CN114162577A - Construction connection system and method - Google Patents

Abstract

The construction connection system comprises an independent movable chassis, an independent operation platform and an independent docking mechanism, wherein when a connection task is executed, the movable chassis carries the docking mechanism, and the docking mechanism is connected with the fixed operation platform; after the operation platform reaches the task point, the docking mechanism is separated from the operation platform, and the movable chassis and the docking mechanism leave together or are separated together or are put in storage. The connection system and the connection method provided by the invention can be matched with the platform connection mechanical arm to complete work in the same space by only one mobile chassis, reduce the number of the mobile chassis, meet the requirement of reducing the space usage and greatly reduce the cost.

Description

Construction connection system and method

Technical Field

The invention relates to the technical field of construction robot carrying and constructing devices in a composite scene.

Background

The current construction factory carries out operation processing basically by fixedly carrying a mechanical arm on a movable chassis, and the mechanical arm and the movable chassis are inseparable. When the mechanical arm works, the movable chassis is static, and no moving task is performed until the mechanical arm works, so that the running efficiency of the movable chassis is low. Secondly, if a plurality of mechanical arms need to operate, a plurality of mobile chassis are needed to cooperate with the mechanical arms to operate; often, the cost of a mobile chassis is much higher than the cost of a work robot, which makes the production cost of the factory very high.

The invention aims at the problems, provides a design idea that the movable chassis and the mechanical arm platform can be separated and butted, the movable chassis and the mechanical arm platform are separated after the mechanical arm platform is conveyed to a designated processing point through the movable chassis, the mechanical arm works independently, and the movable chassis carries out other scheduling tasks; when the mechanical arm needs to move to other operation points, the movable chassis is adjusted to realize accurate butt joint with the mechanical arm platform, then the mechanical arm platform is conveyed to the next target position, and the movable chassis is separated again to execute another conveying task.

Disclosure of Invention

The invention aims to provide a construction connection system and a construction connection method, which aim to realize flexible transportation and operation of a building construction site at low cost.

A construction docking system, comprising: the system comprises an independent movable chassis, an independent operation platform and an independent docking mechanism, wherein when a docking task is executed, the movable chassis carries the docking mechanism to the position of the operation platform, the docking mechanism is connected with the fixed operation platform, and the movable chassis transfers the operation platform to a designated task point; after the operation platform reaches the task point, the docking mechanism is separated from the operation platform, and the movable chassis and the docking mechanism start the next stroke together or are separated together for storage.

Furthermore, the operation platform comprises a workbench, a lifting electric cylinder, a platform buckle and a ground foot, wherein the lifting electric cylinder is fixed on the workbench, and a telescopic rod of the lifting electric cylinder is arranged below the workbench when extending out; the ground feet are arranged at the head part of the telescopic rod of the lifting electric cylinder; the platform buckles are arranged on the lower surface of the workbench in pairs.

Further, docking mechanism include bottom plate, electronic locking mechanism and navigation positioning system PGV sensor, electronic locking mechanism and PGV sensor all be fixed in on the bottom plate, electronic locking mechanism include butt joint buckle, lead screw and motor, the lead screw be connected with the motor, the butt joint buckle locate on the lead screw and carry out the translation along with the rotation of lead screw.

The platform buckle and the butt joint buckle are a male buckle and a female buckle which are adaptive. When the movable chassis carries the docking mechanism to the lower side of the docking position of the operation platform, the docking buckle of the electric locking mechanism moves to the platform buckle position, and the docking mechanism is locked and fixed with the operation platform.

Further, the operation platform:

the workbench comprises a supporting frame and a cover plate, wherein the cover plate is arranged above the supporting frame; furthermore, the supporting frame is a square frame with cross-shaped supporting bars arranged inside, and 45-degree reinforcing bars are arranged in the square space respectively to further improve the stability of the supporting frame; the cover plate is provided with a buckle observation hole; furthermore, a horizontal sensor is arranged on the workbench to monitor the level of the workbench in the movement process of the lifting electric cylinder.

More than three lifting electric cylinders are arranged at the corner of the workbench; furthermore, four lifting electric cylinders are arranged at four corners of the supporting frame respectively; the lifting electric cylinder is a 65-linear turn-back cylinder body with the stroke of 500mm and is driven by a low-voltage servo motor.

More than 2 pairs of platform fasteners are respectively arranged in the peripheral area of the lower surface of the workbench; each pair of platform buckles are respectively arranged in two opposite peripheral areas; furthermore, the platform buckles are 2 pairs and are fixed on the cross-shaped support bars arranged in the support frame. The platform buckles are female buckles, grooves of 3-5 degrees are formed in the female buckles, and the female buckles are matched with male buckles on the matched butt joint mechanism, so that rotation translation homing of millimeter-level errors after PGV positioning is achieved.

The number of the feet is equal to that of the lifting electric cylinders, and the feet are connected with the tail ends of telescopic rods of the lifting electric cylinders through universal foot cups.

Furthermore, a positioning two-dimensional code is arranged on the lower surface of a workbench of the operation platform, the movable chassis is guided to carry out positioning calibration, and the relative position between the movable chassis and the workbench is calibrated.

The mechanical arm is arranged on the operation platform, and the purpose that the same movable chassis is connected between different mechanical arms used as the operation platform is achieved through the extension and retraction of the lifting electric cylinder.

Further, the docking mechanism:

the bottom plate comprises a bottom plate body, side plates and a reinforcing plate, wherein the side plates are independent side walls and are not connected with each other; two ends of the reinforcing plate are connected with two adjacent side plates at an angle of 45 degrees. Furthermore, the side plates are profiles with grooves in the outer walls.

The electric locking mechanism also comprises bevel gears and a coupler, wherein the number of the buckles is four, and the buckles are respectively a first buckle, a second buckle, a third buckle and a fourth buckle; the number of the screw rods is four, and the screw rods are respectively a first screw rod, a second screw rod, a third screw rod and a fourth screw rod; the number of the bevel gears is three, and the three bevel gears are respectively a first bevel gear, a second bevel gear and a third bevel gear; the first screw rod is connected with the motor, and the first buckle is arranged on the first screw rod and translates along with the rotation of the first screw rod; the second screw rod is connected with the first screw rod through a coupler, a first bevel gear is arranged on the second screw rod, and a second buckle is arranged at the other end of the second screw rod; the third screw rod is connected with the second bevel gear, and the third buckle is arranged at the other end of the third screw rod; the fourth screw rod is connected with the third bevel gear, and the fourth buckle is arranged at the other end of the fourth screw rod; the first bevel gear is respectively in meshed connection with the second bevel gear and the third bevel gear, and the first buckle, the second buckle, the third buckle and the fourth buckle are distributed in four different directions.

The butt joint buckles are male buckles and slide forwards and backwards along the direction of the screw rod, and the butt joint with the female buckle of the uploading platform with tolerance is realized. Furthermore, the male buckle is provided with a slope surface of 3-5 degrees, which is adapted to the slope of the female buckle on the uploading platform, so as to realize the rotary translation homing of millimeter-scale errors after PGV positioning.

The bottom plate is provided with a standard screw hole and a release screw.

The PGV sensor of the navigation positioning system is used for detecting the two-dimensional code under the butt joint working platform to position, and after detection, the XY coordinate and the omega angular coordinate can be ensured by adjusting the movable chassis, the correspondence of a central point is ensured, and the coincidence of each point position in the area is ensured.

Further, docking mechanism, still include the apron, fix together with the bolt in the section bar notch of curb plate through trapezoidal nut card. Furthermore, the cover plate is provided with a buckle observation window.

Furthermore, the mobile chassis comprises a cover plate, a mounting plate, a bottom frame, a rudder wheel driving mechanism and an external sensor assembly, wherein the external sensor assembly comprises a laser radar, is arranged on the outer edge of the mounting plate and is used for scanning and acquiring dot matrix data of a two-dimensional space; the four steering wheel driving mechanisms are respectively arranged at four corners of the bottom frame; the mounting plate is arranged on the side plate of the bottom frame, and the cover plate is arranged above the mounting plate.

Further, the moving chassis:

its steering wheel actuating mechanism is including turning to the gear wheel, turns to the pinion, and the steering wheel turns to motor, driving motor, mount and 2 motor drive, the steering wheel locate in the mount, the gear wheel that turns to locate on the mount, turn to the gear wheel and be the vertical state with the steering wheel, the steering motor with turn to the pinion and be connected, turn to the pinion and turn to gear engagement and be connected, driving motor is connected with the steering wheel, 2 motor drive respectively with turn to motor and driving motor and be connected, control steering motor and driving motor's work realizes that a steering wheel mechanism is independent at the free rotation of X axle and Y axle.

A steering motor and a driving motor in a steering wheel driving mechanism of the steering wheel driving mechanism are 48V motors with power of more than 0.2KW and 0.4KW respectively, and sufficient power is provided for a chassis. The diameter of the steering wheel 403 is more than 250 mm. The linear speed of the movement of the chassis can reach 2.0m/s, the angular speed can reach 4.0rad/s, and the movement performance is superior, so that the obstacle crossing and accurate positioning capability in the building environment can be met.

The four rudder wheel driving mechanisms are driven by 8 motor drivers and respectively and independently control the rotation of the X axis and the Y axis of the 4 rudder wheels, so that the all-directional movement of the chassis is realized. The four-wheel drive independent control can provide enough power to continue working even if one wheel is in a suspended state, and can also realize the in-situ rotation of the chassis. Furthermore, encoders are arranged in the steering motor and the driving motor, and the encoders can feed back actual movement information by measuring the rotation angle of the motor shaft to assist in realizing accurate positioning of the chassis.

The laser radars are more than two and are respectively arranged at the two ends of the same diagonal line on the mounting plate. Furthermore, the dustproof baffle plates are arranged above and below the laser radar, so that the working positioning accuracy of the laser radar is not interfered while the stable operation of the laser radar is ensured.

The external sensor assembly further comprises an anti-collision strip, and the anti-collision strip is arranged on the periphery of the mounting plate and is mainly used for collision scram to prevent accidents.

The bottom frame comprises a bottom plate, a steering wheel platform, a partition plate and side plates, wherein the steering wheel platform is arranged at the front end and the rear end of the bottom plate and is used for arranging 4 steering wheel driving mechanisms; the partition plate is arranged in the bottom frame and used for partitioning working components fixed on the bottom plate, so that necessary working components are protected and isolated, and the working stability of the chassis is enhanced; the side wall is used for supporting and connecting the mounting plate. Furthermore, a rotary table is arranged in the steering wheel platform, a fixing frame of the steering wheel driving mechanism is fixedly connected with the rotary table at the corresponding position, and the steering wheel driving mechanism is arranged at four corners of the bottom frame through the steering wheel platform, so that the free rotation and walking of the chassis are ensured.

The mounting plate is provided with a circuit board, a contactor, a voltage reduction module, an air switch and a wiring port, wherein the contactor is used for preventing starting current from impacting and ensuring smooth current; the two voltage reduction modules are used for reducing the voltage of the 48V battery to 24V and 12V and supplying power to different electronic components; and the air switch is used for protecting the circuit to automatically cut off the circuit when the circuit is overloaded.

A battery, an industrial personal computer, a gyroscope, a softrouter, a camera and a camera fixing plate are arranged in a bottom frame of the chassis, the battery provides a power source for the whole chassis, and the industrial personal computer is used for collecting and processing data of each sensor and issuing further instructions; the gyroscope is used for measuring the moving angle of the loaded robot and assisting in feeding back position real-time information; the softrouter can download the instruction to an industrial personal computer in real time to carry out manual remote control on the mobile chassis. The camera plays a role in accurate identification and positioning when being butted and warehoused. The industrial personal computer is used for collecting data of the laser radar assembly, the camera, the gyroscope and the encoder in the steering wheel motor. The camera fixed plate is a detachable maintenance window, and maintenance is convenient.

A detachable window and a bolt hole are arranged on the cover plate, and the detachable window is used for overhauling and is used as a channel for up-down communication and wiring after the butt joint module is installed.

A construction connection method is characterized in that by adopting the construction connection system provided by the patent, when a connection task needs to be executed, a movable chassis carries a connection mechanism to the position of an operation platform, the connection mechanism is connected with and fixed to the operation platform, and the movable chassis transfers the operation platform to a specified task point; after the operation platform reaches a task point, the docking mechanism is separated from the operation platform, and the movable chassis and the docking mechanism start the next stroke together or are put in storage together/separated.

The invention has the beneficial effects that:

suppose that in one scene, a plurality of platforms carry a plurality of mechanical arms, after the fixation is completed, the movable chassis drives the platform and the mechanical arms to reach a task position together, and then the movable chassis is separated from the platform to carry out the next connection work. Like this, only need a removal chassis can cooperate the platform arm of plugging into to accomplish work under same space, also played the demand that reduces the space and use when reducing removal chassis quantity, greatly the cost is reduced.

The docking system and the docking method provided by the invention can realize the aim, after the operation platform is positioned, the docking device can be separated from the platform automatically, and the docking device can leave with the moving chassis to carry out the next docking operation, namely, the docking device can be connected and fixed to another platform at another place to carry out the transferring operation.

The connection system can realize standardized independent production and operation; meanwhile, the connection time is saved, the comprehensive product cost is greatly reduced, and the production efficiency is improved.

The following description of embodiments of the invention is provided with reference to the accompanying drawings:

drawings

Fig. 1 is a schematic view of an overall structure of a work platform according to an embodiment.

Fig. 2 is a schematic structural diagram of a separation cover plate and a support frame of the working platform provided by the embodiment.

Fig. 3 is a schematic structural diagram of a work platform support frame according to an embodiment.

Fig. 4 is a second schematic view of the overall structure of the working platform according to the embodiment.

Fig. 5 is a schematic view of the overall structure of the docking mechanism provided in the embodiment.

Fig. 6 is a schematic structural diagram of the docking mechanism according to the embodiment after the cover plate is separated.

Fig. 7 is one of the top plan views of the docking mechanism with the cover removed as provided by the embodiments.

Fig. 8 is a partially enlarged view of the electric locking mechanism of the docking mechanism provided in the embodiment.

Fig. 9 is a second top plan view of the docking mechanism provided in accordance with the present embodiment with the cover removed.

Fig. 10 is a partial enlarged view of the docking mechanism and the docking buckle of the work platform provided in the embodiment.

Fig. 11 is a top view of the docking mechanism and the work platform with the cover plate removed after the docking position is determined.

Fig. 12 is a schematic view of a state of the docking mechanism and the work platform (both with the cover plate removed) being locked by a buckle according to the embodiment.

Fig. 13 is a schematic view of the docking mechanism and the work platform integrally docking process according to the embodiment.

Fig. 14 is a schematic structural diagram of the overall mobile chassis provided by the embodiment.

Fig. 15 is an exploded view of the overall structure of the mobile chassis provided by the embodiment.

Fig. 16 is a layout diagram of the inside of the layer of the mounting plate 2 of the mobile chassis provided by the embodiment.

Fig. 17 is a structural view of the bottom frame 3 of the mobile chassis provided in the embodiment.

Fig. 18 is a layout diagram of the inside of the layer of the bottom frame 3 of the mobile chassis provided by the embodiment.

Fig. 19 is a schematic diagram of a sensor assembly outside of a mobile chassis provided by an embodiment.

Fig. 20 is a schematic view of a steering wheel driving mechanism of the mobile chassis provided by the embodiment.

Fig. 21 is a schematic structural diagram of a mobile chassis cover according to an embodiment.

Detailed Description

The specific embodiments described herein are merely illustrative of the principles of this patent and are not intended to limit the scope of the disclosure. It should be noted that, for convenience of description, only some structures related to the technical solution of the present disclosure are shown in the drawings, not all structures.

Before discussing exemplary embodiments in greater detail, it should be noted that the structures of the device components and/or the modules themselves mentioned in the embodiments, if not specified in detail, are those that can be understood or commercially available to those skilled in the art in light of the present disclosure.

As shown in fig. 1 to 4, the working platform provided by the embodiment of the invention includes a workbench 1, a lifting electric cylinder 2, a platform buckle 3 and a ground foot 4, wherein the lifting electric cylinder 2 is fixed on the workbench 1, and a telescopic rod of the lifting electric cylinder 2 is below the workbench when extending out; the ground feet 4 are arranged at the head part of the telescopic rod of the lifting electric cylinder 2; the platform buckles 3 are arranged on the lower surface of the workbench 1 in pairs; the workbench 1 comprises a supporting frame 101 and a cover plate 102, the cover plate 102 is arranged above the supporting frame 101, the supporting frame 101 is a square frame with cross supporting bars arranged inside, and reinforcing bars of 45 degrees are respectively arranged in the square space to further improve the stability of the supporting frame; the cover plate 102 is provided with a fastener observation hole.

Preferably, more than three lifting electric cylinders 2 are arranged at the corner of the workbench 1. As shown in fig. 2, four lifting electric cylinders 2 are provided at four corners of the support frame 101. In order to adapt to construction of mechanical arms for buildings, the lifting electric cylinder 2 is made of a 65-cylinder type number: 11217, 165, 500, 48V400W, and a speed reduction ratio of 1: 10.

in a further preferable scheme, an electronic level sensor SCA128T is loaded on the workbench, so that the workbench is ensured to be within +/-0.1 degrees in the motion process of the electric cylinder.

As shown in fig. 3, the platform fasteners 3 are 2 pairs and fixed on the cross support bars arranged in the support frame 101, and the platform fasteners 3 are all female fasteners. The female buckle is provided with a groove of 3-5 degrees and is matched with a male buckle of a self-adjusting device which is in matched butt joint with the female buckle, so that the rotary translation homing of millimeter-scale errors after PGV positioning is realized.

The platform buckle 3 generally set up more than 2 pairs can, every pair of buckle is located two relative peripheral area. Each platform buckle is respectively arranged in the peripheral area of the lower surface of the workbench 1.

The number of the ground feet 4 is equal to that of the lifting electric cylinders 2, and the ground feet 4 are connected to the tail ends of the telescopic rods of the lifting electric cylinders 2 through the universal foot cups fixed through threads.

Furthermore, a positioning two-dimensional code is arranged on the lower surface of the workbench 1, the movable chassis is guided to be calibrated, and the relative position between the movable chassis and the workbench is calibrated.

Mechanical arms or other construction equipment are arranged on the operation platform, and the purpose that the same movable chassis is connected between different mechanical arms or equipment is achieved through the stretching of the lifting electric cylinder.

As shown in fig. 5 to 7, the docking mechanism provided in the embodiment of the present invention includes a bottom plate 5, an electric locking mechanism 6, a PGV sensor 7 of a navigation positioning system, and a cover plate 8, where the electric locking mechanism 6 and the PGV sensor 7 of the navigation positioning system are both fixed on the bottom plate 5, the electric locking mechanism 6 includes a docking buckle 601, a lead screw 602, and a motor 603, the lead screw 602 is connected with the motor 603, and the docking buckle 601 is disposed on the lead screw 602 and translates along with the rotation of the lead screw.

The bottom plate 5 comprises a bottom plate body 501, side plates 502 and a reinforcing plate 503, wherein the side plates 502 are independent side walls and are not connected with each other; the two ends of the reinforcing plate 503 are connected to the two adjacent side plates at an angle of 45 °.

The side plate 502 is a section bar with a groove on the outer wall; the cover plate 8 is clamped in the section bar notch of the side plate 502 through a trapezoidal nut and fixed together with a bolt. The cover plate 8 is provided with a buckle observation window.

One of the preferable schemes of the electric locking mechanism 6 is, as shown in fig. 8 and 9, further including a bevel gear 604 and a coupler 605, where there are four butt-joint buckles 601, which are respectively composed of a first buckle 601a, a second buckle 601b, a third buckle 601c and a fourth buckle 601 d; four screw rods 602 are provided, namely a first screw rod 602a, a second screw rod 602b, a third screw rod 602c and a fourth screw rod 602 d; the number of the bevel gears 604 is three, and the three bevel gears are respectively a first bevel gear 604a, a second bevel gear 604b and a third bevel gear 604 c; the first lead screw 602a is connected with the motor 603, and the first buckle 601a is arranged on the first lead screw 602a and translates along with the rotation of the first lead screw 601 a; the second lead screw 602b is connected with the first lead screw 602a through a coupler 605, a first bevel gear 604a is arranged on the second lead screw 602b, and a second buckle 601b is arranged at the other end of the second lead screw 602 b; the third screw 602c is connected with the second bevel gear 604b, and the third buckle 601c is arranged at the other end of the third screw 602 c; the fourth screw 602d is connected with the third bevel gear 604c, and the fourth buckle 601d is arranged at the other end of the fourth screw 602 d; the first bevel gear 604a is respectively engaged with the second bevel gear 604b and the third bevel gear 604c, and the first buckle 601a, the second buckle 601b, the third buckle 601c and the fourth buckle 601d are distributed in four different directions. The butt joint buckle 601 is a male buckle.

Four butt-joint buckles on the electric locking mechanism are respectively connected with the corresponding screw rods and are controlled by a motor in an interlocking way. The motor passes through the rotation of belt pulley control first lead screw, and first lead screw links firmly through the shaft coupling with the second lead screw, and the bevel gear control third lead screw and fourth lead screw that mesh in order on the three direction of rethread rotate simultaneously, and then promote four buckles and remove chain.

Preferably, the butt joint buckle 601 is provided with a slope surface of 3-5 degrees, which is adapted to the slope of the female buckle on the uploading platform, so as to realize the rotationally-translating homing of millimeter-scale errors after PGV positioning.

And a bottom plate of the butt joint mechanism is provided with a standard screw hole and a release screw for connecting and fixing with an upper cover of the movable chassis.

As shown in fig. 14 and 19, the mobile chassis provided by the embodiment of the present invention includes a cover plate 9, an installation plate 10, a bottom frame 11, a steering wheel driving mechanism 12 and an external sensor assembly 13, where the external sensor assembly 13 includes a laser radar 1301, and is arranged at an outer edge of the installation plate 10, and is used for scanning and acquiring dot matrix data of a two-dimensional space to establish a map, so as to facilitate navigation; four steering wheel driving mechanisms 12 are arranged at four corners of the bottom frame 11; the mounting panel 10 locate on the curb plate of bottom frame 11, apron 9 locate mounting panel 10 top, apron 9, mounting panel 10 and bottom frame 11 pass through the countersunk head bolt fastening and are a whole.

The steering wheel driving mechanism 12, as shown in fig. 20, includes a steering large gear 1201, a steering small gear 1202, a steering wheel 1203, a steering motor 1204, a driving motor 1205, a fixing frame 1206 and 2 motor drivers 1207, where the steering wheel 1203 is disposed in the fixing frame 1206, the steering large gear 1201 is disposed on the fixing frame 1206, the steering large gear 1201 and the steering wheel 1203 are in a vertical state, the steering motor 1204 is connected with the steering small gear 1202, the steering small gear 1202 is engaged with the steering large gear 1201, the driving motor 1205 is connected with the steering wheel 1203, and the 2 motor drivers 1207 are respectively connected with the steering motor 1204 and the driving motor 1205 to control the operation of the steering motor 1204 and the driving motor 1205, so as to implement free rotation of a steering wheel mechanism on an X axis and a Y axis independently.

The four rudder wheel driving mechanisms 12 are driven by 8 motor drivers 1207, and respectively and independently control the rotation of the X axis and the Y axis of the 4 rudder wheels, so that the all-directional movement of the chassis is realized. The four-wheel drive independent control can provide enough power to continue working even if one wheel is in a suspended state, and can also realize the in-situ rotation of the chassis. Furthermore, encoders are provided in both the steering motor 1203 and the driving motor 1205, and can feed back actual movement information by measuring the rotation angle of the motor shaft, thereby assisting in achieving accurate positioning of the chassis.

Further, 48V is selected for the steering motor 1204 and the driving motor 1205 in the steering wheel driving mechanism 12, and the powers of the motors are respectively 0.2KW and 0.4KW or more, so that sufficient power is provided for the chassis. The diameter of the steering wheel 1203 is more than 250 mm. The linear speed of the movement of the chassis can reach 2.0m/s, the angular speed can reach 4.0rad/s, and the movement performance is superior, so that the obstacle crossing and accurate positioning capability in the building environment can be met.

Preferably, as shown in fig. 19, the laser radar 1301 is provided in two or more numbers, and each number is provided at a position on the mounting plate 10 at each end of the same diagonal line. Further preferably, dustproof baffles are arranged above and below the laser radar 1301, so that the working positioning accuracy of the laser radar is not interfered while the stable operation of the laser radar is ensured. The external sensor assembly 13 further includes a bumper bar 1302, and the bumper bar 1302 is disposed on the periphery of the mounting plate 10 and is mainly used for crash emergency stop to prevent accidents.

The bottom frame 11, as shown in fig. 15 and 17, in a preferred embodiment, includes a bottom plate 1101, a steering wheel platform 1102, a partition 1103, and a side plate 1104, wherein the steering wheel platform 1102 is disposed at front and rear ends of the bottom plate 1101, and is used for arranging 4 steering wheel driving mechanisms 12; the partition 1103 is disposed in the bottom frame 11 and used for partitioning the working components fixed on the bottom plate 1101, so as to protect and isolate necessary working components, and enhance the working stability of the chassis; the side walls 1104 are used to support and connect the mounting plate 10.

In a further preferred embodiment, as shown in fig. 17, 18 and 20, 4 rotating discs are arranged in the steering wheel platform 1102, the fixing frame 1206 of the steering wheel driving mechanism 12 is fixedly connected with the rotating disc at the corresponding position, and the steering wheel driving mechanism 12 is arranged at four corners of the bottom frame 11 through the steering wheel platform 1102, so that the free rotation and walking of the chassis are ensured.

Preferably, as shown in fig. 16, the mounting plate 10 is provided with a circuit board 14, a contactor 15, a voltage reduction module 16, an air switch 17 and a wiring port 18, and the contactor 15 is used for preventing starting current from impacting and ensuring current to be smooth; the voltage reduction modules 16 are two in total and are used for reducing the voltage of the 48V battery to 24V and 12V voltage and supplying power to different electronic components; and an air switch 17 for protecting the circuit to automatically cut off the circuit when the circuit is overloaded. All electronic components are fixed on the hardware mounting plate by bolts so as to collect internal circuits.

Preferably, as shown in fig. 17 and 18, a battery 19, an industrial personal computer 20, a gyroscope 21, a softrouter 22, a camera 23 and a camera fixing plate 1105 are arranged in the bottom frame 11, the battery 19 provides a power source for the whole chassis, and the industrial personal computer 20 is used for collecting and processing data of each sensor and issuing further instructions; the gyroscope 21 is used for measuring the moving angle of the loaded robot and assisting in feeding back position real-time information; SoftRouter 22 may download instructions to the 1202 IPC in real time for manual remote control of the mobile chassis. The camera 23 plays a role in precise identification and positioning when the docking warehouse is in a butt-joint storage state. The industrial personal computer 20 is used for collecting data of the laser radar assembly 13, the camera 23, the gyroscope 21 and the encoder in the steering wheel motor.

Preferably, as shown in fig. 21, the cover plate 9 is provided with a detachable window 902 and a bolt hole, and the detachable window 902 is used for maintenance and is used as a channel for up-and-down communication and wiring after the docking module is installed.

Further, camera fixed plate 1105 be detachable access window, convenient maintenance.

The construction connection system provided by the invention comprises any one of the independent movable chassis, the independent operation platform and the independent docking mechanism provided by the embodiment, when a connection task is executed, the movable chassis carries the docking mechanism, and the docking mechanism is connected with the fixed operation platform; after the operation platform reaches the task point, the docking mechanism is separated from the operation platform, and the movable chassis and the docking mechanism leave together or are separated together or are put in storage.

The operation platform provided by the invention bears the mechanical arm to construct at a task point, and can also drive the electric cylinder to automatically adjust the working height of the mechanical arm.

The working process during use is as follows:

before butt joint, four lifting electric cylinders of the operation platform stretch out to the ground to form a rectangular space, the first aim is to drive the movable chassis to enter the rectangular space, and the deviation e between the center of the movable chassis and the center of the rectangular space is within a certain threshold value, generally about 3 cm; then, fine adjustment is carried out by utilizing the PGV two-dimensional code on the platform and the PGV sensor on the mobile chassis until e is adjusted to be within 1 cm; when the butt joint mechanism is matched with the working platform, the electric cylinder is lifted, the platform descends and is descended to the butt joint mechanism, the buckles on the butt joint device are driven by the motor to move to clamp the female buckles on each corresponding working platform, and therefore the working platform and the movable chassis are connected.

After the butt joint is successful, the movable chassis moves to a certain task processing point, then the buckle is disengaged, the electric cylinder descends, the platform rises again, and the movable chassis moves out of the rectangular space, which is called to finish a one-time connection task.

The devices of the connection system can realize standardized independent and combined production and operation, save chassis time and further greatly reduce the cost of comprehensive products.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (15)

1. A construction docking system, comprising: the independent mobile chassis, the independent operation platform and the independent docking mechanism are used for carrying the docking mechanism when the docking task is executed, and the docking mechanism is connected with the fixed operation platform; after the operation platform reaches the task point, the docking mechanism is separated from the operation platform, and the movable chassis and the docking mechanism leave together or are separated together or are put in storage.

2. The construction docking system as described in claim 1, wherein: the operation platform comprises a workbench, a lifting electric cylinder, a platform buckle and a ground foot, wherein the lifting electric cylinder is fixed on the workbench, and a telescopic rod of the lifting electric cylinder is arranged below the workbench when extending out; the ground feet are arranged at the head part of the telescopic rod of the lifting electric cylinder; the platform buckles are arranged on the lower surface of the workbench in pairs.

3. The construction docking system as described in claim 1, wherein: the butt joint mechanism comprises a bottom plate, an electric locking mechanism and a PGV sensor, the electric locking mechanism and the PGV sensor are both fixed on the bottom plate, the electric locking mechanism comprises a butt joint buckle, a lead screw and a motor, the lead screw is connected with the motor, and the butt joint buckle is arranged on the lead screw and translates along with the rotation of the lead screw.

4. The construction docking system as described in claim 2, wherein: the butt joint mechanism comprises a bottom plate, an electric locking mechanism and a PGV sensor, wherein the electric locking mechanism and the PGV sensor are both fixed on the bottom plate; the platform buckle and the butt joint buckle are matched male buckle and female buckle, when the mobile chassis carries the butt joint mechanism to the lower part of the butt joint position of the operation platform, the butt joint buckle of the electric locking mechanism moves to the position of the platform buckle, and the butt joint mechanism is locked and fixed with the operation platform.

5. The construction docking system as described in claim 2, wherein: the worktable is provided with a horizontal sensor and comprises a supporting frame and a cover plate, and the cover plate is arranged above the supporting frame; the lifting electric cylinders are more than three and are arranged at the corners of the workbench.

6. The construction docking system as described in claim 2, wherein: more than 2 pairs of platform buckles are respectively arranged in the peripheral area of the lower surface of the workbench; the platform buckles are female buckles, grooves of 3-5 degrees are formed in the female buckles, and the female buckles are matched with male buckles on the matched butt joint mechanism.

7. The construction docking system as described in claim 2, wherein: and the lower surface of the workbench of the operation platform is provided with a positioning two-dimensional code.

8. The construction docking system as claimed in claim 3, wherein: the electric locking mechanism further comprises bevel gears and a coupler, and the number of the four buckles is respectively a first buckle, a second buckle, a third buckle and a fourth buckle; the number of the screw rods is four, and the screw rods are respectively a first screw rod, a second screw rod, a third screw rod and a fourth screw rod; the number of the bevel gears is three, and the three bevel gears are respectively a first bevel gear, a second bevel gear and a third bevel gear; the first screw rod is connected with the motor, and the first buckle is arranged on the first screw rod and translates along with the rotation of the first screw rod; the second screw rod is connected with the first screw rod through a coupler, a first bevel gear is arranged on the second screw rod, and a second buckle is arranged at the other end of the second screw rod; the third screw rod is connected with the second bevel gear, and the third buckle is arranged at the other end of the third screw rod; the fourth screw rod is connected with the third bevel gear, and the fourth buckle is arranged at the other end of the fourth screw rod; the first bevel gear is respectively in meshed connection with the second bevel gear and the third bevel gear, and the first buckle, the second buckle, the third buckle and the fourth buckle are distributed in four different directions.

9. The construction docking system as claimed in claim 3, wherein: the bottom plate comprises a bottom plate body, side plates and a reinforcing plate, wherein the side plates are independent side walls and are not connected with each other; two ends of the reinforcing plate are connected with two adjacent side plates at an angle of 45 degrees, and the side plates are sectional materials with grooves in the outer walls.

10. The construction docking system as described in claim 9, wherein: the cover plate is clamped in a section bar notch of the side plate through a trapezoidal nut and is fixed with the bolt; the cover plate is provided with a buckle observation window.

11. The construction docking system as described in claim 1, wherein: the mobile chassis comprises a cover plate, a mounting plate, a bottom frame, a rudder wheel driving mechanism and an external sensor assembly, wherein the external sensor assembly comprises a laser radar, is arranged on the outer edge of the mounting plate and is used for scanning and acquiring dot matrix data of a two-dimensional space; the four steering wheel driving mechanisms are respectively arranged at four corners of the bottom frame; the mounting plate is arranged on the side plate of the bottom frame, and the cover plate is arranged above the mounting plate.

12. The construction docking system as described in claim 11, wherein: steering wheel actuating mechanism including turning to the gear wheel, turn to the pinion, the steering wheel turns to motor, driving motor, mount and 2 motor drive, the steering wheel locate in the mount, the gear wheel that turns to locate on the mount, turn to the gear wheel and be the vertical state with the steering wheel, the steering motor with turn to the pinion and be connected, turn to the pinion and turn to gear wheel meshing and be connected, driving motor is connected with the steering wheel, 2 motor drive respectively with turn to motor and driving motor and be connected, control steering motor and driving motor's work realizes that a steering wheel mechanism is independent at the free rotation of X axle and Y axle.

13. The construction docking system as described in claim 11, wherein: the four rudder wheel driving mechanisms are driven by 8 motor drivers and respectively and independently control the rotation of the X axis and the Y axis of the 4 rudder wheels, so that the chassis can move in all directions.

14. The construction docking system as described in claim 11, wherein: the battery provides a power source for the whole chassis, and the industrial personal computer is used for collecting and processing data of each sensor and issuing further instructions; the gyroscope is used for measuring the moving angle of the loaded robot and assisting in feeding back position real-time information; the softrouter can download the instruction to an industrial personal computer in real time to carry out artificial remote control on the mobile chassis; the camera plays a role in accurate identification and positioning when in butt-joint warehousing; the industrial personal computer is used for collecting data of the laser radar assembly, the camera, the gyroscope and the encoder in the steering wheel motor.

15. A construction connection method, which adopts any one of the construction connection systems of claims 1-14, when a connection task is executed, a mobile chassis carries a docking mechanism to the position of an operation platform, the docking mechanism is connected with a fixed operation platform, and the mobile chassis transfers the operation platform to a designated task point; when the operation platform reaches a task point, the docking mechanism is separated from the operation platform, and the movable chassis and the docking mechanism start the next stroke together or are put in storage together/separated.

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