform arranged on the vehicle body 24, an adjusting frame arranged on the adjusting platform, and a cutting mechanism arranged on the adjusting frame;
the adjusting platform comprises a linear flat motor 3 arranged on the top surface of the vehicle body 24, a rotating platform 15 is arranged on the linear flat motor 3, and an adjusting frame is arranged on the rotating platform 15;
preferably, a vehicle power module and a system processing module are arranged in the vehicle body 24, so that the vehicle body 24 can be precisely positioned, walked and controlled.
The adjusting platform comprises a plurality of leveling electric cylinders arranged on the top surface of the vehicle body 24, and the end parts of the leveling electric cylinders are hinged with linear flat motors 3;
preferably, a system processing module for controlling the leveling electric cylinder is arranged in the vehicle body 24, and a tilt angle sensor is arranged on the rotary platform 15;
by arranging the inclination angle sensor 14, stable inclination angle signals are transmitted to the system processing module, amplified by the signal amplifier and the power amplifier and transmitted to the leveling electric cylinder, and adjusted by the leveling electric cylinder until the linear flat motor 3 is horizontal, no signal is transmitted from the inclination angle sensor 14 at the moment, the leveling is finished, the linear flat motor 3 moves in the X-axis direction for the movement direction, a plate-slot type flat linear motor is selected, and the maximum movement distance is 0.4 m.
The linear flat motor 3 is provided with a rotary platform 15 through a rotating shaft.
An adjusting motor 16 is arranged on one side of the rotating platform 15 and on the linear flat motor 3, an outer gear ring is arranged on the periphery of the rotating platform 15, and a driving gear matched with the outer gear ring for use is arranged at the end part of a motor shaft of the adjusting motor 16.
The adjusting frame comprises a mounting seat arranged on the rotating platform 15, a first linear motor 6 is hinged on the mounting seat, a rotating motor 10 is arranged on a moving seat of the first linear motor 6, and a second linear motor is arranged at the end part of a motor shaft of the rotating motor 10;
a cutting mechanism is arranged on the moving seat of the second linear motor;
the first linear motor 6 is characterized in that the motion direction moves in the Z-axis direction, a plate-slot type linear motor is selected, and the maximum motion distance is 1.5 m;
the motion direction of the second linear motor moves in the Y or Z axis direction, the motion direction of the second linear motor is controlled by the rotating motor 10, when the equipment needs to open the transverse groove of the wire box, the rotating motor 10 rotates the second linear motor to the Y axis direction (can also be adjusted to open the groove at any angle), the cutting mechanism opens the groove in the Y axis direction, the first linear motor 6 vibrates up and down to open the groove according to the width (about 10 cm) of the transverse groove of the wire box, the second linear motor is a plate groove type linear motor, and the maximum motion distance is 1.0 meter;
preferably, the top surface of the moving seat of the first linear motor 6 is provided with a one-way stabilizer 25.
A pair of mounting plates 13 are arranged on one side of the mounting seat and the rotating platform 15, hydraulic push rods 12 are arranged between the mounting plates 13 and the first linear motor 6, one end of each hydraulic push rod 12 is hinged to the corresponding mounting plate 13, and the other end of each hydraulic push rod 12 is hinged to the corresponding first linear motor 6;
the hydraulic push rod 12 can integrally lay down the slotting equipment such as the first linear motor 6 and the like when the vehicle walks and climbs a building, so that the gravity center of the vehicle is reduced, and the running stability of the vehicle is ensured.
The cutting mechanism comprises a slotting device 8 arranged on the second linear motor moving seat.
The cutting mechanism also comprises a dust collection component arranged on the linear flat motor 3;
the dust collection assembly comprises a dust collector 4 arranged on the linear flat motor 3, a dust collection pipeline 5 is arranged between a dust cover of the slotting device 8 and the dust collector 4, one end of the dust collection pipeline 5 is connected to the dust collector 4, and the other end of the dust collection pipeline 5 penetrates through the dust cover to be arranged inside the dust cover;
the dust collector 4 collects the building dust to a dust collecting bag in a unified way through a dust collecting pipeline 5 by negative pressure dust collection;
the cutting mechanism comprises a cutting machine, a slotting cutting blade of the cutting machine is composed of multiple blades, the slotting width is 5cm, the distance between each blade of the slotting cutting blade is 5mm, and construction waste is guaranteed to be crushed into powder;
preferably, the horizontal projection of the cutting machine and the linear flat motor 3 is not coincident
Preferably, the cutting machine is provided with an infrared geminate transistor transmitting device and a steering engine 9, the constructed wall 23 is provided with an infrared geminate transistor receiving device 21, the steering engine can drive the infrared geminate transistor transmitting device to scan in a horizontal direction in a rotating mode, and the infrared geminate transistor transmitting device can search the infrared geminate transistor receiving device 21 in the scanning process;
the dust absorption pipeline 5 is made of PU pipe, has certain strength and certain toughness and plasticity.
Preferably, a rough tracking processing device 18, a three-dimensional scanner 17 and a color high-frequency camera 19 are arranged at the position of the linear flat motor 3 close to the front end;
preferably, the two sides of the vehicle body 24 are provided with the crawler belts 1, the plurality of laser ranging radars 20 are arranged above the crawler belts 1 and on the side surfaces of the periphery of the vehicle frame, and the vehicle power module can provide power for the crawler belts 1;
the laser ranging radars 20 are distributed around the vehicle body 24, two laser ranging radars 20 are arranged on each plane, the first function is to measure the coordinate information of the position of the vehicle body 24 through the laser ranging radars 20, the vehicle power module and the system processing module accurately position the robot vehicle body 24, then the robot vehicle body roams in a room according to a set logic sequence, and the second function is to arrange the ranging radars on the same plane, parallel the long side of the trolley with the wall by utilizing the principle that the vertical lines of the parallel planes are equal and in a signal transmission mode under the coordination of the system processing module and the power module, and the trolley stops 20cm away from the wall;
the crawler belt 1 is a rubber wide crawler belt 1 with small walking vibration, and is convenient for going upstairs and downstairs;
the working principle of the invention is as follows: firstly, introducing a built building model (BIM) into a system of a slotting device 8 in the form of the Internet of things or a single machine, and converting the BIM based on IFC into 3DGIS model data meeting the CityGML standard, wherein the data comprises data such as slotting point location information, room information and the like; the slotting device 8 performs indoor roaming according to a set logic sequence, such as: the sequence is living room-bedroom 1-bedroom 2-kitchen-toilet-public area, and the scanned data is compared with the 3DGIS model data in real time through a self-owned algorithm through three-dimensional scanning, so that the identification and real-time monitoring of each functional room of the building are realized. After the room is identified, the building information of the room is retrieved, the southwest corner of the room is taken as the origin of coordinates, the coordinate information of the position of the vehicle body 24 is measured by the laser ranging radar 20, the vehicle power module and the system processing module accurately position the robot vehicle body 24, and then the robot vehicle roams in the room according to a set logic sequence, for example: the socket 1-the socket 2 … … are arranged in sequence, so that the accurate positioning of the slotting point position is realized (the positioning error can be controlled to be 5 cm);
placing an infrared geminate transistor receiving device 21 at the position of a building 1 meter line, scanning by a robot through an infrared geminate transistor transmitting device and a steering engine, searching the infrared geminate transistor receiving device 21 by the infrared geminate transistor transmitting device in the scanning process, successfully matching the transmitting device and the receiving device when the transmitting device and the receiving device move to the same straight line, then sending a signal to a system processing module, setting the center of a cutting machine as an origin of coordinates through system correction, for example, a socket with the height of 30cm, wherein the system coordinate information is-70 cm, the socket with the height of 130cm, and the system coordinate information is +30 cm; in the process of traveling of the vehicle, because of different thicknesses of floor slabs of a room, deviation can be caused to the position of one meter of a building, a stable signal is output through the one-way stabilizer 25, the stable signal is amplified by the signal amplifier and the power amplifier and then transmitted to the leveling electric cylinder, a stable moment with the same size in the direction opposite to the interference force is immediately generated, and the grooving origin is kept unchanged; after accurate tracking positioning, the rotary motor 10 rotates the slotting mechanism on the rotary platform 15 to be vertical to the wall surface, and the linear motor completes the action in the X, Y and Z directions according to actual needs;
after the slotting device 8 has determined the slotting position, under the drive of the rotating motor 10, the rotating platform 15 is rotated to make the slotting cutting piece of the slotting cutter vertical to the wall surface, the three-dimensional scanner 17 adopts the existing scanner technology, through three-dimensional scanning, the scanned data is compared with the 3DGIS model data through the self algorithm (Slam platform) of the rough tracking processing device 18, so as to realize the identification and real-time monitoring of each functional room of the building, the color high-frequency camera 19 adopts the existing camera technology, the camera technology is compared with the BIM model, so as to correct the room information, meanwhile, the engineering technicians can more intuitively see the working state of the robot and the space position of the geminate transistors, the infrared receiving device 21 is arranged at the position of the building one meter line 22, can be detached and reused, the building one meter line 22, the wall body 23, the known data and the entity of the building space, the building one-meter line 22 is measured by surveying and mapping, a vehicle power module, a system processing module and a battery module are arranged in the vehicle body 24, so that the vehicle body 24 is accurately positioned, walked and controlled, the one-way stabilizer 25 outputs a stable signal, the stable signal is amplified by the signal amplifier and the power amplifier and then transmitted to the leveling electric cylinder, a stable moment with the same size in the direction opposite to the interference force is immediately generated, and the grooving origin is kept unchanged.
The technical features of the present invention which are not described in the above embodiments may be implemented by or using the prior art, and are not described herein again, of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and variations, modifications, additions or substitutions which may be made by those skilled in the art within the spirit and scope of the present invention should also fall within the protection scope of the present invention.
Claims (7)
1. An automatic tracking and positioning building construction slotting robot is characterized by comprising a vehicle body, an adjusting platform arranged on the vehicle body, an adjusting frame arranged on the adjusting platform, and a cutting mechanism arranged on the adjusting frame;
the adjusting platform comprises a linear flat motor arranged on the top surface of the vehicle body, a rotating platform is arranged on the linear flat motor, and the adjusting frame is arranged on the rotating platform.
2. The automatic tracking and positioning building construction slotting robot as claimed in claim 1, wherein the adjusting platform comprises a plurality of leveling electric cylinders arranged on the top surface of the vehicle body, and the ends of the leveling electric cylinders are hinged with the linear flat motor;
the linear flat motor is provided with the rotating platform through a rotating shaft.
3. The automatic tracking and positioning building construction slotting robot as claimed in claim 2, wherein an adjusting motor is arranged on one side of the rotary platform and on the linear flat motor, an outer gear ring is arranged on the periphery of the rotary platform, and a driving gear matched with the outer gear ring is arranged at the end part of a motor shaft of the adjusting motor.
4. The automatic tracking and positioning building construction slotting robot as claimed in claim 1, wherein the adjusting frame comprises a mounting seat arranged on the rotating platform, a first linear motor is hinged on the mounting seat, a moving seat of the first linear motor is provided with a rotating motor, and a motor shaft end part of the rotating motor is provided with a second linear motor;
and the cutting mechanism is arranged on the moving seat of the second linear motor.
5. The automatic tracking and positioning slotting robot for building construction according to claim 4, wherein a pair of mounting plates are arranged on one side of the mounting seat and the rotating platform, hydraulic push rods are arranged between the pair of mounting plates and the first linear motor, one end of each hydraulic push rod is hinged to the corresponding mounting plate, and the other end of each hydraulic push rod is hinged to the corresponding first linear motor.
6. The automatic tracking positioning construction slotting robot of claim 1 wherein the cutting mechanism includes a slotting device disposed on the second linear motor moving base.
7. The automatic tracking positioning construction slotting robot of claim 6 wherein the cutting mechanism further comprises a dust collection assembly disposed on the linear plate motor;
the dust collection assembly comprises a dust collector arranged on the linear flat motor, a dust collection pipeline is arranged between a dust cover of the grooving device and the dust collector, one end of the dust collection pipeline is connected to the dust collector, and the other end of the dust collection pipeline penetrates through the dust cover to be arranged inside the dust cover.
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| CN202111266060.4A CN114083547A (en) | 2021-10-28 | 2021-10-28 | Automatic tracking positioning building construction slotting robot |
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| CN202111266060.4A CN114083547A (en) | 2021-10-28 | 2021-10-28 | Automatic tracking positioning building construction slotting robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115157394A (en) * | 2022-08-17 | 2022-10-11 | 沈阳昂霄软件技术开发有限公司 | Floor heating grooving automatic robot and route automatic planning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115157394A (en) * | 2022-08-17 | 2022-10-11 | 沈阳昂霄软件技术开发有限公司 | Floor heating grooving automatic robot and route automatic planning method |
| CN115157394B (en) * | 2022-08-17 | 2024-01-30 | 沈阳昂霄软件技术开发有限公司 | Floor heating slotting automatic robot and route automatic planning method |
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