CN106150109A - A kind of build aerated blocks brick robot - Google Patents
A kind of build aerated blocks brick robot Download PDFInfo
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- CN106150109A CN106150109A CN201510115251.9A CN201510115251A CN106150109A CN 106150109 A CN106150109 A CN 106150109A CN 201510115251 A CN201510115251 A CN 201510115251A CN 106150109 A CN106150109 A CN 106150109A
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- brick
- mechanical arm
- machine mechanical
- platform
- hand
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- 239000011449 brick Substances 0.000 title claims abstract description 225
- 239000004568 cement Substances 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims abstract description 9
- 239000004570 mortar (masonry) Substances 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 27
- 238000002789 length control Methods 0.000 claims description 22
- 230000006698 induction Effects 0.000 claims description 13
- 239000012634 fragment Substances 0.000 claims description 10
- 239000002002 slurry Substances 0.000 claims description 9
- 239000013049 sediment Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000009435 building construction Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Abstract
This invention " a kind of build aerated blocks brick robot " is applied to building field, including orbital platform parts, unidirectional multistage hydraulic cylinder parts, grab brick slideway platform component, brick grasping machine mechanical arm turning member, brick grasping machine mechanical arm parts, grab brick hand unit, paving ash slideway platform component, cement laying machine mechanical arm turning member, cement laying machine mechanical arm parts, paving ash hand unit and control system.It is characterized in that, unidirectional multistage hydraulic cylinder parts are installed on orbital platform, unidirectional multistage hydraulic cylinder top is provided with grabs brick slideway platform component, grab installation brick grasping machine mechanical arm turning member on brick slideway platform, brick grasping machine mechanical arm turning member is connected with brick grasping machine mechanical arm parts, and brick grasping machine mechanical arm parts connect grabs brick hand unit；Do not turn side support connect paving ash slideway platform component, paving ash slideway platform on install cement laying machine mechanical arm turning member, cement laying machine mechanical arm turning member connect cement laying machine mechanical arm parts, cement laying machine mechanical arm parts connect paving ash hand unit.Control system includes control cabinet and wired personal control, is arranged on orbital platform；When needing, can be at Non-follow control with switch between automatically controlling.The present invention can be automatically performed paving ash, operation is built a wall at tile work and turning, is a kind of very useful building machinery.
Description
Technical field
The present invention relates to the building wall of building, be mainly used in the building construction of inner wall of building body.
Technical background
During building construction, there is labor strength big in the inner wall of current building, efficiency is low, and quality is unstable
Shortcoming.
Content of the invention:
For realistic situation, the present invention can be automatically performed paving ash, operation is built a wall at tile work and turning, have mechanization degree high,
Compact conformation, high efficiency, the advantage of conveniently moving, be a kind of very useful building machinery.
The present invention is realized by techniques below:
A kind of building aerated blocks brick robot, it includes: orbital platform parts, unidirectional multistage hydraulic cylinder parts, grab brick slideway platform
Parts, brick grasping machine mechanical arm turning member, brick grasping machine mechanical arm parts, grab brick hand unit, paving ash slideway platform component, cement laying machine tool
Arm turning member, cement laying machine mechanical arm parts, paving ash hand unit and control system.It is characterized in that, orbital platform is provided with list
To multistage hydraulic cylinder parts, unidirectional multistage hydraulic cylinder top is provided with grabs brick slideway platform component, grabs to install on brick slideway platform and grabs
Brick mechanical arm turning member, brick grasping machine mechanical arm turning member is connected with brick grasping machine mechanical arm parts, and brick grasping machine mechanical arm parts connect grabs brick
Hand unit.Do not turn side support connect paving ash slideway platform component, paving ash slideway platform on install cement laying machine mechanical arm turning part
Part, cement laying machine mechanical arm turning member connects cement laying machine mechanical arm parts, and cement laying machine mechanical arm parts connect paving ash hand unit.Control system
It including control cabinet and wired personal control, is arranged on orbital platform.
Described orbital platform parts include track, travelling platform, support rubber tire of living, reducing motor, sensor, length control dress
Put, hanger rail is taken turns.Three support rubber tires alive are arranged on bottom travelling platform, and reducing motor is vertical to be arranged on travelling platform, with row
The driving means walking platform connects；Hanger rail wheel is separately mounted to travelling platform both sides, every side two；Mortar pump assembly is installed and is expert at
Walking on rear side of platform, hydraulic pump assembly is arranged on the left of travelling platform；For brick stage+module above hydraulic pump assembly, fragment of brick is fixed
Position device is arranged on on brick platform.
Described unidirectional multistage hydraulic cylinder parts include unidirectional Multi-stage cylinder, unidirectional cylinder retracting device, length control device, magnetic valve,
Cylinder body anti-rotation stapling apparatus.Length control device connects unidirectional cylinder retracting device, and unidirectional cylinder retracting device connects unidirectional multistage hydraulic
Cylinder, length control device and magnetic valve are installed near unidirectional cylinder retracting device；Cylinder body anti-rotation stapling apparatus is arranged on unidirectional multistage liquid
On the urceolus of cylinder pressure.
Described grab brick slideway platform component include body transfer, do not turn, slideway transfer, hydraulic cylinder, linear bearing
Seat, slide bar, sensor, time difference adjusting means, grab brick slideway platform, flow valve, magnetic valve.Body transfer is arranged on
Do not turn following, connect and do not turn and unidirectional multistage hydraulic cylinder；Slideway transfer is arranged on grabs brick slideway platform and does not turn it
Between, connect and do not turn and grab brick slideway platform；Linear axis bearing is arranged on slideway transfer, and slide bar is arranged on linear bearing
In seat, slide bar is connected with grabbing brick slideway platform；The midline position at linear axis bearing two is provided with three sensors；It is arranged on cunning
Hydraulic cylinder on the right side of road transfer connects grabs brick slideway platform, and there is the time difference adjusting means junction；Grab brick slideway platform afterbody peace
Equipped with two magnetic valves and a flow valve.
Described mechanical arm turning member include reducing motor, robot axis, angle controller, sensor, grab brick hand put down
Weighing apparatus power set.Reducing motor is fixed on grabs on brick slideway platform, is connected with robot axis, be also connected with angle controller,
Sensor；Robot axis connects the slideway sleeve barrel on brick grasping machine mechanical arm parts；Grab brick hand balanced power device for roller to be arranged on and grab brick
On slideway platform, connect robot axis.
Described brick grasping machine mechanical arm parts include actively hydraulic cylinder, brick grasping machine mechanical arm, transmission device, slideway sleeve barrel, length control dress
Put, sensor, sleeve.Actively hydraulic cylinder is connected with brick grasping machine mechanical arm, brick grasping machine mechanical arm branch sleeve；Transmission device is arranged on
It on the urceolus of brick grasping machine mechanical arm and slideway sleeve barrel, is connected to length control device and sensor.
Described brick hand unit of grabbing includes grabbing brick support on hand, grabs the subordinate support of brick, grabs brick hand axle, grabs brick hand bascule, hydraulic pressure
Cylinder, hydraulic cylinder transmission device, on grab brick hook, under grab brick hook, induction installation, sensor, reversing switch, the time relay.
Hydraulic cylinder is arranged on grabs on brick support on hand, is connected to transmission device, and transmission device connects grabs brick hook；Transmission device side is pacified
Equipped with reversing switch and the time relay, the bottom grabbing brick support on hand central authorities is provided with induction installation；Grab on the subordinate support of brick solid
Determining hydraulic cylinder, hydraulic cylinder connects transmission device, and transmission device grabs brick hook under connecting；It is arranged on the brick hand of grabbing grabbing on brick hand axle to balance
Device, is connected by two oil pipes and grabs brick hand balanced power device for roller.
Described cement laying machine mechanical arm turning member is identical with the assembly of brick grasping machine mechanical arm turning member, and attachment structure is identical, no longer superfluous
State.
Described cement laying machine mechanical arm parts are identical with the assembly of brick grasping machine mechanical arm parts, and attachment structure is identical, repeats no more.
Described paving ash hand unit includes paving grey-hand, paving grey-hand's axle, paving grey-hand's bascule, sediment transport slurry inner tube, safety device, close
Envelope orientation paving apparatus for ash, mortar induction controller, gear perps device kinetic pump, gear perps device, perps mortar baffle plate.Paving
Grey-hand is installed above safety device, and sealing installed below orientation paving apparatus for ash, two ends are provided with perps mortar baffle plate；Gear perps
Device is arranged on perps mortar baffle plate, and perps mortar baffle plate connects gear perps device kinetic pump by pipeline；Mortar sensing control
Device is arranged on the end of paving grey-hand；Paving grey-hand's bascule connects paving grey-hand's axle, installs sediment transport slurry inner tube in paving grey-hand's axle.
The present invention can be controlled by wired personal control, it is also possible to is automatically controlled by processor programming realization.
Before building a wall, fragment of brick is placed at for the fragment of brick fixing device on brick platform, and mortar filled it up with by mortar hopper, adjusts paving grey-hand to block
The top of body, grabs brick hand to the top for brick platform.Starting total power switch, gear perps device kinetic pump starts, by two
Perps is sealed by gear perps device.Then mortar pump assembly starts, by sediment transport slurry inner tube conveying mortar to spreading grey-hand.Perps
After mortar is filled, gear perps device departs from masonry；Reducing motor drives travelling platform to advance along track, and paving grey-hand continues paving ash,
Stopping after the length of travelling platform one piece of fragment of brick of advance, mortar pump stops for ash.So paving grey-hand just realizes the paving of one piece of brick length
Ash.
While paving ash operation, hydraulic pump assembly starts, and actively hydraulic cylinder connects brick grasping machine mechanical arm, drives and grabs the subordinate fall of brick；Grab
After brick subordinate drops to setting height, grab brick hand and stop declining；Hydraulic cylinder provides power, by transmission device, grabs brick hook by fragment of brick
Hold.Then grabbing the portable brick of brick to rise, after reaching setting height, slideway transfer drives grabs the rotation of brick slideway platform, drives
Grab the brick hand right side together to turn 90 degrees, towards body of wall.Then, hydraulic cylinder provides power, drives and grabs the advance of brick slideway platform, and drive is grabbed
Shift onto above masonry before brick hand.Before shift setting position onto after, actively hydraulic cylinder connects brick grasping machine mechanical arm, drives and grabs brick subordinate and drop to
Complete above the masonry of mortar.Hydraulic cylinder provides power, and by transmission device, driving is grabbed brick hook and unclamped fragment of brick, completes to lay bricks
Action.Then, grab after brick is raised to setting height on hand, left steering 90 degree, to for above brick platform, grab the heavy-handed brick of grabbing again of brick and move
Make.
And then, mortar pump assembly starts, and paving grey-hand repeats to spread ash action.After completing the building by laying bricks or stones of one layer of body of wall, stop paving ash,
Tile work action.
At this moment, unidirectional multistage hydraulic cylinder rises the height of one piece of brick, begins the above building by laying bricks or stones of one layer of body of wall.
When building turning wall, grab brick hand and pick up fragment of brick, rise to setting height and stop.Body transfer provides power, drives not
Right turn of turning 90 degree.So, the paving ash slideway platform and grab brick slideway platform being arranged on not turning, just completes simultaneously
90 degree turn to, then completes paving ash, tile work operation.When building turning wall, just to complete for the operation of one piece of brick of corner.
When building in building one layer of brick below crossbeam, paving grey-hand's balanced power device for roller provides power, drives paving grey-hand to rotate；Grab
Brick hand balanced power device for roller provides power, drives and grabs brick hand-screw and turn, it is achieved grab the scope of operation of the scope of operation of brick hand and paving grey-hand all to
Under, complete building by laying bricks or stones of below crossbeam one layer of brick.
During equipment transfer place, track and travelling platform are secured together by hanger rail wheel；Three support rubber tire stress alive, supporting rail
Road leaves ground, then overall delivery.
Brief description:
This accompanying drawing is intended to be the present invention exemplary illustration and explanation, not delimit the scope of the invention.Wherein:
Fig. 1 is housing construction schematic diagram；
Fig. 2 is to grab brick slideway platform component and brick grasping machine mechanical arm turning member schematic diagram；
Fig. 3 is the sectional view at A-A position in Fig. 2；
Fig. 4 is brick grasping machine mechanical arm block diagram；
Fig. 5 is to grab brick hand unit schematic diagram；
Fig. 6 is paving grey-hand's block diagram.
In figure: the 1st, track, the 2nd, travelling platform, the 3rd, live support rubber tire, the 4th, reducing motor, the 5th, sensor, the 6th, length control
Device processed, the 7th, control cabinet, the 8th, wired personal control, the 9th, hanger rail wheel, the 10th, unidirectional multistage hydraulic cylinder, the 11st, unidirectional cylinder draws
Return device, the 12nd, length control device, the 13rd, magnetic valve, the 14th, under grab brick hook, the 15th, grab the subordinate support of brick, the 16th, sensor,
17th, sensor, the 18th, reversing switch, the 19th, the time relay, the 20th, hydraulic pump assembly, the 21st, on grab brick hook, the 22nd, transmission
Device, the 23rd, hydraulic cylinder, the 24th, grab brick support on hand, the 25th, for brick platform, the 26th, sleeve, the 27th, fragment of brick positioner, the 28th,
Transmission device, the 29th, actively hydraulic cylinder, the 30th, brick grasping machine mechanical arm, the 31st, sensor, the 32nd, length control device, the 33rd, slideway
Sleeve, the 34th, angle controller, the 35th, sensor, the 36th, robot axis, the 37th, reducing motor, the 38th, magnetic valve,
39th, magnetic valve, the 40th, flow valve, the 41st, grab brick slideway platform, the 42nd, paving ash slideway platform, the 43rd, spread grey-hand, the 44th, mortar
Pump assembly, the 45th, grabs brick hand balanced power device for roller, the 46th, slideway transfer, the 47th, does not turns, and the 48th, cylinder body anti-rotation is coincide and filled
Put, the 49th, hydraulic cylinder, the 50th, time difference adjusting means, the 51st, body transfer, the 52nd, linear axis bearing, the 53rd, sensor,
54th, sensor, the 55th, sensor, the 56th, slide bar, the 57th, length control device, the 58th, sensor, the 59th, sensor, the 60th,
Grab brick hand bascule, the 61st, hydraulic cylinder, the 62nd, transmission device, the 63rd, grab brick hand axle, the 64th, induction installation, the 65th, mortar gear
Plate, the 66th, keeps off perps device, the 67th, mortar induction controller, the 68th, spreads grey-hand, the 69th, seals orientation paving apparatus for ash, the 70th,
Safety device, the 71st, keeps off perps device kinetic pump, the 72nd, cement laying machine mechanical arm, the 73rd, sediment transport slurry inner tube, the 74th, spreads grey-hand and balances dress
Put, the 75th, spread grey-hand's axle.
Detailed description of the invention:
Below in conjunction with the accompanying drawings and embodiment, the present invention is expanded on further.The present invention, can be by now without the technical characteristic describing
Some technology realize, do not repeat them here.Certainly, this explanation is not limitation of the present invention, and the present invention is also not limited only to
Described citing.
As it is shown in figure 1, a kind of build aerated blocks brick robot, it includes: orbital platform parts, unidirectional multistage hydraulic cylinder parts,
Grab brick slideway platform component, brick grasping machine mechanical arm turning member, brick grasping machine mechanical arm parts, grab brick hand unit, paving ash slideway platform part
Part, cement laying machine mechanical arm turning member, cement laying machine mechanical arm parts, paving ash hand unit and control system.It is characterized in that, track is put down
Being provided with unidirectional multistage hydraulic cylinder parts on platform, unidirectional multistage hydraulic cylinder top is provided with grabs brick slideway platform component, grabs brick slideway
Installing brick grasping machine mechanical arm turning member on platform, brick grasping machine mechanical arm turning member is connected with brick grasping machine mechanical arm parts, brick grasping machine mechanical arm
Parts connect grabs brick hand unit.Do not turn side support connect paving ash slideway platform component, paving ash slideway platform on install paving ash
Mechanical arm turning member, cement laying machine mechanical arm turning member connects cement laying machine mechanical arm parts, and cement laying machine mechanical arm parts connect paving ash hand
Part.Control system includes control cabinet and wired personal control, is arranged on orbital platform.
As it is shown in figure 1, described orbital platform parts include: track, travelling platform, live support rubber tire, reducing motor, sensing
Device, length control device, hanger rail wheel.Three support rubber tires alive are arranged on bottom travelling platform, and the vertical installation of reducing motor is expert at
Walk on platform, be connected with the driving means of travelling platform；Hanger rail wheel is attached separately to travelling platform both sides, every side two；Mortar pump
Assembly is arranged on rear side of travelling platform, and hydraulic pump assembly is arranged on the left of travelling platform；For brick stage+module on hydraulic pump assembly
Side, fragment of brick positioner is arranged on on brick platform.
As it is shown in figure 1, described unidirectional multistage hydraulic cylinder parts include: unidirectional Multi-stage cylinder, unidirectional cylinder retracting device, length control
Device, magnetic valve, cylinder body anti-rotation stapling apparatus.Length control device connects unidirectional cylinder retracting device, and unidirectional cylinder retracting device is even
Order is arranged near unidirectional cylinder retracting device to multistage hydraulic cylinder, length control device and magnetic valve；Cylinder body anti-rotation stapling apparatus is pacified
It is contained on unidirectional multistage hydraulic cylinder urceolus.
As in figure 2 it is shown, described brick slideway platform component of grabbing includes: body transfer, do not turn, slideway transfer, liquid
Cylinder pressure, linear axis bearing, slide bar, sensor, time difference adjusting means, grab brick slideway platform, flow valve, magnetic valve.Body
Transfer is arranged on does not turns following, connects and does not turn and unidirectional multistage hydraulic cylinder；Slideway transfer is arranged on grabs brick slideway
Platform and between not turning, connects and does not turns and grab brick slideway platform；Linear axis bearing is arranged on slideway transfer, slide bar
Being arranged in linear axis bearing, slide bar is connected with grabbing brick slideway platform；The midline position at linear axis bearing two is provided with three biographies
Sensor；Being arranged on the connection of the hydraulic cylinder on the right side of slideway transfer and grabbing brick slideway platform, there is the time difference adjusting means junction；Grab brick
Slideway platform afterbody is provided with two magnetic valves and a flow valve.
As shown in Figures 2 and 3, described mechanical arm turning member includes: reducing motor, robot axis, Angle ambiguity dress
Put, sensor, grab brick hand balanced power device for roller.Reducing motor is fixed on grabs on brick slideway platform, is connected with robot axis,
It is also connected with angle controller, sensor；Robot axis connects the slideway sleeve barrel on brick grasping machine mechanical arm parts；Grab brick hand to put down
Weighing apparatus power set are arranged on grabs on brick slideway platform, connects robot axis.
As shown in Figure 4, described brick grasping machine mechanical arm parts include: actively hydraulic cylinder, brick grasping machine mechanical arm, transmission device, sliding ledge cover
Cylinder, length control device, sensor, sleeve.Actively hydraulic cylinder is connected with brick grasping machine mechanical arm, brick grasping machine mechanical arm branch sleeve；
Transmission device is arranged on brick grasping machine mechanical arm urceolus and slideway sleeve barrel, is connected to length control device and sensor.
As it is shown in figure 5, described brick hand unit of grabbing includes: grab brick support on hand, grab the subordinate support of brick, grab brick hand axle, grab brick hand
Bascule, hydraulic cylinder, hydraulic cylinder transmission device, on grab brick hook, under grab brick hook, induction installation, sensor, reversing switch,
The time relay.Hydraulic cylinder is arranged on grabs on brick support on hand, is connected to transmission device, and transmission device connects grabs brick hook；Pass
Dynamic device side is provided with reversing switch and the time relay, and the bottom grabbing brick support on hand central authorities is provided with induction installation；Grab brick
Fixer cylinder pressure on subordinate support, hydraulic cylinder connects transmission device, and transmission device grabs brick hook under connecting；It is arranged on and grab on brick hand axle
Grab brick hand bascule, connected by two oil pipes and grab brick hand balanced power device for roller.
Described cement laying machine mechanical arm turning member is identical with the assembly of brick grasping machine mechanical arm turning member, and attachment structure is identical, no longer superfluous
State.
Described cement laying machine mechanical arm parts are identical with the assembly of brick grasping machine mechanical arm parts, and attachment structure is identical, repeats no more.
As shown in Figure 6, described paving ash hand unit include: paving grey-hand, paving grey-hand's axle, paving grey-hand's bascule, sediment transport slurry inner tube,
Safety device, sealing orientation paving apparatus for ash, mortar induction controller, gear perps device kinetic pump, gear perps device, perps
Mortar baffle plate.Grey-hand is installed above safety device for paving, has sealing orientation paving apparatus for ash below, and two ends are provided with perps mortar gear
Plate；Gear perps device is arranged on perps mortar baffle plate, and perps mortar baffle plate connects gear perps device kinetic pump by pipeline；Sand
Slurry induction controller is arranged on the end of paving grey-hand；Paving grey-hand's bascule connects paving grey-hand's axle, installs sediment transport in paving grey-hand's axle
Slurry inner tube.
Description of the invention is given for example, is not to limit the invention to disclosed form.Without departing substantially from the present invention
In the case of spirit and essence thereof, those of ordinary skill in the art work as and can make various corresponding change and deformation according to the present invention,
But these change and deformation all should belong to protection scope of the present invention.
Claims (10)
1. build aerated blocks brick robot for one kind, it is characterised in that include: orbital platform parts, unidirectional multistage hydraulic cylinder parts,
Grab brick slideway platform component, brick grasping machine mechanical arm turning member, brick grasping machine mechanical arm parts, grab brick hand unit, paving ash slideway platform part
Part, cement laying machine mechanical arm turning member, cement laying machine mechanical arm parts, paving ash hand unit and control system.It is characterized in that, track is put down
Being provided with unidirectional multistage hydraulic cylinder parts on platform, unidirectional multistage hydraulic cylinder top is provided with grabs brick slideway platform component, grabs brick slideway
Installing brick grasping machine mechanical arm turning member on platform, brick grasping machine mechanical arm turning member is connected with brick grasping machine mechanical arm parts, brick grasping machine mechanical arm
Parts connect grabs brick hand unit.Do not turn side support connect paving ash slideway platform component, paving ash slideway platform on install paving ash
Mechanical arm turning member, cement laying machine mechanical arm turning member connects cement laying machine mechanical arm parts, and cement laying machine mechanical arm parts connect paving ash hand
Part.Control system includes control cabinet and wired personal control, is arranged on orbital platform；When needing, can be at Non-follow control
And switch between automatically controlling.
2. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described orbital platform parts
Including track, travelling platform, support rubber tire of living, reducing motor, sensor, length control device, hanger rail wheel.Three work are propped up
Frame rubber tire is arranged on bottom travelling platform, and reducing motor is vertical to be arranged on travelling platform, is connected with the driving means of travelling platform；
Hanger rail wheel is attached separately to travelling platform both sides, every side two；Mortar pump assembly is arranged on rear side of travelling platform, and hydraulic pump assembly is pacified
It is contained on the left of travelling platform；For brick stage+module above hydraulic pump assembly, fragment of brick positioner is arranged on on brick platform.
3. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described unidirectional multistage hydraulic cylinder
Parts include unidirectional Multi-stage cylinder, unidirectional cylinder retracting device, length control device, magnetic valve, cylinder body anti-rotation stapling apparatus.Length
Control device connects unidirectional cylinder retracting device, and unidirectional cylinder retracting device connects unidirectional multistage hydraulic cylinder, length control device and electromagnetism
Valve is installed near unidirectional cylinder retracting device；Cylinder body anti-rotation stapling apparatus is arranged on the urceolus of unidirectional multistage hydraulic cylinder.
4. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described grab brick slideway platform part
Part include body transfer, do not turn, slideway transfer, hydraulic cylinder, linear axis bearing, slide bar, sensor, the time difference
Adjusting means, grab brick slideway platform, flow valve, magnetic valve.Body transfer be arranged on do not turn following, connect do not turn
With unidirectional multistage hydraulic cylinder；Between slideway transfer is arranged on and grabs brick slideway platform and do not turn, connect that not turn and grab brick sliding
Road platform；Linear axis bearing is arranged on slideway transfer, and slide bar is arranged in linear axis bearing, and slide bar is put down with grabbing brick slideway
Platform connects；The midline position at linear axis bearing two is provided with three sensors；It is arranged on the hydraulic cylinder on the right side of slideway transfer
Connecting and grabbing brick slideway platform, there is the time difference adjusting means junction；Grab brick slideway platform afterbody and two magnetic valves and a stream are installed
Amount valve.
5. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described mechanical arm turning member
Including reducing motor, robot axis, angle controller, sensor, grab brick hand balanced power device for roller.Reducing motor is solid
It is scheduled on and grabs on brick slideway platform, be connected with robot axis, be also connected with angle controller, sensor；Robot axis
Connect the slideway sleeve barrel on brick grasping machine mechanical arm parts；Grab brick hand balanced power device for roller to be arranged on and grab on brick slideway platform, connect machinery
Arm rotary shaft.
6. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described brick grasping machine mechanical arm parts
Including active hydraulic cylinder, brick grasping machine mechanical arm, transmission device, slideway sleeve barrel, length control device, sensor, sleeve.Actively
Hydraulic cylinder is connected with brick grasping machine mechanical arm, brick grasping machine mechanical arm branch sleeve；Transmission device is arranged on urceolus and the slideway of brick grasping machine mechanical arm
It on sleeve, is connected to length control device and sensor.
7. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described brick hand unit of grabbing includes
Grab brick support on hand, grab the subordinate support of brick, grab brick hand axle, grab brick hand bascule, hydraulic cylinder, hydraulic cylinder transmission device, on
Grab brick hook, under grab brick hook, induction installation, sensor, reversing switch, the time relay.Hydraulic cylinder is arranged on grabs brick and props up on hand
On frame, being connected to transmission device, transmission device connects grabs brick hook；Transmission device side is provided with reversing switch and time relay
Device, the bottom grabbing brick support on hand central authorities is provided with induction installation；Grabbing fixer cylinder pressure on the subordinate support of brick, hydraulic cylinder connects biography
Dynamic device, transmission device grabs brick hook under connecting；It is arranged on to grab and grabs brick hand bascule on brick hand axle, connected by two oil pipes
Grab brick hand balanced power device for roller.
8. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described cement laying machine mechanical arm turns to
Parts are identical with the assembly of brick grasping machine mechanical arm turning member, and attachment structure is identical, repeats no more.
9. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described cement laying machine mechanical arm parts
Identical with the assembly of brick grasping machine mechanical arm parts, and attachment structure is identical, repeats no more.
10. a kind of according to claims 1 builds aerated blocks brick robot, it is characterised in that: described paving ash hand unit bag
Include paving grey-hand, paving grey-hand's axle, paving grey-hand's bascule, sediment transport slurry inner tube, safety device, sealing orientation paving apparatus for ash, mortar
Induction controller, gear perps device kinetic pump, gear perps device, perps mortar baffle plate.Grey-hand is installed above safe dress for paving
Putting, having sealing orientation paving apparatus for ash below, two ends are provided with perps mortar baffle plate；Gear perps device is arranged on perps mortar baffle plate
On, perps mortar baffle plate connects gear perps device kinetic pump by pipeline；Mortar induction controller is arranged on the end of paving grey-hand；
Paving grey-hand's bascule connects paving grey-hand's axle, installs sediment transport slurry inner tube in paving grey-hand's axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510115251.9A CN106150109B (en) | 2015-03-16 | 2015-03-16 | A kind of block aerated blocks brick robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510115251.9A CN106150109B (en) | 2015-03-16 | 2015-03-16 | A kind of block aerated blocks brick robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106150109A true CN106150109A (en) | 2016-11-23 |
| CN106150109B CN106150109B (en) | 2018-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510115251.9A Expired - Fee Related CN106150109B (en) | 2015-03-16 | 2015-03-16 | A kind of block aerated blocks brick robot |
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| CN107806248A (en) * | 2017-11-29 | 2018-03-16 | 厦门理工学院 | A kind of wall-building robot equipment |
| CN109797975A (en) * | 2019-02-28 | 2019-05-24 | 广州云厦智能设备有限公司 | A kind of sizing device and its method for sizing |
| CN110259065A (en) * | 2019-06-04 | 2019-09-20 | 广东博智林机器人有限公司 | Patch block equipment and its patch block method |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| CN111287475A (en) * | 2020-02-13 | 2020-06-16 | 广东博智林机器人有限公司 | Plastering device, plastering robot and masonry equipment |
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| 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 |
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| CN109797975B (en) * | 2019-02-28 | 2024-02-13 | 广州云厦智能设备有限公司 | Sizing device and sizing method thereof |
| CN109797975A (en) * | 2019-02-28 | 2019-05-24 | 广州云厦智能设备有限公司 | A kind of sizing device and its method for sizing |
| CN111910936B (en) * | 2019-05-08 | 2022-05-03 | 厦门华蔚物联网科技有限公司 | Double-arm wall building robot and wall building method thereof |
| CN111910936A (en) * | 2019-05-08 | 2020-11-10 | 厦门华蔚物联网科技有限公司 | Double-arm wall building robot and wall building method thereof |
| CN111910937A (en) * | 2019-05-08 | 2020-11-10 | 厦门华蔚物联网科技有限公司 | Wall building robot with telescopic arm and wall building method thereof |
| CN110259065A (en) * | 2019-06-04 | 2019-09-20 | 广东博智林机器人有限公司 | Patch block equipment and its patch block method |
| CN112324168A (en) * | 2019-08-05 | 2021-02-05 | 厦门华蔚物联网科技有限公司 | Wall building method and system based on cooperative plastering and brick building |
| CN112324168B (en) * | 2019-08-05 | 2022-06-14 | 厦门华蔚物联网科技有限公司 | Wall building method and system based on cooperative plastering and brick building |
| CN111287475A (en) * | 2020-02-13 | 2020-06-16 | 广东博智林机器人有限公司 | Plastering device, plastering robot and masonry equipment |
| CN111364783A (en) * | 2020-03-23 | 2020-07-03 | 广东博智林机器人有限公司 | Guide rail walking robot and brick laying system |
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