CN101694130B - Wall-building robot - Google Patents
Wall-building robot Download PDFInfo
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- CN101694130B CN101694130B CN2009102070737A CN200910207073A CN101694130B CN 101694130 B CN101694130 B CN 101694130B CN 2009102070737 A CN2009102070737 A CN 2009102070737A CN 200910207073 A CN200910207073 A CN 200910207073A CN 101694130 B CN101694130 B CN 101694130B
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Abstract
The invention relates to a wall-building robot, and belongs to the field of building machinery. The technical scheme is as follows: in the wall-building robot, a manipulator realizes transportation and wall building, an aerial ladder delivers bricks, a motor drives an injection mechanism to deliver cement to the position where a brick is to be arranged; the wall-building robot moves step-by-step on the whole, and simulates the wall-building action of a person. The wall-building robot has the beneficial effects of: simulating the wall-building action of a person, and having a full-automatic technical scheme which has reasonable design and can greatly reduce labor intensity, and improving work efficiency and work quality.
Description
Technical field
The present invention relates to a kind of automation equipment of building a wall, relate in particular to a kind of wall-building robot.
Background technology
The characteristics of building trade own are that the material product quality is heavy, poor working environment, and construction machinery equipment rate is also lower, this just directly cause building drop into high, the long and low negative consequence of efficiency of construction of construction period.Yet this situation but provides bigger space for the building machinery industry development simultaneously.Building trade proportion in the national economy every profession and trade is only second to industry and agricultural, just can roughly understand the integral status of China's building machinery development from the condition of production of China's building machinery product.
Particularly owing to poor working environment, employee's total quality is not high, and wherein, a middle-aged person is according to many, and the younger generation talent is few, does the fewer and feweri of building, and this is the existing present situation of present building trade.
At present China is domestic goes back the engineening goods that neither one is built a wall, only retrieving publication number is: CN2201446, the patent No. is: CN94213066.9, name is called: the utility model patent of wall building machine, this technical scheme is: a kind of wall building machine mainly is made of framework, motor, speed changer, front and back hopper, brick case, front and back roller bearing and conveyer belt, is characterized in: an end of framework is equipped with motor, speed changer.Back roller bearing, back hopper, hopper and preceding roller bearing before the other end is equipped with, the middle part is equipped with brick case and conveyer belt, thereby has solved the build a house problem of big labour intensity of artificial vallum.This utility model is simple in structure, uses the back high efficiency, is a kind of ideal tools that building trade is used.The scheme of my design and this utility model has essence on principle difference.The wall-building robot of our design is realized carrying and vallum by manipulator, send brick by aerial ladder, and the driven by motor injection mechanism is got to cement and built the brick place, and the whole stepping of wall-building robot is moved, anthropomorphic dummy's vallum action.
Summary of the invention
The present invention be directed to the existing in prior technology deficiency, and a kind of vallum action that can the anthropomorphic dummy is provided, the technical scheme of full-automatic vallum robot, this schematic design rationally, can reduce labour intensity greatly, and can increase work efficiency and work quality.
The present invention realizes by following technical measures: a kind of wall-building robot, it comprises base plate, described base plate is provided with walking mechanism and lifting aerial ladder, described lifting aerial ladder respectively with send the brick platform, the manipulator platform connects, be fixed with pipe of cement on the described manipulator platform, be installed with the X-axis rotating stepper motor on the manipulator platform, the X-axis rotating stepper motor is fixedlyed connected to linear stepping motor with Z, Z connects with mechanical arm to linear stepping motor, the rotatable manipulator one that is connected with of mechanical arm, manipulator one upper end connects with Z axle rotating stepper motor, Z axle rotating stepper motor connects to linear stepping motor with Y, Y is fixedlyed connected with manipulator two to linear stepping motor, manipulator two and three vertical connections of manipulator, manipulator three is connected with and adds the brick hand, describedly send the brick platform and to unload the brick platform hinged, the described brick platform that unloads connects with rotating driving device, a described side relative with sending the brick platform of unloading the brick platform is provided with level and send brick mechanism, and described manipulator two and/or manipulator three are provided with sensor.Realize adding moving up and down of brick hand by Z to linear stepping motor, can apish better pressure brick action.
Concrete characteristics of the present invention also have, and above-mentioned aerial ladder comprises some quarter butts, connect by movable pin between the adjacent quarter butt, and the pin of described aerial ladder bottommost is by guide rail, slide block and bottom plate connecting, and described slide block can straight reciprocating motion in base plate rail.
Above-mentioned pipe of cement is connected with cement box, is provided with extruder in the cement box.
The beneficial effect of this programme can be learnt according to the narration to such scheme, adopted manipulator to realize carrying and vallum, sent brick by the brick platform that send that aerial ladder connected, the driven by motor injection mechanism is got to cement and is built the brick place, the whole stepping of wall-building robot is moved, anthropomorphic dummy's vallum action.Can reduce labour intensity greatly like this, and can increase work efficiency and work quality.
Description of drawings
Fig. 1 is the concrete structural representation of implementing of the present invention.
Among the figure, 1, wall, 2, pipe of cement, 3, mechanical arm, 4, manipulator one, 5, manipulator two, 6, manipulator three, 7, Z axle rotating stepper motor, 8, add the brick hand, 9, level is sent brick mechanism, 10, unload the brick platform, 11, send the brick platform, 12, aerial ladder, 13, actuating unit, 14, guide rail, 15, walking mechanism, 16, base plate, 17, cement box, 18, the manipulator platform, 19, the X-axis rotating stepper motor, 20, rotating driving device, 21, slide block guide rail, 22, slide block, 23, quarter butt, 24, movable pin, 25, extruder, 26, Z is to linear stepping motor, 27 leading screws, 28, Y is to linear stepping motor.
The specific embodiment
For clearly demonstrating the technical characterstic of this programme,, this programme is set forth below by a specific embodiment.
As shown in Figure 1, the present invention is a kind of wall-building robot, it comprises base plate 16, described base plate 16 is provided with the walking mechanism 15 and the lifting aerial ladder 12 that can cooperate with guide rail 14, lifting aerial ladder 12 is realized lifting by actuating unit 13, specifically can drive the leading screw rotating and realize that the lifting of aerial ladder belongs to prior art, gives unnecessary details no longer in detail by stepper motor.Described lifting aerial ladder 12 respectively with send brick platform 11, manipulator platform 18 connects, be fixed with pipe of cement 2 on the described manipulator platform 18, be installed with X-axis rotating stepper motor 19 on the manipulator platform 18, X-axis rotating stepper motor 19 is fixedlyed connected to linear stepping motor 26 with Z, Z connects with mechanical arm 3 to linear stepping motor 26, the mechanical arm 3 rotatable manipulators 1 that are connected with, manipulator one 4 upper ends connect with Z axle rotating stepper motor 7, Z axle rotating stepper motor 7 connects to linear stepping motor 28 with Y, Y is fixedlyed connected with manipulator 25 to linear stepping motor 28, manipulator 25 and 36 vertical connections of manipulator, manipulator 36 is connected with and adds brick hand 8, describedly send brick platform 11 and to unload brick platform 10 hinged, the described brick platform 10 that unloads connects with rotating driving device 20, a described side relative with sending brick platform 11 that unload brick platform 10 is provided with level and send brick mechanism 9, and described manipulator 25 and/or manipulator 36 are provided with sensor.Wherein, aerial ladder 10 comprises some quarter butts 21, connect by movable pin 22 between the adjacent quarter butt 21, the movable pin 22 of described aerial ladder 10 bottommosts connects with base plate 14 by guide rail 19, slide block 20, and described slide block 20 can straight reciprocating motion in base plate 14 guide rails 19.
Above-mentioned pipe of cement 2 is connected with cement box 15, is provided with extruder 23 in the cement box 15.
The beneficial effect of this programme can be learnt according to the narration to such scheme, adopted manipulator to realize carrying and vallum, sent brick by the brick platform that send that aerial ladder connected, the driven by motor injection mechanism is got to cement and is built the brick place, the whole stepping of wall-building robot is moved, anthropomorphic dummy's vallum action.Can reduce labour intensity greatly like this, and can increase work efficiency and work quality; The present invention simultaneously can realize control automatically by PLC, has improved the precision of operating efficiency and building so greatly.
The present invention can pass through existing techniques in realizing without the technical characterictic of describing, and does not repeat them here.Certainly; above-mentioned explanation is not to be limitation of the present invention; the present invention also is not limited in above-mentioned giving an example, and variation, remodeling, interpolation or replacement that those skilled in the art are made in essential scope of the present invention also should belong to protection scope of the present invention.
Claims (3)
1. wall-building robot, it is characterized in that, it comprises base plate, described base plate is provided with walking mechanism and lifting aerial ladder, described lifting aerial ladder respectively with send the brick platform, the manipulator platform connects, be fixed with pipe of cement on the described manipulator platform, be installed with the X-axis rotating stepper motor on the manipulator platform, the X-axis rotating stepper motor is fixedlyed connected to linear stepping motor with Z, Z connects with mechanical arm to linear stepping motor, the rotatable manipulator one that is connected with of mechanical arm, manipulator one upper end connects with Z axle rotating stepper motor, and Z axle rotating stepper motor connects to linear stepping motor with Y, and Y is fixedlyed connected with manipulator two to linear stepping motor, manipulator two and three vertical connections of manipulator, manipulator three is connected with and adds the brick hand, describedly send the brick platform and to unload the brick platform hinged, and the described brick platform that unloads connects with rotating driving device, a described side relative with sending the brick platform of unloading the brick platform is provided with level and send brick mechanism, and described manipulator two and/or manipulator three are provided with sensor.
2. wall-building robot according to claim 1, it is characterized in that described aerial ladder comprises some quarter butts, connect by movable pin between the adjacent quarter butt, the pin of described aerial ladder bottommost is by guide rail, slide block and bottom plate connecting, and described slide block can straight reciprocating motion in base plate rail.
3. wall-building robot according to claim 1 and 2 is characterized in that described pipe of cement is connected with cement box, is provided with extruder in the cement box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102070737A CN101694130B (en) | 2009-10-19 | 2009-10-19 | Wall-building robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102070737A CN101694130B (en) | 2009-10-19 | 2009-10-19 | Wall-building robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101694130A CN101694130A (en) | 2010-04-14 |
| CN101694130B true CN101694130B (en) | 2011-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009102070737A Expired - Fee Related CN101694130B (en) | 2009-10-19 | 2009-10-19 | Wall-building robot |
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| Country | Link |
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| CN (1) | CN101694130B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104141391B (en) * | 2013-12-03 | 2017-01-11 | 殷家土 | Wall building robot |
| CN104153553B (en) * | 2014-08-11 | 2016-09-28 | 山东科技大学 | A kind of fully-automatic intelligent mud wall machine |
| CN104153591B (en) * | 2014-08-11 | 2016-10-19 | 山东科技大学 | A kind of fully-automatic intelligent wall-building machine |
| CN104175309B (en) * | 2014-09-05 | 2016-02-24 | 杭州宇聪科技有限公司 | A kind of vallum robot |
| CN104265004B (en) * | 2014-09-17 | 2017-02-22 | 深圳瑞和建筑装饰股份有限公司 | Block material laying machine and automatic block material laying method thereof |
| CN104806028B (en) * | 2015-03-06 | 2016-11-23 | 同济大学 | A kind of high-freedom degree high-precision full-automatic brick-laying machine |
| CN104878945B (en) * | 2015-06-23 | 2018-08-24 | 广西丰歌绿屋建造科技有限公司 | Wall-building robot |
| CN105089284B (en) * | 2015-09-17 | 2017-04-19 | 绵阳高新区大任节能技术有限公司 | Hexagonal block wall laying machine |
| ES2899284T3 (en) | 2016-07-15 | 2022-03-10 | Fastbrick Ip Pty Ltd | Vehicle incorporating a brick laying machine |
| JP7108609B2 (en) | 2016-07-15 | 2022-07-28 | ファストブリック・アイピー・プロプライエタリー・リミテッド | material transport boom |
| CN106836830B (en) * | 2017-04-24 | 2018-05-29 | 杨雪锋 | A kind of automatic climbing builds brick device |
| CN107083845B (en) * | 2017-06-22 | 2019-06-04 | 厦门华蔚物联网科技有限公司 | A kind of automatic wall-building method and automatic wall-building system |
| CN111095355B (en) | 2017-07-05 | 2023-10-20 | 快砖知识产权私人有限公司 | Real-time positioning and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
| ES2971624T3 (en) | 2017-10-11 | 2024-06-06 | Fastbrick Ip Pty Ltd | Machine for transporting objects |
| CN107675891B (en) * | 2017-10-24 | 2019-08-30 | 张明祥 | A kind of mechanical device built applied to building inner space and modification technique is improved |
| CN110080542B (en) * | 2019-06-05 | 2020-12-11 | 湖南慧盟重工科技有限公司 | Automatic wall brick stacking robot |
| CN110158978B (en) * | 2019-06-28 | 2024-04-23 | 杭州三丰装配式建筑科技有限公司 | Full-automatic wall building system and wall building method |
| CN111088895B (en) * | 2020-03-20 | 2020-07-17 | 广东博智林机器人有限公司 | Bricklaying device and bricklaying robot |
| CN112096009B (en) * | 2020-09-09 | 2021-11-09 | 中冶南方工程技术有限公司 | A wall body surface paints mortar device for construction |
| CN112482797A (en) * | 2020-11-15 | 2021-03-12 | 黄健辉 | Automatic brick laying system for building construction |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201574591U (en) * | 2009-10-19 | 2010-09-08 | 济南大学 | Walling robot |
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2009
- 2009-10-19 CN CN2009102070737A patent/CN101694130B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201574591U (en) * | 2009-10-19 | 2010-09-08 | 济南大学 | Walling robot |
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| CN101694130A (en) | 2010-04-14 |
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Granted publication date: 20110413 Termination date: 20131019 |