CN107806248A - A kind of wall-building robot equipment - Google Patents
A kind of wall-building robot equipment Download PDFInfo
- Publication number
- CN107806248A CN107806248A CN201711223196.0A CN201711223196A CN107806248A CN 107806248 A CN107806248 A CN 107806248A CN 201711223196 A CN201711223196 A CN 201711223196A CN 107806248 A CN107806248 A CN 107806248A
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- China
- Prior art keywords
- unit
- wall
- brick
- fragment
- shotcrete pipe
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/91—Use of waste materials as fillers for mortars or concrete
Abstract
The invention discloses a kind of wall-building robot equipment, including feed mechanism, the mechanism that whitewashes and the mechanism that lays bricks.The feed mechanism includes conveying machine, conveyor unit, fragment of brick jig.The whitewashing mechanism includes slurry container, shotcrete pipe and whitewashing control unit.The mechanism that lays bricks includes handgrip unit, the first rotary unit, horizontal displacement unit, lifting unit, the second rotary unit and board of building a wall.The present invention integrate feed mechanism, the mechanism that whitewashes and the mechanism that lays bricks, the overall process for automatically completing feeding, whitewashing and laying bricks, and greatly reduces artificial participation, especially weighs the process participation of muscle power.
Description
Technical field
The present invention relates to a kind of wall building equipment, more particularly to a kind of wall-building robot equipment.
Background technology
Today's society, industrial building industry automation service condition develop rapidly, in the development for work of building a wall or mostly
Rest in manual work, construction environment is not fully up to expectations.Forefathers have designed several moneys automation wall-building robots, but due to
The each side factors such as mechanical complexity, manufacturing cost height, fail to put into operation in practical work extensively.It is also, existing to build a wall
Robot lacks the offer of mortar, can not accomplish that starching is integrated with laying bricks, it is necessary to artificial starching.It is comprehensively intelligent in industrial requirement
Under the social desirability of automation, in the invention of novel automatic wall-building robot and coming into operation.
The content of the invention
It is an object of the invention to overcome machinery complexity, manufacturing cost height in the prior art, starching can not be accomplished with laying bricks
A kind of the shortcomings that integrated, there is provided wall-building robot equipment.
In order to solve the above technical problems, present invention employs following technical measures：
A kind of wall-building robot equipment, including feed mechanism, the mechanism that whitewashes and the mechanism that lays bricks.
The feed mechanism includes conveying machine, conveyor unit and fragment of brick jig；The conveyor unit with
And the fragment of brick jig may be contained within the conveying machine, and the fragment of brick jig and the conveyor unit
Output end is mutually connected.
The whitewashing mechanism includes slurry container, shotcrete pipe and whitewashing control unit, and the whitewashing control unit includes
Hush panel and the first cylinder；The shotcrete pipe is connected with the slurry container bottom, and rotates and connect with the slurry container
Connect；First cylinder is used to drive the shotcrete pipe to horizontally rotate so that the shotcrete pipe coordinates with reality with the hush panel
The sealing of the existing shotcrete pipe, and the shotcrete pipe is separated with the hush panel, to realize that the shotcrete pipe is pointed to
Fragment of brick in the fragment of brick jig carries out mud and poured.
The mechanism that lays bricks includes handgrip unit, the first rotary unit, horizontal displacement unit, lifting unit, the second rotation
Unit and board of building a wall；The handgrip unit is used to capture fragment of brick, and the handgrip unit from the fragment of brick jig
The end that horizontally rotates of first rotary unit is arranged at, first rotary unit is arranged at the water of the horizontal displacement unit
Moved end is translated, the horizontal displacement unit is arranged at the vertical lifting end of the lifting unit；The lifting unit is arranged at institute
The end that horizontally rotates of the second rotary unit is stated, second rotary unit is arranged at described build a wall on board.
The present invention can also be further perfect by following technical measures：
As a further improvement, it is L to define the mouth of pipe of the shotcrete pipe to the distance of the center of rotation of the shotcrete pipe, institute
It is first side that hush panel, which is stated, close to the vertical side of the fragment of brick jig side, and the hush panel is determined away from the fragment of brick
The vertical side of position mould side is second side, wherein, the distance of the first side to the center of rotation of the shotcrete pipe
For 0.9L, the distance of the second side to the center of rotation of the shotcrete pipe is 1.1L.
As a further improvement, the curved shape in the first side to the second side, the corresponding circle of the arc shape
Radius is 0.9~1.1L.
As a further improvement, a vertical bar is fixed with the shotcrete pipe；Described first cylinder one end and the slurry
The outer wall of material container is hinged, and one end is hinged with the vertical bar；And the be hinged rotation direction of first cylinder is horizontal direction.
As a further improvement, the whitewashing mechanism also includes open-topped position-limited box, the position-limited box is fixedly connected
The limiting through hole passed for the shotcrete pipe is offered in the bottom of the slurry container, and in the side wall of the position-limited box, and
The limiting through hole is available for the shotcrete pipe to horizontally rotate.
As a further improvement, the fragment of brick jig includes tip chute and detent, the tip chute
Top be mutually connected with the conveyer belt, the detent is arranged at the tip chute bottom, and the tip chute
Groove width is gradually reduced along direction down is tilted；The detent is rectangle shape, and the broadside of the detent with
The tip chute is mutually connected.
As a further improvement, a width of H, a length of K of fragment of brick of fragment of brick are defined, wherein, the tip chute is close to described
The groove width of detent one end is 1~1.1H, a width of 1~1.05H of the detent, the detent a length of 1~
1.05K。
As a further improvement, the conveyor unit includes motor, conveyer belt and multiple Rotational Cylindricals；Multiple institutes
State Rotational Cylindrical to be set in parallel on the conveying machine, and the distance between adjacent described Rotational Cylindrical is 0.5~3cm；The drive
Dynamic motor is used to drive the Rotational Cylindrical, and the conveyer belt coordinates with multiple Rotational Cylindrical transmission.
As a further improvement, the Rotational Cylindrical includes post body and the axis of rolling with post body rotation connection,
The Rotational Cylindrical is fixedly connected by the axis of rolling with the conveying machine.
As a further improvement, the handgrip unit includes crawl fixed seat, rotor plate and the second cylinder, the crawl
Fixed seat bottom forms placement groove by the first side wall plate, top panel and second sidewall plate；The rotor plate is put positioned at described
Put in groove, and the top of the rotor plate is rotatablely connected with the top panel, described second cylinder one end and second side
Wallboard is hinged, and the other end and the rotor plate of second cylinder are hinged.
Compared with prior art, the present invention has advantages below：
1st, the present invention integrate feed mechanism, the mechanism that whitewashes and the mechanism that lays bricks, automatically complete feeding, whitewashing and block
The overall process of brick, artificial participation is greatly reduced, the process for especially weighing muscle power participates in.
2nd, the end of feed mechanism of the invention is provided with fragment of brick jig so that whitewashing mechanism can be carried out accurately to it
Whitewashing, material saving cost.The handgrip unit for the mechanism that lays bricks can be clamped quickly, save time cost.
3rd, whitewashing control unit of the invention includes hush panel and the first cylinder, and the first cylinder is used to drive the whitewashing
Pipe horizontally rotates, so as to control shotcrete pipe and the hush panel fitted seal after whitewashing, when needing whitewashing, and control spray
Slurry pipe flat turn is moved, and the fragment of brick in fragment of brick jig is uniformly whitewashed.
4th, the mechanism that lays bricks of the invention includes handgrip unit, the first rotary unit, horizontal displacement unit, lifting unit, the
Two rotary units, the mechanism that makes to lay bricks, which possesses, four frees degree, and mechanical flexibility is highly reliable.It can complete to take brick, pendulum brick automatically
And the automation being compacted is built a wall operation.
Brief description of the drawings
Fig. 1 is a kind of structural representation of wall-building robot equipment of the embodiment of the present invention；
Fig. 2 is the structural representation of Fig. 1 feed mechanism；
Fig. 3 is Fig. 2 A1 close-up schematic views；
Fig. 4 is the structural representation of Fig. 1 whitewashing mechanism；
Fig. 5 is the structural representation of Fig. 4 whitewashing mechanism；
Fig. 6 is the structural representation of Fig. 1 mechanism that lays bricks.
Fig. 7 is the structural representation of Fig. 6 handgrip unit.
Main element symbol description
Feed mechanism 100, conveying machine 110, conveyor unit 120, motor 121, conveyer belt 122, Rotational Cylindrical
123rd, fragment of brick jig 130, tip chute 131, detent 132；
Whitewashing mechanism 200, slurry container 210, shotcrete pipe 220, whitewashing control unit 230, hush panel 231, the first cylinder
232nd, fixed plate 233, vertical bar 240, position-limited box 250, limiting through hole 251,
The mechanism that lays bricks 300, handgrip unit 310, crawl fixed seat 311, the first side wall plate 3111, top panel 3112, second
Sidewall paneling 3113, rotor plate 312, the second cylinder 313, the first rotary unit 320, horizontal displacement unit 330, lifting unit 340,
Second rotary unit 350, board 360 of building a wall.
Embodiment
To make the purpose, technical scheme and advantage of embodiment of the present invention clearer, implement below in conjunction with the present invention
Accompanying drawing in mode, the technical scheme in embodiment of the present invention is clearly and completely described, it is clear that described reality
The mode of applying is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.Therefore, below the detailed description of the embodiments of the present invention to providing in the accompanying drawings be not intended to limit will
The scope of the present invention of protection is sought, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belong to this
Invent the scope of protection.
In the description of the invention, it is to be understood that the orientation or position relationship of the instruction such as term " on ", " under " are base
In orientation shown in the drawings or position relationship, description description of the invention and simplified, rather than instruction or hint are for only for ease of
Signified equipment or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The limitation of invention.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
It refer to Fig. 1, a kind of wall-building robot equipment, including feed mechanism 100, whitewashing mechanism 200 and the mechanism that lays bricks
300.Integrate feed mechanism 100, whitewashing mechanism 200 and the mechanism 300 that lays bricks, automatically complete feeding, whitewash and lay bricks
Overall process, greatly reduce artificial participation, the process for especially weighing muscle power participates in.
Fig. 2 and Fig. 2 are refer to, the feed mechanism 100 is determined including conveying machine 110, conveyor unit 120 and fragment of brick
Position mould 130；The conveyor unit 120 and the fragment of brick jig 130 may be contained within the conveying machine 110,
And the fragment of brick jig 130 is mutually connected with the output end of the conveyor unit 120.
Fig. 4 and Fig. 5 are refer to, it is single that the whitewashing mechanism 200 includes slurry container 210, shotcrete pipe 220 and whitewashing control
Member 230, the whitewashing control unit 230 include the cylinder 232 of hush panel 231 and first；The shotcrete pipe 220 and the slurry
The bottom of container 210 is connected, and is rotatablely connected with the slurry container 210；First cylinder 232 is used to drive the whitewashing
Pipe 220 horizontally rotates so that and the shotcrete pipe 220 coordinates to realize the sealing of the shotcrete pipe 220 with the hush panel 231,
And the shotcrete pipe 220 is separated with the hush panel 231, determined with realizing that the shotcrete pipe 220 is pointed to the fragment of brick
Fragment of brick in position mould 130 carries out mud and poured.
It refer to Fig. 1, in the present embodiment, the hush panel 231 is consolidated by the outer wall of fixed plate 233 and slurry container 210
Fixed connection, so as to be fixedly installed on above the side of the fragment of brick jig 130.The whitewashing control unit 230 of the present invention includes
The cylinder 232 of hush panel 231 and first, the first cylinder 232 is used to drive the shotcrete pipe 220 to horizontally rotate, so as to whitewash
After control shotcrete pipe 220 and the fitted seal of hush panel 231, when needing whitewashing, the control flat turn of shotcrete pipe 220 is moved,
Fragment of brick in fragment of brick jig 130 is uniformly whitewashed.
Fig. 6 is refer to, the mechanism 300 that lays bricks includes handgrip unit 310, the first rotary unit 320, horizontal displacement unit
330th, lifting unit 340, the second rotary unit 350 and board 360 of building a wall；The handgrip unit 310 is used to capture fragment of brick, and
The handgrip unit 310 is arranged at the end that horizontally rotates of first rotary unit 320, and first rotary unit 320 is set
In the end that moves horizontally of the horizontal displacement unit 330, the horizontal displacement unit 330 is arranged at the lifting unit 340
Vertical lifting end；The lifting unit 340 is arranged at the end that horizontally rotates of second rotary unit 350, second rotation
Unit 350 is arranged at described build a wall on board 360.The mechanism 300 that makes to lay bricks possesses and has four frees degree, mechanical flexibility, reliability
By force.It can complete to take brick, pendulum brick and the automation that is compacted to build a wall operation automatically.
The end of the feed mechanism 100 of the present invention is provided with fragment of brick jig 130 so that whitewashing mechanism 200 can be to it
Accurately whitewashed, material saving cost.The handgrip unit 310 of the mechanism that lays bricks 300 can be clamped quickly, save the time into
This.
In order to prevent, because vibration, mud condense in 231 first-class reason of hush panel, causing shotcrete pipe 220 and hush panel 231
Can not fitted seal again.Fig. 4 is refer to, therefore is further optimized, defines the mouth of pipe of the shotcrete pipe 220 to the shotcrete pipe
The distance of 220 center of rotation is L, and the hush panel 231 is the close to the vertical side of the side of fragment of brick jig 130
One side, vertical side of the hush panel 231 away from the side of fragment of brick jig 130 is second side.Wherein, it is described
First side to the distance of the center of rotation of the shotcrete pipe 220 is 0.9L, and the second side to the shotcrete pipe 220 turns
The distance at dynamic center is 1.1L.Utilize the range difference of two sides so that the first cylinder 232 driving shotcrete pipe 220 progressively with sealing
Plate 231 combines, and the external cause such as has vibrated in time, it is also ensured that shotcrete pipe 220 being capable of fitted seal with hush panel 231.
Further, in the present embodiment, the curved shape in the first side to the second side, the arc shape pair
The radius that should justify is 0.9~1.1L.The pipe of shotcrete pipe 220 can be made for the hush panel 231 of 0.9~1.1L arc shapes using radius
Mouth both sides are in close contact with hush panel 231, strengthen sealing, mortar leakage prevention.
Further, the mouth of pipe of shotcrete pipe 220 uses the arc shape structure being adapted with arc shape hush panel 231.
It is a variety of to realize that method of first cylinder 232 for driving the shotcrete pipe 220 to horizontally rotate has.In the present embodiment
In, a vertical bar 240 is fixed with the shotcrete pipe 220；Described one end of first cylinder 232 and the slurry container 210
Outer wall is hinged, and one end is be hinged with the vertical bar 240；And the be hinged rotation direction of first cylinder 232 is horizontal direction.By
It is hinged in described one end of first cylinder 232 and the outer wall of the slurry container 210, so as to realize stable horizontal drive shotcrete pipe
220 rotate, and are not influenceed by external force, movement.
Fig. 5 is refer to, in the present embodiment, the whitewashing mechanism 200 also includes open-topped position-limited box 250, described
Position-limited box 250 is fixedly connected on the bottom of the slurry container 210, and is offered in the side wall of the position-limited box 250 described in confession
The limiting through hole 251 that shotcrete pipe 220 passes, and the limiting through hole 251 is available for the shotcrete pipe 220 to horizontally rotate.This is spacing
Box 250, which has not only acted as, protects the rotary part of shotcrete pipe 220 not influenceed by impurity, also acts spacing in horizontal direction
Effect, so as to play a part of auxiliary stopper to the first cylinder 232, it is often more important that, the bottom plate of the position-limited box 250 can play
The effect of the gravity of shotcrete pipe 220 is born, mitigates shotcrete pipe 220 and the connection stress of slurry container 210, improves service life.
Fig. 2 is refer to, in the present embodiment, the fragment of brick jig 130 includes tip chute 131 and detent
132, the top of the tip chute 131 is connected with the phase of conveyer belt 122, and the detent 132 is arranged at the inclination
The bottom of chute 131, and the groove width of the tip chute 131 is gradually reduced along direction down is tilted；The detent 132 is in length
Square shape, and the broadside of the detent 132 is connected with the phase of tip chute 131.Fragment of brick is out of tip chute 131
Slip into, set by the groove width of tip chute 131, correct the direction of fragment of brick, and it is fallen into detent 132.
Further, a width of H of fragment of brick, a length of K of fragment of brick are defined, wherein, the tip chute 131 is close to the positioning
The groove width of the one end of groove 132 is 1~1.1H, a width of 1~1.05H of the detent 132, the length of the detent 132
For 1~1.05K.
Fig. 2 and Fig. 3 are refer to, in the present embodiment, the conveyor unit 120 includes motor 121, conveyer belt
122 and multiple Rotational Cylindricals 123；Multiple Rotational Cylindricals 123 are set in parallel on the conveying machine 110, and adjacent described
The distance between Rotational Cylindrical 123 is 0.5~3cm；The motor 121 is used to drive the Rotational Cylindrical 123, the conveyer belt
122 coordinate with multiple transmission of Rotational Cylindrical 123.
Further, the Rotational Cylindrical 123 includes post body and the axis of rolling with post body rotation connection, described
Rotational Cylindrical 123 is fixedly connected by the axis of rolling with the conveying machine 110, reduces frictional force.
Refer to Fig. 7, in the present embodiment, the handgrip unit 310 include crawl fixed seat 311, rotor plate 312 and
Second cylinder 313, the crawl bottom of fixed seat 311 is by the first side wall plate 3111, top panel 3112 and second sidewall plate
3113 form placement groove；The rotor plate 312 positioned at it is described placement groove in, and the top of the rotor plate 312 with it is described
Top panel 3112 is rotatablely connected, and described one end of second cylinder 313 is be hinged with the second sidewall plate 3113, second cylinder
313 other end is be hinged with the rotor plate 312.By the cooperation of rotor plate 312 and the first side wall plate 3111, fragment of brick is carried out
Crawl, increase contact surface area, increase friction.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God any modification, equivalent substitution and improvements done etc., should be included within the scope of protection of the invention with principle.
Claims (10)
1. a kind of wall-building robot equipment, it is characterised in that including feed mechanism, the mechanism that whitewashes and the mechanism that lays bricks；
The feed mechanism includes conveying machine, conveyor unit and fragment of brick jig；The conveyor unit and institute
Fragment of brick jig is stated to may be contained within the conveying machine, and the fragment of brick jig and the output of the conveyor unit
End is mutually connected；
The whitewashing mechanism includes slurry container, shotcrete pipe and whitewashing control unit, and the whitewashing control unit includes sealing
Plate and the first cylinder；The shotcrete pipe is connected with the slurry container bottom, and is rotatablely connected with the slurry container；Institute
State the first cylinder to be used to drive the shotcrete pipe to horizontally rotate so that the shotcrete pipe coordinates described to realize with the hush panel
The sealing of shotcrete pipe, and the shotcrete pipe is separated with the hush panel, to realize that the shotcrete pipe is pointed to the brick
Fragment of brick in block jig carries out mud and poured；
The mechanism that lays bricks includes handgrip unit, the first rotary unit, horizontal displacement unit, lifting unit, the second rotary unit
And board of building a wall；The handgrip unit is used to capture fragment of brick from the fragment of brick jig, and the handgrip unit is set
In the end that horizontally rotates of first rotary unit, first rotary unit is arranged at the horizontal shifting of the horizontal displacement unit
Moved end, the horizontal displacement unit are arranged at the vertical lifting end of the lifting unit；The lifting unit is arranged at described
Two rotary units horizontally rotate end, and second rotary unit is arranged at described build a wall on board.
2. wall-building robot equipment according to claim 1, it is characterised in that define the mouth of pipe of the shotcrete pipe to described
The distance of the center of rotation of shotcrete pipe is L, and the hush panel is first close to the vertical side of the fragment of brick jig side
Side, vertical side of the hush panel away from the fragment of brick jig side are second side, wherein, the first side
Distance to the center of rotation of the shotcrete pipe is 0.9L, and the second side to the distance of the center of rotation of the shotcrete pipe is
1.1L。
3. wall-building robot equipment according to claim 2, it is characterised in that the first side to the second side
Curved shape, the radius of the corresponding circle of the arc shape is 0.9~1.1L.
4. wall-building robot equipment according to claim 1, it is characterised in that it is vertical to be fixed with one on the shotcrete pipe
Bar；Described first cylinder one end and the outer wall of the slurry container are hinged, and one end is hinged with the vertical bar；And first gas
The be hinged rotation direction of cylinder is horizontal direction.
5. wall-building robot equipment according to claim 1, it is characterised in that the whitewashing mechanism also includes open top
Position-limited box, the position-limited box is fixedly connected on the bottom of the slurry container, and offers confession in the side wall of the position-limited box
The limiting through hole that the shotcrete pipe passes, and the limiting through hole is available for the shotcrete pipe to horizontally rotate.
6. wall-building robot equipment according to claim 1, it is characterised in that the fragment of brick jig, which includes tilting, to be slided
Groove and detent, the top of the tip chute are mutually connected with the conveyer belt, and the detent, which is arranged at, described to incline
Oblique chute bottom, and the groove width of the tip chute is gradually reduced along direction down is tilted；The detent is rectangle shape,
And the broadside of the detent is mutually connected with the tip chute.
7. wall-building robot equipment according to claim 6, it is characterised in that define a width of H of fragment of brick, fragment of brick it is a length of
K, wherein, groove width of the tip chute close to described detent one end is 1~1.1H, the detent a width of 1~
1.05H, a length of 1~1.05K of the detent.
8. wall-building robot equipment according to claim 1, it is characterised in that the conveyor unit includes driving electricity
Machine, conveyer belt and multiple Rotational Cylindricals；Multiple Rotational Cylindricals are set in parallel on the conveying machine, and the adjacent rotation
The distance between post is 0.5~3cm；The motor is used to drive the Rotational Cylindrical, the conveyer belt with multiple described turns
Dynamic post transmission coordinates.
9. wall-building robot equipment according to claim 1, it is characterised in that the Rotational Cylindrical include post body and with
The axis of rolling of the post body rotation connection, the Rotational Cylindrical are fixedly connected by the axis of rolling with the conveying machine.
10. wall-building robot equipment according to claim 1, it is characterised in that the handgrip unit, which includes crawl, to be fixed
Seat, rotor plate and the second cylinder, the crawl fixed seat bottom are made up of the first side wall plate, top panel and second sidewall plate
Place groove；The rotor plate is in the placement groove, and the top of the rotor plate is rotatablely connected with the top panel,
Described second cylinder one end is hinged with the second sidewall plate, and the other end and the rotor plate of second cylinder are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711223196.0A CN107806248B (en) | 2017-11-29 | 2017-11-29 | Wall building robot equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711223196.0A CN107806248B (en) | 2017-11-29 | 2017-11-29 | Wall building robot equipment |
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| CN107806248A true CN107806248A (en) | 2018-03-16 |
| CN107806248B CN107806248B (en) | 2023-05-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158978A (en) * | 2019-06-28 | 2019-08-23 | 杭州三丰装配式建筑科技有限公司 | A kind of system and wall building method of automatically building a wall |
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| CN205840368U (en) * | 2016-06-08 | 2016-12-28 | 同济大学 | A kind of High Precision Automatic brick-laying machine of self-travel type |
| CN105926907A (en) * | 2016-06-17 | 2016-09-07 | 佛山市联智新创科技有限公司 | Low-rise building outer wall paint spraying device |
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| CN107013026A (en) * | 2017-06-20 | 2017-08-04 | 徐秀娥 | A kind of intelligent stickers machine people of wall tile |
| CN107246155A (en) * | 2017-08-16 | 2017-10-13 | 厦门华蔚物联网科技有限公司 | A kind of bricklaying robot with scissor lift arrangement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158978A (en) * | 2019-06-28 | 2019-08-23 | 杭州三丰装配式建筑科技有限公司 | A kind of system and wall building method of automatically building a wall |
| 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 |
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