CN106049873A

CN106049873A - Hydraulically lifting wall building robot

Info

Publication number: CN106049873A
Application number: CN201610457898.4A
Authority: CN
Inventors: 赵嘉珩; 赵建纲
Original assignee: ZHENGZHOU SUNDY BUILDING TECHNOLOGY Co Ltd
Current assignee: ZHENGZHOU SUNDY BUILDING TECHNOLOGY Co Ltd
Priority date: 2016-06-23
Filing date: 2016-06-23
Publication date: 2016-10-26

Abstract

The invention discloses a hydraulically lifting wall building robot and belongs to the field of buildings. The hydraulically lifting wall building robot comprises a mechanical arm assembly, a connection base, a lifting column, a base, a hydraulic cylinder and a hydraulic control device, wherein the mechanical arm assembly is installed on the upper portion of the connection base and fixedly connected with the connection base; the connection base is installed between the mechanical arm assembly and the lifting column; the lifting column comprises an upper half part, a lower half part and a guide device; the base is arranged on the lower portion of the lifting column, and wheels are installed at the bottom of the base; the hydraulic cylinder is installed inside the lifting column; and the hydraulic control device is installed on the base. The hydraulically lifting wall building robot has the characteristics that a field spraying wall can be built quickly, operation is stable and reliable, the action is flexible, and spraying and wall face tidying for walls of complex shapes can be achieved.

Description

A kind of Jian Qiang robot of hydraulic lifting

Technical field

The invention belongs to building field, a kind of liquid built particularly to a kind of body of wall for scene spray walling and metope The Jian Qiang robot of pressure lifting.

Background technology

Existing body of wall, in building course, is roughly divided into and builds by laying bricks or stones, pours, and the methods such as spray is built, splicing are built by laying bricks or stones, is to use in advance The building block of molding such as brick, concrete segment etc. uses and is manually stacked, and adds bonding agent and be allowed to be bonded to entirety between building block Thus form body of wall；Pour the inner chamber being to use template to form walls shape, be cast into the things such as concrete, mortar at template inner chamber Matter, these materials solidify formation body of wall in template；It is first to build a skeleton that spray is built, and is coated on skeleton by certain pulp spraying And be bonded together with skeleton, one layer is adhered to one layer, gradually forms body of wall；Splicing is by ready-made wall body structure, such as stone Cream plate, plank, steel plate etc. is made corresponding size, is spliced together, forms body of wall；Above builds wall mode, during Jian Qiang Being required for using that substantial amounts of manually efficiency of construction is low, labor intensity is big, can pollute environment, it is impossible to enough realize full machinery Change construction；For problem above present in above-mentioned wall mode of building, the applicant's earlier application " a kind of Fully-mechanized builds wall Spray building machine device people in construction system ", application number: 2014102226074, overcome and existing build problem present in wall method, But finding through checking, this earlier application movement response is the sensitiveest, and function is the most complete, it is impossible to adapt to complexity and build wall environment Needs, mechanical arm part is the heaviest, it is impossible to be applicable to the construction of large area body of wall, for problem above, the applicant Earlier application " the Jian Qiang robot of a kind of lifting pedestal ", application number: 2016103103418；Can solve the problem that problem above, but Being that the lifting pedestal of the Jian Qiang robot finding this lifting pedestal consolidates impact not and builds wall precision, its lifting link is more, It is easily accessible foreign material and causes lifting pedestal cisco unity malfunction.

Summary of the invention

The problems referred to above existed for the Jian Qiang robot of a kind of lifting pedestal of earlier application, the present invention proposes a kind of liquid The Jian Qiang robot of pressure lifting, it is characterised in that: include robot assemblies, connect seat, lifting column, base, hydraulic cylinder, hydraulic pressure control Device processed；Described robot assemblies is arranged on connection seat top and fixes connection with being connected seat；Described connection seat is arranged on machine Between mechanical arm assembly and lifting column, respectively at the fixing connection of robot assemblies and lifting column；Described lifting column includes the first half With lower half and guider；The first half of described lifting column is arranged on connection seat, for cylinder type hollow body, with lifting column Lower half mutually nested；The lower half of described lifting column is arranged on base, and for cylindrical cavity, one end is solid with base Fixed connection, and mutually nested with the first half of lifting column；Described guider be separately mounted to lifting column the first half and under In half portion, cooperate and the first half of lifting column and lower half can be made when stretching mutually, to keep certain direction not deflect； Described base is arranged on the bottom of lifting column, is provided with wheel bottom it；Described hydraulic cylinder is arranged on the inside of lifting column, Its one end is connected with the lower half of base or lifting column, the other end be connected seat or be connected with the first half of lifting column, its Oil inlet and outlet is connected with hydraulic control device by oil pipe；Described hydraulic control device is arranged on base, including Hydraulic Station, Control valve；Described Hydraulic Station and control valve connect respectively at the control system of robot.

Beneficial effect

The beneficial effects of the present invention is, it is possible to the quick construction of on-the-spot spray walling, save artificial, flexible movements and being capable of Construction before large area, lifting is stable, it is simple to safeguards and uses, decreasing the volume and weight of robot assemblies.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention

1. robot assemblies, 2. connects seat, 3. lifting column, 4. base.

Detailed description of the invention

In order to further illustrate technical scheme, detailed description of the invention Fig. 1 of the present invention is described in conjunction with accompanying drawing, This example is selected earlier application " the Jian Qiang robot of a kind of lifting pedestal ", application number: all machineries in 2016103103418 Arm and combinations thereof mode is as robot assemblies 1；Select flange form steel plate as connecting seat 2, seat 2 top and mechanical arm will be connected The bottom of assembly is fixing to be connected, and bottom is connected with lifting column 3；This example is selected diameter 330 mm of thickness 10 mm length 750 milli The steel pipe of rice, as the first half of lifting column 3, arranges the keyway of width 16 mm depth 6, the direction of its keyway at its outer surface Consistent with steel pipe axis direction as gathering sill；Select the steel pipe of diameter 350 mm of thickness 10 mm length 750 millimeters as liter The lower half of fall post 3, holds internally installed width 16 mm length 50 millimeters thereon, and the feather key that thickness is 12 millimeters, with lifting The keyway on the first half surface of post 3 coordinates as guider；The lower half of lifting column 3 and base 4 are vertically mounted on base 4 Go up and fix connection, and the internal diameter of lower half of lifting column 3 is nested with the external diameter of the first half；Select 80 millimeters of strokes of diameter The commercially available hydraulic jack of 600 millimeters is as hydraulic cylinder, and is installed in the internal cavities of lifting column 3, one end and base 4 Fixing connection, piston rod end connects with being connected seat 2, and is connected with hydraulic control device by pipeline by oil inlet and outlet；Select Hydraulic Station that the commercially available industry is general and hydraulic electromagnetic control valve are as hydraulic control device, and are installed on base 4, It is connected with the control system of robot；Select the steel plate of thickness 20 millimeters, and at its lower bottom part, commercially available universal crop rotation is installed For base 4, just complete the enforcement of the present invention；During application, when needing robot assemblies 1 rise overally or decline, operation is originally The control system of robot, instruct hydraulic control device one end oiling to hydraulic cylinder so that the piston rod of hydraulic cylinder stretch out or Person retracts, thus changes the nested lengths between the first half and the lower half of lifting column 3, thus changes the height of robot assemblies 1 Degree, it is achieved build wall area and the adjustment of height；Overcoming that to build the wall telephone device National People's Congress many in office work, volume is the hugest to be unfavorable for Indoor turnover, excessive to easily cause motional inertia excessive for each arm length simultaneously, and motor load is big, simultaneously in order to adapt to wall The defect of the situation that bulk area is bigger, simultaneously because lifting column 3 have employed the nesting of steel cylindrical tube, foreign material are not easily accessed it Inside, guides stable, will not deflect, substantially increase range and the stability of this Jian Qiang robot, reduce whole building The volume and weight of wall robot.

Claims

1. the Jian Qiang robot of a hydraulic lifting, it is characterised in that: include robot assemblies, connect seat, lifting column, base, Hydraulic cylinder, hydraulic control device；Described robot assemblies is arranged on connection seat top and fixes connection with being connected seat；Described company Joint chair is arranged between robot assemblies and lifting column, respectively at the fixing connection of robot assemblies and lifting column；Described lifting Post includes the first half and lower half and guider；The first half of described lifting column is arranged on connection seat, for cylindrical empty Heart body, mutually nested with the lower half of lifting column；The lower half of described lifting column is arranged on base, for cylindrical cavity Body, one end is fixing with base to be connected, and mutually nested with the first half of lifting column；Described guider is separately mounted to lifting On the first half of post and lower half, cooperate and the first half of lifting column and lower half can be made to keep certain when stretching mutually Direction and do not deflect；Described base is arranged on the bottom of lifting column, is provided with wheel bottom it；Described hydraulic cylinder is arranged on The inside of lifting column, its one end is connected with the lower half of base or lifting column, the other end be connected seat or with lifting column The first half connects, and its oil inlet and outlet is connected with hydraulic control device by oil pipe；Described hydraulic control device is arranged on base On, including Hydraulic Station, control valve；Described Hydraulic Station and control valve connect respectively at the control system of robot.