CN110094074A - A kind of building wall machine people's system - Google Patents
A kind of building wall machine people's system Download PDFInfo
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- CN110094074A CN110094074A CN201910483470.0A CN201910483470A CN110094074A CN 110094074 A CN110094074 A CN 110094074A CN 201910483470 A CN201910483470 A CN 201910483470A CN 110094074 A CN110094074 A CN 110094074A
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- building block
- translation
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- mortar
- laying head
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- 239000004570 mortar (masonry) Substances 0.000 claims abstract description 142
- 230000007246 mechanism Effects 0.000 claims abstract description 125
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 54
- 239000011449 brick Substances 0.000 claims abstract description 22
- 238000013519 translation Methods 0.000 claims description 93
- 230000033001 locomotion Effects 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 239000004576 sand Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 229920002472 Starch Polymers 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
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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
Abstract
The invention belongs to building machinery technical fields, disclose a kind of building wall machine people's system, including the gripper and vertical for brick device of building a wall；Gripper of building a wall includes mobile base, mechanical arm, masonry grasping mechanism and mortar laying mechanism；Vertical for brick device includes pedestal, building block hoisting mechanism is provided on pedestal, the two sides of building block hoisting mechanism are symmetrically arranged with building block holder, and the bottom of building block hoisting mechanism is connect with building block rotating mechanism；Side on pedestal close to building block hoisting mechanism is provided with building block holding support, and building block placement platform is provided at the top of building block holding support, building block positioning baffle is provided on building block placement platform and building block pulls and supports mechanism.Building block is sent to designated position for the gripper clamping that ensures to build a wall for brick device by vertical by the building wall machine people system；Gripper build a wall after having clamped building block, wall is built by the cooperation realization of mechanical arm and basic clamping unit, can effectively replace manually, improve efficiency of building a wall.
Description
Technical field
The invention belongs to building machinery technical fields, and in particular to a kind of building wall machine people's system.
Background technique
Construction industry is the pillar industries of the national economy, and with the development of building commercialization, is accelerated construction progress, and work is shortened
The journey period increases investment returns, it has also become builds the key link of commercialization.
Masonry structure is always a kind of big and wide structure type of China's amount, and it is various to be suitable for house, school, hospital etc.
Civil buildings.Currently, the wall in house mostly uses common brick or cement brick to build by certain mode of piling up using manual operation
At low efficiency of manually building a wall is at high cost, and large labor intensity, working environment are severe.
Therefore construction industry can replace the artificial robot for implementing masonry project operation there is an urgent need to a kind of.
Summary of the invention
In order to solve the problems, such as said one of the existing technology or multiple, the present invention provides a kind of wall-bonding machines
Device people's system.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of building wall machine people's system, including the gripper and vertical for brick device of building a wall；The gripper packet of building a wall
Mobile base, mechanical arm, masonry grasping mechanism and mortar laying mechanism, the mechanical arm is included to be installed in the mobile base,
The masonry grasping mechanism includes the grasping bracket with mechanical arm rotation connection, and the bottom of the grasping bracket is fixed with
Mounting plate is equipped with basic clamping unit on the mounting plate, and the basic clamping unit, which is connected with one, makes it around itself axis
The rotating mechanism of heart rotation；The mortar laying mechanism includes mortar bucket and mortar laying head, and the mortar bucket is set to described
In mobile base, the mortar laying head is set to the top position of the basic clamping unit, and the mortar bucket passes through conveying
Pipeline is connect with the mortar laying head；It is described it is vertical for brick device include pedestal, building block elevator is provided on the pedestal
Structure, the two sides of the building block hoisting mechanism are symmetrically arranged with the building block holder that can be gone up and down with the building block hoisting mechanism, institute
Stating the bottom of building block hoisting mechanism and one connect the building block hoisting mechanism around the rotating mechanism that its axle center rotates；It is described
Side on pedestal close to the building block hoisting mechanism is provided with building block holding support, sets at the top of the building block holding support
It is equipped with building block placement platform, building block positioning baffle is provided on the building block placement platform and building block pulls and supports mechanism.
Further, the basic clamping unit includes clamper pedestal and is set to clamper pedestal side
The bottom of first screw rod slide unit, the first screw rod slide unit is fixed on the mounting plate, the middle part setting of the first screw rod slide unit
There is sliding block, the sliding block is connect by the first screw rod with the output end for grasping motor；Top one end of the clamper pedestal is set
It is equipped with gear pedestal, the other end is provided with pinion stand, slide plate gear is provided on the gear pedestal, is set on the pinion stand
It is equipped with front end gear；Be provided at the axle center of the front end gear to slide plate gear direction extend central shaft rod, it is described in
Spacer sleeve is equipped with the first rail wheel and the second rail wheel on shaft, and first rail wheel passes through the first rack-plate and the cunning
Plate gear engagement connection, second rail wheel by the second rack-plate through first rail wheel and with the slide plate tooth
Wheel engagement connection, and first rack-plate and second rack-plate are located at the two sides of the slide plate gear；Described second
One end and sliding block clamping on rack-plate far from second rail wheel connect；The front end gear is upper in its axis
The two sides of line are symmetrically arranged with the first supporting rod and the second supporting rod, and the front end gear respectively with first supporting rod
It is slidably connected with second supporting rod；One end of first supporting rod is around second rail wheel and first rail
The connection of road slipping, the other end are fixed with first clamping plate；One end of second supporting rod and the second track slipping
Connection, the other end are fixed with second clamping plate；The bottom of the clamper pedestal is provided with clamper footing, the clamper
Footing is slidably connected with the sliding rail being installed on the mounting plate.
Further, the rotating mechanism includes the frame for electrical rotating machines being installed on the mounting plate, the electric rotating
Rotating electric machine is fixed in machine rack, the output end of the rotating electric machine passes through transmission mechanism and the basic clamping unit
The engagement connection of front end gear.
Further, being arranged side by side on the mounting plate has multiple basic clamping units.
It further, further include the parallel moving mechanism of each basic clamping unit translation of control, the parallel moving mechanism packet
It includes along the translation drive rod and translation gag lever post perpendicular to the basic clamping unit axis direction setting, the translation transmission
The both ends of bar are flexibly connected with the grasping bracket, and the both ends of the translation gag lever post are fixedly connected with the grasping bracket；Institute
It states translation drive rod and is connect by the second screw rod slide unit with the output end for the motor that is translatable, it is corresponding each on the translation drive rod
Pass through a translation connector at the position of the basic clamping unit respectively to connect with the basic clamping unit, and each
The translation connector is socketed with the translation gag lever post and connects, and each translation is located on the translation gag lever post and is connected
The two sides of fitting are respectively arranged with limit sleeve；All translation connectors are solid with the corresponding basic clamping unit
It is fixed to connect, there is one to be fixedly connected with the translation drive rod in all translation connectors, remaining is passed with the translation
Lever socket connects, and is provided with compressed spring between the two neighboring translation connector on the translation drive rod.
Further, the one end connecting on the mechanical arm with the masonry grasping mechanism is provided with grasping mechanism translation
Platform is provided with grasping mechanism translation slide bar, the grasping bracket and grasping mechanism translation on grasping mechanism translation platform
Sliding bar connection；Grasping mechanism translation control motor is additionally provided on the grasping mechanism translation platform, the grasping mechanism is flat
The output end of dynamic control motor is connect with the grasping bracket.
Further, it is provided with mortar laying head translation platform on the mounting plate, is set on the mortar laying head translation platform
It is equipped with mortar laying head translation slide bar, mortar laying head bracket, the mortar are arranged on the mortar laying head translation slide bar
Laying head bracket and the output end for controlling the mortar laying head translation motor that it is slided on mortar laying head translation slide bar
Connection, the mortar, which is laid on head bracket, is provided with lifting sliding rail, and the mortar laying head passes through L-type sliding block and the lifting
Sliding rail is slidably connected, and the L-type sliding block is connect with the output end of mortar laying head elevating control motor.
Further, the mortar laying head is also connected with the mortar for keeping it mobile to the basic clamping unit tail end
Laying head pulls and supports mechanism, the mortar laying head pull and support mechanism include be set on the mortar laying head bracket and with it is described
Mortar laying head is translatable the vertical mortar laying head longitudinal sliding motion slide unit of platform, sets on the mortar laying head longitudinal sliding motion slide unit
It is equipped with mortar laying head longitudinal direction slide bar, longitudinal direction is provided on the slide bar of mortar laying head longitudinal direction and pulls and supports sliding block, longitudinal drawing
It holds sliding block and controls the defeated of motor with the mortar laying head longitudinal sliding motion for being set to mortar laying head longitudinal sliding motion slide unit side
Outlet connection；The bottom of the lifting sliding rail and mortar laying head bracket articulated connection, the top back of the lifting sliding rail
Side from the mortar laying head pulls and supports sliding block with the longitudinal direction by connecting rod and connect.
Further, the two sides of the bottom of the mortar laying head are provided with mortar laying baffle.
Further, the building block hoisting mechanism includes the main control motor being set on the pedestal, the main control motor
Periphery be provided with promoted track upright bar pedestal；It is vertical that more promotion tracks are vertically arranged on the promotion track upright bar pedestal
Bar slidably connects building block in promotion track upright bar described in every group and puts wherein every two promotion track upright bars are one group
Box backboard sliding block is set, the side for promoting track upright bar is provided with building block on the building block holder backboard sliding block and puts
Box backboard is set, building block holder compartment of terrain is installed on the building block holder backboard；All promotion tracks are vertical
The top of bar is fixedly connected with track upright bar limit plate；Two central slide units are fixedly installed at the top of the main control motor
Track, top and the track upright bar limit plate rotation of two central slide unit tracks connect, two central slide units
Center is slidably connected on track and promotes slide unit, and the center is promoted and is provided with third screw rod, the third screw rod on slide unit
Between two central slide unit tracks, the bottom setting that the center promotes slide unit promotes sliding block, the promotion sliding block
It is slidably connected with two central slide unit tracks and is connect by the third screw rod with the output end of the main control motor,
The promotion sliding block is connect with the bottom of the building block holder backboard sliding block.
Further, the top of the central slide unit track is provided with limited block.
Further, the rotating mechanism includes the rotating base bearing being set on the pedestal, and the building block is promoted
Mechanism is set on the rotating base bearing；It is located at the outer of building block hoisting mechanism setting on the rotating base bearing
Along rotary teeth wheel disc is provided with, the rotary teeth wheel disc engages connection with the output end of rotating electric machine.
Further, it includes being set to the building block pull rod cunning of building block placement platform bottom surface that the building block, which pulls and supports mechanism,
Platform is provided with horizontal guide rail on the building block pull rod slide unit, pulling-rod frame pedestal sliding block is provided on the horizontal guide rail, described
Pulling-rod frame pedestal sliding block is connect by the 4th screw rod with the output end that pull rod controls motor；The top of the pulling-rod frame pedestal sliding block
Portion is provided with pulling-rod frame, and the side that the building block hoisting mechanism is located on the pulling-rod frame is provided with several L-type building blocks drawing
Bar.
Further, each L-type building block pull rod includes building block pull rod main body and building block pull rod baffle；The building block
One end of pull rod main body is fixedly connected with the pulling-rod frame, and the other end is connect with the building block pull rod panel hinge；The block
Hinged seat is provided at the top position in the middle part of block pull rod baffle, the building block pull rod baffle passes through the hinged seat and institute
State the articulated connection of building block pull rod main body；It is hinged with building block pull rod buffer unit in the middle part of the top surface of the building block pull rod main body, it is described
The top of the other end of building block pull rod buffer unit and the building block pull rod baffle is articulated and connected.
Further, it is corresponded on the building block holder and is provided with strip at the position of each L-type building block pull rod and opens
Mouthful.
Compared with prior art, technical solution provided by the invention has the advantages that or advantage:
Building wall machine people system provided by the present invention by it is vertical can be accurate by each piece of building block for brick device
Ground is sent to designated position, it is ensured that gripper of building a wall can be clamped smoothly, and the clamping time of building block is greatly saved；It builds a wall machinery
Pawl is after having clamped building block, and by the cooperation of mechanical arm and basic clamping unit, the wall that can not only carry out large space is built
It builds, additionally it is possible to the wall of the indoor confined space position close to wall top be built, the artificial heavy body of thorough liberation
Power improves efficiency of building a wall.
Referring to following description and accompanying drawings, only certain exemplary embodiments of this invention is disclosed in detail, specifies original of the invention
Reason can be in a manner of adopted.It should be understood that embodiments of the present invention are not so limited in range.Appended
In the range of the spirit and terms of claim, embodiments of the present invention include many changes, modifications and are equal.
It is described for a kind of embodiment and/or the feature that shows can be in a manner of same or similar at one or more
It uses in a number of other embodiments, is combined with the feature in other embodiment, or the spy in substitution other embodiment
Sign.
It should be emphasized that term "comprises/comprising" refers to the presence of feature, one integral piece, step or component when using herein, but
The presence or additional of one or more other features, one integral piece, step or component is not precluded.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of gripper of building a wall in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of masonry grasping mechanism in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of basic clamping unit in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of rotating mechanism and translation mechanism in the embodiment of the present invention.
Fig. 6 is the vertical structural schematic diagram for brick device in the embodiment of the present invention；
Fig. 7 is the structural schematic diagram that building block pulls and supports mechanism in the embodiment of the present invention
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, requirement is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below to protect
The scope of the present invention of shield, but it is merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field
Those of ordinary skill's every other embodiment obtained without creative efforts, belongs to guarantor of the present invention
The range of shield.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain item exists
It is defined in one attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present invention, it should be noted that indicating position or positional relationship is based on shown in attached drawings
The orientation or positional relationship invention product using when the orientation or positional relationship usually put or this field
Orientation or positional relationship that technical staff usually understands or the invention product using when the orientation or position usually put
Relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term
" first ", " second " are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the embodiment of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term
" setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be and be directly connected to, can also be indirectly connected with by intermediary.For the ordinary skill in the art, may be used
The attached drawing in the concrete meaning type embodiment of above-mentioned term in the present invention is understood with concrete condition, in the embodiment of the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.The component of embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings can be with a variety of different
Configuration is to arrange and design.
As shown in Fig. 1~7, the embodiment of the invention provides a kind of building wall machine people's systems, including gripper of building a wall
With vertical for brick device 500；The gripper of building a wall includes mobile base 100, mechanical arm 200,300 and of masonry grasping mechanism
Mortar lays mechanism, and mechanical arm 200 is installed in mobile base 100, and masonry grasping mechanism 300 includes rotating with mechanical arm 200
The bottom of the grasping bracket 301 of connection, grasping bracket 301 is fixed with mounting plate 302, and basic clamping is equipped on mounting plate 302
Unit, the basic clamping unit are connected with the rotating mechanism for rotating it around Pivot Point Center；The mortar lays mechanism
Including mortar bucket 401 and mortar laying head 403, mortar bucket 401 is set in mobile base 100, and mortar laying head 403 is arranged
In the top position of the basic clamping unit, mortar bucket 401 is connect by conveyance conduit 402 with mortar laying head 403；Institute
Stating vertical for brick device includes pedestal 501, building block hoisting mechanism is provided on pedestal 501, the two sides of the hoisting mechanism are symmetrical
Be provided with can with the building block hoisting mechanism go up and down building block holder 502, the bottom of the building block hoisting mechanism with one
The building block rotating mechanism connection for rotating the building block hoisting mechanism around its axle center；Close to the building block hoisting mechanism on pedestal 1
Side be provided with building block holding support 503, the top of building block holding support 503 is provided with building block placement platform 504, building block
It is provided with building block positioning baffle 505 on placement platform 504 and building block pulls and supports mechanism.
Wherein, the basic clamping unit in the embodiment of the present invention includes clamper pedestal 303 and is set to clamper
First screw rod slide unit 304 of 303 side of pedestal, 304 bottom of the first screw rod slide unit are consolidated on mounting plate 302, and the first screw rod is sliding
The middle part of platform 304 is provided with sliding block 305, and sliding block 305 is connect by the first screw rod 306 with the output end for grasping motor 307；Folder
Top one end of holder pedestal 303 is provided with gear pedestal 308, and the other end is provided with pinion stand 309, sets on gear pedestal 308
It is equipped with slide plate gear 310, front end gear 311 is provided on pinion stand 309；It is provided at the axle center of front end gear 311 to slide plate
The central shaft rod 312 that 310 direction of gear extends, spacer sleeve is equipped with the first rail wheel 313 and the second rail wheel in central shaft rod 312
314, the first rail wheel 313 engages connection with slide plate gear 310 by the first rack-plate 315, and the second rail wheel 314 passes through the
Two rack-plates 316 are through the first rail wheel 313 and connection, and the first rack-plate 315 and the second tooth are engaged with slide plate gear 310
Batten 316 is located at the two sides of slide plate gear 310；One end and sliding block 305 on second rack-plate 316 far from the second rail wheel 314
Clamping connection；The two sides that axis is located therein on front end gear 311 are symmetrically arranged with the first supporting rod 317 and the second supporting rod
318, and front end gear 311 is slidably connected with the first supporting rod 317 and the second supporting rod 318 simultaneously；First supporting rod 317
One end is slidably connected around the second rail wheel 314 with the first rail wheel 313, and the other end is fixed with first clamping plate 319；Second
One end of supporting rod 318 is slidably connected with the second rail wheel 314, and the other end is fixed with second clamping plate 320；Clamper pedestal
303 bottom is provided with clamper footing 321, and clamper footing 321 connects with the sliding of sliding rail 322 being installed on mounting plate 302
It connects.
The rotating mechanism in the embodiment of the present invention includes the frame for electrical rotating machines 323 being installed on mounting plate 302,
It is fixed with rotating electric machine 324 on frame for electrical rotating machines 323, the output end of rotating electric machine 324 passes through transmission mechanism and described basic
The front end gear 311 of clamping unit engages connection.
In the specific implementation process, on the mounting plate 302 in the embodiment of the present invention can only setting one it is described basic
Multiple basic clamping units also can be set in clamping unit, when multiple basic clamping units are arranged, the present invention
Embodiment further includes the parallel moving mechanism of each basic clamping unit translation of control, the parallel moving mechanism include along perpendicular to
The translation drive rod 325 and translation gag lever post 326 of the basic clamping unit axis direction setting, the two of translation drive rod 325
End is flexibly connected with grasping bracket 301, and the both ends for the gag lever post 325 that is translatable are fixedly connected with grasping bracket 301；Be translatable drive rod
326 are connect by the second screw rod slide unit 327 with the output end for the motor 328 that is translatable, corresponding each described on the drive rod 325 that is translatable
Pass through a translation connector 329 respectively at the position of basic clamping unit to connect with the basic clamping unit, and each
The connector 329 that is translatable is connected with the translation socket of gag lever post 326, is located at each translation connector 329 on the gag lever post 326 that is translatable
Two sides be respectively arranged with limit sleeve 330；All translation connectors 329 are fixed with the corresponding basic clamping unit
It connecting, a most marginal translation connector 329 is fixedly connected with translation drive rod 325 in all translation connectors 329,
The Yu Junyu translation socket of drive rod 325 connects, and is provided with pressure between two neighboring translation connector 329 on the drive rod 325 that is translatable
Contracting spring 331.
In the specific implementation process, the building block hoisting mechanism in the embodiment of the present invention includes being set to pedestal 501
On main control motor 506, the periphery of main control motor 506 be provided with promoted track upright bar pedestal 507；Promote track upright bar pedestal
More promotion track upright bars 508 are vertically arranged on 507, wherein every two promotion tracks upright bar 508 is one group, every group of promotion
Building block holder backboard sliding block 509 is slidably connected in track upright bar 508, is deviated from building block holder backboard sliding block 509 and is mentioned
The side of rail lift road upright bar 508 is provided with building block holder backboard 510, and 502 compartment of terrain of building block holder is installed in building block placement
On box backboard 510；The top of all promotion track upright bars 508 is fixedly connected with track upright bar limit plate 511；Master control electricity
The top of machine 506 is fixedly installed two central slide unit tracks 512, and the top of two central slide unit tracks 512 is stood with track
The rotation of bar limit plate 511 connects, and slidably connects center on two central slide unit tracks 512 and promotes slide unit 513, center promotion
Screw rod 514 is provided on slide unit 513, screw rod 514 is located between two central slide unit tracks 512, and center promotes slide unit 513
Bottom setting promotes sliding block 515, promoted sliding block 515 be slidably connected with two central slide unit tracks 512 and by screw rod 514 and
The output end of main control motor 506 connects, and promotes sliding block 515 and connect with the bottom of building block holder backboard sliding block 509.
The building block rotating mechanism in the embodiment of the present invention includes the rotating base bearing being set on pedestal 501
516, the building block hoisting mechanism is set on rotating base bearing 516；It is located at the building block on rotating base bearing 516 to mention
The outer for rising mechanism setting is provided with rotary teeth wheel disc 517, and rotary teeth wheel disc 517 engages company with the output end of rotating electric machine 518
It connects.
It includes being set to the building block of 504 bottom surface of building block placement platform that the building block in the embodiment of the present invention, which pulls and supports mechanism,
Pull rod slide unit 519 is provided with horizontal guide rail 520 on building block pull rod slide unit 519, pulling-rod frame pedestal is provided on horizontal guide rail 520
Sliding block 521, pulling-rod frame pedestal sliding block 521 are connect by the 4th screw rod 522 with the output end that pull rod controls motor 523；Pulling-rod frame
The top of pedestal sliding block 521 is provided with pulling-rod frame 524, is provided on pulling-rod frame 524 positioned at the side of the hoisting mechanism several
A L-type building block pull rod.
It corresponds on building block holder 502 in the embodiment of the present invention and is provided at the position of each L-type building block pull rod
Shaped opening.
It should be noted that the mechanical arm 200 in the embodiment of the present invention can use existing six shaft mechanicals arm, it can also
To use other mechanical arms, it is not limited here.The transmission mechanism in the embodiment of the present invention is using existing biography
Motivation structure, such as gear drive, naturally it is also possible to use other existing transmission mechanisms, it is not limited here.In addition,
Conveyance conduit 402 in the embodiment of the present invention is spliced by several hard tubes and several hoses, and hose is mainly set to mechanical arm
200 moving position, the mortar in mortar bucket 401 are delivered to mortar laying head 403 from conveyance conduit 402 by delivery pump.
The basic functional principle of above-mentioned building wall machine people's system provided in an embodiment of the present invention is as follows, for the ease of
Understand, the embodiment of the present invention is with the building wall machine people for being provided with three basic clamping units on gripper of building a wall
It is described in detail for system:
Firstly, described vertical on the running route and running route of gripper of building a wall according to the determination of the position of wall
Formula while carrying out building block and the preparation of mortar for the relevant position of brick device.
In the specific implementation process, the mobile base 100 in the embodiment of the present invention uses the mobile base of rail mounted
100 (mobile bases 100 that can also use other forms), are laid with two for mobile base 100 according to the position of wall in advance
Then the mobile base 100 of the gripper of building a wall is installed on the track by mobile track, then separate in track
The side of body to be built a wall is arranged that several are vertical for brick device 500 on the way, each vertical for brick device 500 and the wall-building machine
It is positioned between machinery claw by positioning device (such as infrared positioning apparatus, laser locating apparatus).
Building block and the preparation of mortar are then the modulo relationships of the length according to wall length and single building block, and wall is built
The building block for building needs is divided into whole long building block and non-whole long building block and fulfils processing ahead of schedule before masonry, mortar pony mixer
Mixing is sent into mortar bucket 401 after mixing is good.
Then start masonry panel, before clamping building block, the gripper of building a wall first is moved along wall axis direction,
Mortar laying mechanism is controlled simultaneously lays lateral mortar on the way.
During laying lateral mortar, in order not to stay dead angle, in a further embodiment, the present invention is implemented
Example is additionally provided with mortar laying head translation platform 332 on mounting plate 302, is provided with mortar on mortar laying head translation platform 332 and applies
If head translation slide bar 333, mortar laying head bracket 334, mortar laying head branch are arranged on mortar laying head translation slide bar 333
Frame 334 and the output end for controlling the mortar laying head translation motor 335 that it is slided on mortar laying head translation slide bar 333 connect
It connects, is provided with lifting sliding rail 336 on mortar laying head bracket 334, mortar laying head 403 is slided by L-type sliding block 337 and lifting
Rail 336 is slidably connected, and L type sliding block 337 is connect with the output end of mortar laying head elevating control motor 338.By the way that mortar is arranged
Laying head is translatable platform 332, enables the transverse shifting in the horizontal direction of mortar laying head 403, it is ensured that mortar can not laid
Existing dead angle can adjust mortar laying head 403 at a distance from wall vertical direction by the way that lifting sliding rail 336 is arranged, it is ensured that
Mortar does not splash, and avoids wasting.
After the completion of lateral mortar laying, the clamping of building block is carried out, the basic principle of building block clamping is as follows:
(determined by positioning device firstly, the gripper of building a wall is moved to designated position by mobile base 100
Position), then rotating mechanical arm 200, make first clamping plate 319 and second clamping plate 320 in the basic clamping unit come building block
Two sides, then in the basic clamping unit grasping motor 307 with movable slider 305 to grasping motor 307 direction move
Dynamic, sliding block 305 drives the movement of the second rack-plate 316, and under the action of slide plate gear 310, the first rack-plate 315 is grabbed to separate
The direction movement of motor 307 is held, the first rack-plate 315 and the second rack-plate 316 drive the first rail wheel 313 and second respectively
Rail wheel 314 moves toward one another, and the first rail wheel 313 and the second rail wheel 314 then drive the first supporting rod 317 and the second clamping
Bar 318 moves toward one another, the first clamping plate 319 and second clamping plate of its end of the first supporting rod 317 and the drive of the second supporting rod 318
320 move toward one another, and realize the clamping to building block.
During clamping building block, the vertical basic functional principle for brick device 500 is as follows:
Worker will put building block well in building block holder 502；Then rotating electric machine 518 drives rotary teeth wheel disc 517 to rotate,
Rotary teeth wheel disc 517 drives the hoisting mechanism to rotate, when in the middle line and building block positioning baffle 505 of building block holder 502
It stops operating when line is generally aligned in the same plane；Then pull rod control motor 523 controls pulling-rod frame pedestal sliding block 521 to far from described
The direction of hoisting mechanism is mobile, and the pulling-rod frame 524 on pulling-rod frame pedestal sliding block 521 drives the L-type building block pull rod mobile, institute
L-type building block pull rod is stated to drive building block mobile to building block placement platform 504 and eventually arrive at building block positioning baffle 505, first piece
Building block finishes in place, waits automatic wall building machine crawl.Then, it is anti-to control pulling-rod frame pedestal sliding block 521 for pull rod control motor 523
To movement, so that the L-type building block pull rod resets.Then the control of main control motor 506 promotes sliding block 515 and moves upwards, and is promoted
The building block holder backboard 510 and building block holder that sliding block 515 drives building block holder backboard sliding block 509 and is arranged on
502 are lifted up, and described shaped opening of first building block holder 502 passes through the L-type building block pull rod, until second
Building block holder 502 reaches the home position of first building block holder 502, repeats first building block and is sent to building block positioning
The mechanical action of baffle 505 so repeats, until all building blocks in the side are sent to positioning baffle.In the side building block holder
During 502 are promoted, building block supplement is carried out to the empty building block holder 502 in left side.When in the side building block holder 502
Building block exhaust after, control main control motor 506, make center promoted slide unit 513 promotion sliding block 515 decline and reset,
Then hoisting mechanism rotation is controlled by rotating electric machine 518, make the middle line of the building block holder 502 of the other side with
The middle line of building block positioning baffle 505 is generally aligned in the same plane, and is repeated above-mentioned movement, is realized the without interruption of building block.
In the specific implementation process, it should be noted that promote sliding block 515 in the embodiment of the present invention and building block is placed
The mode of the bottom connection of box backboard sliding block 509 can be contact connectio up and down, i.e. the top of promotion sliding block 515 is located at building block
On the downside of the bottom of holder backboard sliding block 509, it is attached by way of contacting up and down.It can also be using other connections
Mode, it is not limited here.
In the specific implementation process, it is contacted up and down when promotion sliding block 515 is used with building block holder backboard sliding block 509
When connection, in order to guarantee to promote the upper and lower relation of sliding block 515 and building block holder backboard sliding block 509, it is ensured that building block holder back
Plate sliding block 509 is smoothly promoted, and the lower part of central slide unit track 512 is provided with limited block 525 in present invention implementation.
Herein it should be noted that promotion sliding block 515 can be only and close to building block holding support in the embodiment of the present invention
503 building block holder backboard sliding block 509 connects, as shown in fig. 6, in this way in the building block close to building block holding support 503
509 upward sliding of holder backboard sliding block when carrying out building block transport, deviates from the not upward sliding of building block holding support 503, convenient
Worker carries out supplement building block.
In the specific implementation process, it in order to guarantee the structural stability of central slide unit track 512, is limited in track upright bar
Position plate 511 and center are promoted and are provided with track fastening 526 between slide unit 513.
In the specific implementation process, in order to ensure building block and building block positioning baffle are in close contact, further implementing
In mode, each L-type building block pull rod includes building block pull rod main body 527 and building block pull rod baffle in the embodiment of the present invention
528；One end of building block pull rod main body 527 is fixedly connected with pulling-rod frame 524, and the other end hingedly connects with building block pull rod baffle 528
It connects；Hinged seat 529 is provided at the top position in the middle part of building block pull rod baffle 528, building block pull rod baffle 528 passes through hinged
Seat 529 is articulated and connected with building block pull rod main body 527；Building block pull rod buffering dress is hinged in the middle part of the top surface of building block pull rod main body 527
530 are set, the other end of building block pull rod buffer unit 530 and the top of building block pull rod baffle 528 are articulated and connected.When the L-type is built
During block pull rod drives building block to move to building block placement platform 504, building block pull rod baffle 528 is around building block pull rod main body
527 turn an angle, and compress building block pull rod buffer unit 530, it is ensured that building block closely connects with building block positioning baffle 505
Touching.
Use provided by the embodiment of the present invention it is vertical for brick device for automatic wall building machine for building block when, first building block is put
Enter in building block holder, then pass through the cooperation of rotational structure and hoisting mechanism, building block holder is made to reach designated position, then
The designated position that the building block in building block holder is pulled on building block placement platform by mechanism is pulled and supported by building block.This is vertical for brick
Each piece of building block can not only be accurately sent to designated position by device, it is ensured that automatic wall building machine can be grabbed smoothly, Er Qieshi
The without interruption of building block is showed.
It is provided with three basic clamping units in the embodiment of the present invention, therefore three building blocks can be clamped simultaneously.Due to wall
The building block of body needs to be staggered up and down, therefore there are non-whole long building blocks, when grabbing non-whole long building block, the embodiment of the present invention
In it is described build a wall gripper according to the actual situation, clamp non-whole long building block with the most marginal basic clamping unit, such as
When needing that non-whole long building block is arranged in wall rightmost, then the most marginal basic clamping unit in right side is just used to clamp non-whole length
Building block；When needing that non-whole long building block is arranged in wall Far Left, then just using the most marginal basic clamping unit clamping in left side non-
Whole long building block.
It should be noted that no matter clamping whole length also is non-whole long building block, after building block is clamped, using same basic
With the outside of the whole long building block building block of clamping in same plane on the outside of the non-whole long building block of clamping unit clamping.After building block clamping,
It is all the same that building block bottom surface is below spacing between mounting plate and adjacent block.
After clamping building block, control mobile base 100 is moved to designated position, rotates mechanical arm 200, drives masonry grasping
Mechanism 300 rotates, so that building block is reached wait build the horizontal position above position；Then control rotating electric machine 324 drives front end
Gear 311 rotates, so that building block is rotated by 90 °, the side for making building block upward, then adjusts the position of mortar laying head 403, makes
The lower edge of mortar laying head 40 and building block top reach setting spacing；Then mortar is laid for the side of each building block one by one.
When in the specific implementation process, in order to avoid laying mortar, mortar is fallen from building block, and mortar is caused to waste,
In a further embodiment, the embodiment of the present invention is provided with mortar laying baffle in the two sides of the bottom of mortar laying head 403
404, baffle 404 is laid by setting mortar, when can be avoided laying mortar, mortar is fallen from building block, effectively saves sand
Starch dosage.
After mortar is laid, built, firstly, control mechanical arm 200 is moved down with masonry grasping mechanism 300,
It reaching and builds position, the lateral mortar then laid before compression makes the lateral mortar be compressed to design thickness, such as
1cm, the motor 328 that is then translatable drives translation drive rod 325, and (assuming that wall is built from right to left) is mobile to the right in the horizontal direction
A certain distance, such as 3cm, translation drive rod 325 drive all basic clamping units by the connector 329 that is translatable
It slides to the right, is no longer moved after 1cm at this point, the basic clamping unit on right side moves right, quilt along corresponding sliding rail 322
Corresponding limit sleeve 330 stops its direction of motion on translation gag lever post 326, and translation drive rod 325 continues to move right, this
When, the compressed spring 331 between the basic clamping unit on right side and the basic clamping unit of centre is by compression 2cm；
The intermediate basic clamping unit moves right and no longer moves after 2cm, by limit sleeve 330 corresponding on translation gag lever post 326
Stop its direction of motion, flat motion bar continues to move right, at this point, the base of the intermediate basic clamping unit and left side
Compressed spring 331 between this clamping unit is by compression 1cm；The basic clamping unit in left side moves right with flat motion bar
3cm.The basic clamping unit successively moves 1cm, 2cm, 3cm from left to right, and final vertical mortar thickness becomes 1cm.Quilt
Clamping building block just completes masonry.It should be noted that above-mentioned length 1cm, 2cm, 3cm are not fixed dimension, it is merely to illustrate
Working principle, can not be as limiting condition of the invention.
When building a wall to close to floor top surface, the clamping of building block is consistent with the above method, the lateral mortar of building block and indulges
It is also laid according to the above method by mortar laying head 403 to mortar, at this point, building block side is still upward, it is assumed that front end gear is suitable
Hour hands are rotated by 90 °；Then when building a wall, first by masonry grasping mechanism 300 on mechanical arm 200 end connected to it axis
The heart rotates clockwise 180 °, while the building block of clamping is rotated by 90 ° by the basic clamping unit counterclockwise around central shaft rod 312, this
When mounting plate 302 it is bottom-up, the first clamping plate 319 and second clamping plate 320 of the basic clamping unit keep down clamping
Then the state of building block is built, it should be noted that the sequence of concrete block masonry at this time with above-mentioned identical masonry way
Become from left to right.
In the specific implementation process, since mortar laying head 403 is located at the surface of the basic clamping unit, it is
It avoids the mortar laying head 403 from being in the plane of masonry panel, occupies and build space, the building wall close to roof is made
At influence, the embodiment of the present invention is provided with the mortar laying for keeping mortar laying head 403 mobile to the basic clamping unit tail end
Head pulls and supports mechanism, specifically, the mechanism that pulls and supports includes being set on mortar laying head bracket 334 and putting down with mortar laying head
The vertical mortar laying head longitudinal sliding motion slide unit 339 of platform 332 is moved, is provided with mortar on mortar laying head longitudinal sliding motion slide unit 339
Laying head longitudinal direction slide bar 340, is provided with sliding block 341 on mortar laying head longitudinal direction slide bar 340, sliding block 341 and is set to mortar and applies
If the output end connection of the mortar laying head longitudinal sliding motion control motor 342 of 339 side of head longitudinal sliding motion slide unit；Lifting sliding rail
336 bottom and mortar laying head bracket 334 are articulated and connected, and the top of lifting sliding rail 336 deviates from the one of mortar laying head 403
Side is connected with the slide block by connecting rod 343.When the axis of the end connected to it on mechanical arm 200 of masonry grasping mechanism 300
After the heart rotates clockwise 180 °, motor 342 is controlled with movable slider 341 along mortar laying head by mortar laying head longitudinal sliding motion
Longitudinal slide bar 340 is mobile to the basic clamping unit tail end, and the connecting rod 343 connecting with sliding block 341 drives lifting sliding rail 336
The basic clamping unit tail end rotates at the position hinged with mortar laying head bracket 334, makes mortar laying head in wall
Other than the plane of place, it is ensured that can successfully be built to the wall close to floor top surface.
When masonry panel highest point reaches the requirement of national requirements tiltedly built with a distance from beam/soffit, machine is controlled
Machinery claw is built by the way of tiltedly being built using 45 °, and the clamping of building block is consistent with close to the mode of floor top surface, but is used only most
The basic clamping unit of one of edge is clamped, this example is illustrated with the basic clamping unit clamping building block in the rightmost side；,
After building block clamping, the building block of clamping is rotated clockwise 180 ° around central shaft rod 312 by the basic clamping unit, then along building block
Longitudinal direction lays mortar, then by masonry grasping mechanism 300 on mechanical arm 200 end connected to it the axle center inverse time
Needle rotates 180 °, while the building block of clamping is rotated clockwise 45 ° around central shaft rod 312 by basic clamping unit, at this time mounting plate
302 it is bottom-up, the first clamping plate 319 and second clamping plate 320 of the basic clamping unit are in 45 ° of inclinations, then one by one
Ground from left to right builds the top to wall.It should be noted that mortar laying head is pressed after completing the laying of building block long side mortar
Where mode when above-mentioned second stage is built is moved to wall outside plane, avoid hindering to build cap blocks.
By the masonry of above three stage wall, the masonry of achievable entire wall.
In the specific implementation process, there may be the positions that mobile base 100 can not reach for wall, in order to right
This kind of wall is built, and in a further embodiment, the embodiment of the present invention grasps machine with masonry on mechanical arm 200
One end that structure 300 connects is provided with grasping mechanism translation platform 201, is provided with grasping mechanism translation on grasping mechanism translation platform 201
Slide bar 202, grasping bracket 301 are slidably connected with grasping mechanism translation slide bar 202；It is additionally provided on grasping mechanism translation platform 201
The output end of grasping mechanism translation control motor 203, grasping mechanism translation control motor 203 is connect with grasping bracket 301.It is logical
Setting grasping mechanism translation platform 201 is crossed, the moving range of masonry grasping mechanism 300 can not only be expanded, to realize to movement
The wall for the position that pedestal 100 can not reach is built；Moreover, can be translatable by grasping mechanism when clamping building block
Platform 201 carries out the switching of basic clamping unit, to make each basic folder in the case where the gripper of building a wall is motionless
Holding unit can clamp from designated position to building block.
Building wall machine people system provided by the embodiment of the present invention can not only carry out the building wall of large space,
The wall of the indoor confined space position close to wall top can also be built, liberate artificial heavy physical strength, improved
It builds a wall efficiency.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not limited to this hair
It is bright, although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, according to
It is so possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equal
Replacement.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (10)
1. a kind of building wall machine people's system, which is characterized in that including the gripper and vertical for brick device of building a wall；It is described to build a wall
Gripper includes that mobile base, mechanical arm, masonry grasping mechanism and mortar laying mechanism, the mechanical arm are installed on the movement
On pedestal, the masonry grasping mechanism includes the grasping bracket with mechanical arm rotation connection, the bottom of the grasping bracket
Be fixed with mounting plate, basic clamping unit be installed on the mounting plate, the basic clamping unit be connected with one make its around
The rotating mechanism of Pivot Point Center rotation；The mortar laying mechanism includes mortar bucket and mortar laying head, the mortar bucket setting
In in the mobile base, the mortar laying head is set to the top position of the basic clamping unit, and the mortar bucket is logical
Conveyance conduit is crossed to connect with the mortar laying head；It is described it is vertical for brick device include pedestal, be provided with building block on the pedestal
Hoisting mechanism, the two sides of the building block hoisting mechanism are symmetrically arranged with the building block that can be gone up and down with the building block hoisting mechanism and place
Box, the building block rotating mechanism that the bottom of the building block hoisting mechanism rotates the building block hoisting mechanism around its axle center with one connect
It connects；Side on the pedestal close to the building block hoisting mechanism is provided with building block holding support, the building block holding support
Top is provided with building block placement platform, is provided with building block positioning baffle on the building block placement platform and building block pulls and supports mechanism.
2. building wall machine people's system according to claim 1, which is characterized in that the basic clamping unit includes folder
Holder pedestal and the first screw rod slide unit for being set to clamper pedestal side, the bottom of the first screw rod slide unit are fixed in described
On mounting plate, sliding block is provided in the middle part of the first screw rod slide unit, the sliding block passes through the first screw rod and grasps the defeated of motor
Outlet connection；Top one end of the clamper pedestal is provided with gear pedestal, and the other end is provided with pinion stand, the gear base
It is provided with slide plate gear on seat, front end gear is provided on the pinion stand；It is provided at the axle center of the front end gear to institute
The central shaft rod of slide plate gear direction extension is stated, spacer sleeve is equipped with the first rail wheel and the second rail wheel in the central shaft rod, described
First rail wheel engages connection with the slide plate gear by the first rack-plate, and second rail wheel is passed through by the second rack-plate
It wears first rail wheel and engages connection with the slide plate gear, and first rack-plate and second rack-plate are located at
The two sides of the slide plate gear；One end and sliding block clamping on second rack-plate far from second rail wheel connect
It connects；The upper two sides in its central axes of front end gear are symmetrically arranged with the first supporting rod and the second supporting rod, and it is described before
End tooth wheel is slidably connected with first supporting rod and second supporting rod respectively；One end of first supporting rod bypasses institute
It states the second rail wheel to be slidably connected with first rail wheel, the other end is fixed with first clamping plate；Second supporting rod
One end is slidably connected with second rail wheel, and the other end is fixed with second clamping plate；The bottom of the clamper pedestal is arranged
There is clamper footing, the clamper footing is slidably connected with the sliding rail being installed on the mounting plate.
3. building wall machine people's system according to claim 1, which is characterized in that the rotating mechanism includes being installed in
Frame for electrical rotating machines on the mounting plate, is fixed with rotating electric machine on the frame for electrical rotating machines, the rotating electric machine it is defeated
Outlet engages connection with the front end gear of the basic clamping unit by transmission mechanism.
4. building wall machine people's system according to claim 1, which is characterized in that being arranged side by side on the mounting plate has
Multiple basic clamping units and the parallel moving mechanism of each basic clamping unit translation of control, the parallel moving mechanism packet
It includes along the translation drive rod and translation gag lever post perpendicular to the basic clamping unit axis direction setting, the translation drive rod
Both ends be flexibly connected with the grasping bracket, it is described translation gag lever post both ends be fixedly connected with the grasping bracket；It is described
Translation drive rod is connect by the second screw rod slide unit with the output end for the motor that is translatable, corresponding each described on the translation drive rod
Pass through a translation connector respectively at the position of basic clamping unit to connect with the basic clamping unit, and each described flat
Follower link is socketed with the translation gag lever post and connects, and the two of each translation connector are located on the translation gag lever post
Side is respectively arranged with limit sleeve；All translation connectors are fixedly connected with the corresponding basic clamping unit, institute
There is a most marginal translation connector in the translation connector to be fixedly connected with the translation drive rod, remaining with
The translation drive rod socket connects, and is provided with compression bullet between the two neighboring translation connector on the translation drive rod
Spring.
5. building wall machine people's system according to claim 1, which is characterized in that on the mechanical arm with the masonry
One end of grasping mechanism connection is provided with grasping mechanism translation platform, is provided with grasping mechanism translation on the grasping mechanism translation platform
Slide bar, the grasping bracket are connect with grasping mechanism translation sliding bar；It is additionally provided on the grasping mechanism translation platform
The output end of grasping mechanism translation control motor, the grasping mechanism translation control motor is connect with the grasping bracket.
6. building wall machine people's system according to claim 1, which is characterized in that be provided with mortar on the mounting plate
Laying head is translatable platform, mortar laying head translation slide bar is provided on mortar laying head translation platform, the mortar laying head is flat
Mortar laying head bracket is arranged on moving slide-bar, the mortar lays head bracket and controls it to be slided in mortar laying head translation
The output end connection of the mortar laying head translation motor slided on bar, the mortar lay on head bracket and are provided with lifting sliding rail,
The mortar laying head is slidably connected by L-type sliding block and the lifting sliding rail, and the L-type sliding block and the lifting of mortar laying head are controlled
The output end of motor processed connects；The mortar laying head is also connected with the mortar for keeping it mobile to the basic clamping unit tail end
Laying head pulls and supports mechanism, the mortar laying head pull and support mechanism include be set on the mortar laying head bracket and with the sand
The vertical mortar laying head longitudinal sliding motion slide unit of laying head translation platform is starched, is provided on the mortar laying head longitudinal sliding motion slide unit
Mortar laying head longitudinal direction slide bar, be provided on the slide bar of mortar laying head longitudinal direction it is longitudinal pull and support sliding block, the longitudinal direction pulls and supports cunning
The output end of block and the mortar laying head longitudinal sliding motion control motor for being set to mortar laying head longitudinal sliding motion slide unit side
Connection；The bottom of the lifting sliding rail and mortar laying head bracket articulated connection, the top of the lifting sliding rail deviates from institute
The side for stating mortar laying head pulls and supports sliding block with the longitudinal direction by connecting rod and connect.
7. building wall machine people's system according to claim 1, which is characterized in that the bottom two of the mortar laying head
Side is provided with mortar laying baffle.
8. according to claim 1 vertical for brick device, which is characterized in that the hoisting mechanism includes being set to the bottom
Main control motor on seat, the periphery of the main control motor, which is provided with, promotes track upright bar pedestal；The promotion track upright bar pedestal
On be vertically arranged with more promotion track upright bars, wherein every two promotion track upright bars be one group, lifting rail described in every group
Building block holder backboard sliding block is slidably connected in road upright bar, deviates from the lifting rail on the building block holder backboard sliding block
The side of road upright bar is provided with building block holder backboard, and building block holder compartment of terrain is installed in the building block holder backboard
On；The top of all promotion track upright bars is fixedly connected with track upright bar limit plate；The top of the main control motor
Two central slide unit tracks are fixedly installed, the top of two central slide unit tracks is rotated with the track upright bar limit plate
Connection slidably connects center on two central slide unit tracks and promotes slide unit, and the center, which is promoted, is provided with the on slide unit
Three screw rods, the third screw rod are located between two central slide unit tracks, and the bottom setting that the center promotes slide unit mentions
Sliding block is risen, the promotion sliding block and two central slide unit tracks are slidably connected and by the third screw rod and the master control
The output end of motor connects, and the promotion sliding block is connect with the bottom of the building block holder backboard sliding block.
9. according to claim 8 vertical for brick device, which is characterized in that the building block rotating mechanism includes being set to institute
The rotating base bearing on pedestal is stated, the building block hoisting mechanism is set on the rotating base bearing；The rotating base
The outer for being located at building block hoisting mechanism setting on bearing is provided with rotary teeth wheel disc, and the rotary teeth wheel disc and building block rotate
The output end of motor engages connection；It includes the building block pull rod for being set to building block placement platform bottom surface that the building block, which pulls and supports mechanism,
Slide unit is provided with horizontal guide rail on the building block pull rod slide unit, pulling-rod frame pedestal sliding block is provided on the horizontal guide rail, described
Pulling-rod frame pedestal sliding block is connect by the 4th screw rod with the output end that pull rod controls motor；The top of the pulling-rod frame pedestal sliding block
It is provided with pulling-rod frame, the side that the building block hoisting mechanism is located on the pulling-rod frame is provided with several L-type building block pull rods.
10. according to claim 9 vertical for brick device, which is characterized in that each L-type building block pull rod includes building block
Pull rod main body and building block pull rod baffle；One end of the building block pull rod main body is fixedly connected with the pulling-rod frame, the other end with
The building block pull rod panel hinge connection；The middle part of the building block pull rod baffle is provided with hinged seat at top position, described
Building block pull rod baffle is articulated and connected by the hinged seat and the building block pull rod main body；In the top surface of the building block pull rod main body
Portion is hinged with building block pull rod buffer unit, the top of the other end of the building block pull rod buffer unit and the building block pull rod baffle
Articulated connection；It is corresponded on the building block holder and is provided with a shaped opening at the position of each L-type building block pull rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910483470.0A CN110094074B (en) | 2019-06-04 | 2019-06-04 | Wall body masonry robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910483470.0A CN110094074B (en) | 2019-06-04 | 2019-06-04 | Wall body masonry robot system |
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| Publication Number | Publication Date |
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| CN110094074A true CN110094074A (en) | 2019-08-06 |
| CN110094074B CN110094074B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910483470.0A Active CN110094074B (en) | 2019-06-04 | 2019-06-04 | Wall body masonry robot system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593587A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Automatic wall building system |
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| CN110836021A (en) * | 2019-12-03 | 2020-02-25 | 湖南易兴建筑有限公司 | Building block construction robot and construction method |
| CN111042545A (en) * | 2019-12-20 | 2020-04-21 | 福建省优泥墙体工程服务有限公司 | Assembled wall body processing equipment |
| CN111550066A (en) * | 2020-04-30 | 2020-08-18 | 廊坊凯博建设机械科技有限公司 | Brickwork wall former |
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| GB348052A (en) * | 1930-01-23 | 1931-04-23 | William Harvey Massen | A new or improved brick-laying machine |
| CN106703428A (en) * | 2017-01-19 | 2017-05-24 | 宁波工程学院 | Automatic brick laying machine |
| CN107060356A (en) * | 2017-06-20 | 2017-08-18 | 郭霞进 | automatic wall building machine |
| CN210369973U (en) * | 2019-06-04 | 2020-04-21 | 沈洋 | Wall masonry robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB348052A (en) * | 1930-01-23 | 1931-04-23 | William Harvey Massen | A new or improved brick-laying machine |
| CN106703428A (en) * | 2017-01-19 | 2017-05-24 | 宁波工程学院 | Automatic brick laying machine |
| CN107060356A (en) * | 2017-06-20 | 2017-08-18 | 郭霞进 | automatic wall building machine |
| CN210369973U (en) * | 2019-06-04 | 2020-04-21 | 沈洋 | Wall masonry robot system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593587A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Automatic wall building system |
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| CN110836021A (en) * | 2019-12-03 | 2020-02-25 | 湖南易兴建筑有限公司 | Building block construction robot and construction method |
| CN111042545A (en) * | 2019-12-20 | 2020-04-21 | 福建省优泥墙体工程服务有限公司 | Assembled wall body processing equipment |
| CN111550066A (en) * | 2020-04-30 | 2020-08-18 | 廊坊凯博建设机械科技有限公司 | Brickwork wall former |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110094074B (en) | 2024-04-26 |
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