CN110125902B - Building element molding robot assembly and building element molding method - Google Patents
Building element molding robot assembly and building element molding method Download PDFInfo
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- CN110125902B CN110125902B CN201910459180.2A CN201910459180A CN110125902B CN 110125902 B CN110125902 B CN 110125902B CN 201910459180 A CN201910459180 A CN 201910459180A CN 110125902 B CN110125902 B CN 110125902B
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- 238000000465 moulding Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 44
- 238000010146 3D printing Methods 0.000 claims abstract description 25
- 230000009194 climbing Effects 0.000 claims abstract description 17
- 239000002994 raw material Substances 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 19
- 238000007493 shaping process Methods 0.000 description 10
- 238000013461 design Methods 0.000 description 9
- 238000005266 casting Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000004570 mortar (masonry) Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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
- E04G19/00—Auxiliary treatment of forms, e.g. dismantling; Cleaning devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
Abstract
The application discloses a building element forming robot assembly, which comprises a building element forming robot (100) for forming a template into a die cavity and a building 3D printing robot (200) for conveying building cementing materials to the die cavity, wherein the building element forming robot (100) comprises a base (10), a first travelling system (20), a first frame body (30), a lifting system (40), at least one grabbing and leveling system (50), at least one auxiliary supporting system (60) and a first fixing system (80); the building 3D printing robot includes a chassis (210), a transport system (240), a mixing system (250), and a climbing system (260). The application realizes automatic assembly and automatic pouring of the templates for the vertical and horizontal components, realizes molding of the building components, and realizes comprehensive efficiency improvement and cost reduction. The application also discloses a method for forming the building component by adopting the building component forming robot assembly.
Description
Technical Field
The application relates to the technical field of buildings, in particular to a building component forming robot assembly and a building component forming method.
Background
In the construction process of the existing building components, the conventional building components are roughly divided into masonry, pouring, spraying, assembling and other methods, and pouring is a common method, wherein a template is adopted to form an inner cavity of the building component, and building cementing materials, mortar and other substances are poured into the mold cavity, so that the required building components are obtained after the building cementing materials are coagulated and formed. Therefore, prior to casting the building elements, the formwork needs to be assembled and fixed to enclose the mold cavity. Currently, the form 90 is manually assembled and secured to define the shape of the building element, and then the building cement is poured into the form to provide the desired building element after the building cement has set to shape. And pouring is usually carried out by a mixer truck at a mixing station to transport the building cementitious material to the site and then manually poured. The building cementing material is coagulated and cannot be used due to the fact that the mixer truck is blocked on the road for too long. The manual assembly of the fixed templates and the manual pouring have higher working strength, are tired, require more labor force and have low working efficiency, and along with the change of ideas of people, more and more young people are unwilling to engage in the assembly of the fixed templates and the pouring of the building components, and the labor cost is higher and higher, so that the development of a building component forming robot assembly is necessary to realize the assembly of the templates and the pouring of the building components.
Disclosure of Invention
One of the purposes of the application is to provide a building component forming robot assembly, which can realize automatic assembly of templates to obtain a mold cavity, and simultaneously realize automatic real-time pouring of building cementing materials into the mold cavity so as to realize building component forming, avoid condensation of the building cementing materials in the conveying process, reduce dependence on workers, reduce labor cost and realize high construction efficiency.
The second object of the application is to provide a building component forming method for realizing automatic assembly of the template and automatic pouring of building cementing materials into the mold cavity by adopting the building component forming robot assembly.
To achieve the above object, the present application provides a building element molding robot assembly including a building element molding robot (100) and a building 3D printing robot (200), the building element molding robot (100) for forming a mold cavity with a mold plate (90), the building 3D printing robot (200) delivering a building cementitious material to the mold cavity;
the building component forming robot (100) comprises a base (10), a first walking system (20), a first frame body (30), a lifting system (40), at least one grabbing leveling system (50), at least one auxiliary supporting system (60) and a first fixing system (80), wherein the first walking system (20) and the first fixing system (80) are arranged at the bottom of the base (10), the first frame body (30) is arranged at the base (10), the lifting system (40) comprises a lifting-controllable first lifting frame (41), the first lifting frame (41) is in sliding connection with the first frame body (30), the grabbing leveling system (50) comprises a base (51) arranged at the first lifting frame (41) and a plurality of telescopic rods (53) which are rotatably connected with the base (51) in a telescopic manner, and the auxiliary supporting system (60) comprises a telescopic bracket (61) which is rotatably arranged at the first lifting frame (41) and is telescopic and controllable;
the building 3D printing robot (200) comprises a bottom frame (210), a conveying system (240), a mixing system (250) and a climbing system (260) arranged on the bottom frame (210), wherein the climbing system (260) drives the mixing system (250) to conduct lifting movement, the mixing system (250) is connected with the conveying system (240), the mixing system (250) is used for mixing raw materials poured on building components to obtain building cementing materials, and the conveying system (240) is used for conveying the building cementing materials in the mixing system (250) to a die cavity.
Compared with the prior art, in the construction process, the grabbing leveling system (50) is driven to move to a design position by the lifting system (40) of the building member forming robot, and the grabbing leveling system (50) is utilized to realize automatic assembly of the templates to form a die cavity; the mixing system (250) mixes raw materials poured by the building components to obtain building cementing materials, and the climbing system (260) drives the mixing system (250) to perform lifting movement to reach a design position; the building cementitious material within the mixing system (250) is then transported to the mold cavity using a transport system (240) to effect the formation of the building element. Therefore, the building component forming robot assembly can realize automatic assembly of vertical and horizontal component templates to form a die cavity, avoids complexity and instability of manual assembly, reduces dependence on workers, reduces labor cost, reduces accident rate of workers, improves construction progress, shortens construction period, improves building component forming precision, simultaneously realizes automatic pouring of building cementing materials into the die cavity, can avoid coagulation of the building cementing materials in a conveying process, has high construction efficiency, promotes intelligent construction and unmanned construction processes, and has good investment benefit and social benefit.
Preferably, the building element forming robot (100) further comprises at least one mechanical arm (70) which extends along the horizontal direction and is slidably arranged on the first lifting frame (41) and is controllable in expansion and contraction, the building element forming robot comprises two grabbing leveling systems (50), one grabbing leveling system (50) is arranged at the extending end of the mechanical arm (70) in the vertical direction, and the other grabbing leveling system (50) is arranged at the extending end of the mechanical arm (70) in the horizontal direction.
Preferably, the lifting system (40) further comprises a first hydraulic control device and a first telescopic column (43), the first telescopic column (43) is connected with the first lifting frame (41), and the first hydraulic control device drives the first telescopic column (43) to extend or retract to drive the first lifting frame (41) to ascend or descend.
Preferably, the building element forming robot (100) further comprises a base (10) provided with a telescopic supporting rod (11) in a telescopic controllable manner along the horizontal direction, and when the telescopic supporting rod (11) and the telescopic support (61) are in an extending state, the telescopic supporting rod (11), the telescopic support (61) and the first telescopic column (43) form a triangular structure.
Preferably, the conveying system (240) comprises a pressurizing system (241) and a conveying pipeline (243), the conveying pipeline (243) comprises a first conveying pipeline (244) and a second conveying pipeline (245), one end of the first conveying pipeline (244) is communicated with the mixing system (250), the other end of the first conveying pipeline (244) is communicated with the second conveying pipeline (245), the first conveying pipeline (244) is of a flexible structure, and the pressurizing system (241) drives building cementing materials in the mixing system (250) to be sequentially output through the first conveying pipeline (244) and the second conveying pipeline (245).
Preferably, one end of the second conveying pipeline (245) is communicated with the first conveying pipeline (244), and the other end of the second conveying pipeline (245) is of an arc-shaped bending structure.
Preferably, the building 3D printing robot (200) further comprises a batching system (270) connected to the mixing system (250), whereby the batching system (270) delivers raw materials poured by building elements to the mixing system (250).
Preferably, the building 3D printing robot (200) further comprises a metering system, the metering system comprises a first metering system (281) and a second metering system (283), the first metering system (281) weighs raw materials which are conveyed to the mixing system (250) by the batching system (270) and are poured by building components, and the second metering system (283) weighs building cementing materials which are output by the conveying system (240).
Preferably, the climbing system (260) comprises a second frame body (261), a second lifting frame (262), a second telescopic column (263), a connecting part (264) and a power system, wherein the second frame body (261) is arranged on the bottom frame (210), the second lifting frame (262) is connected with the second frame body (261) in a sliding manner, the second telescopic column (263) is connected with the second lifting frame (262), one end of the connecting part (264) is installed on the second lifting frame (262), the other end of the connecting part (264) is connected with the mixing system (250), and the power system drives the second telescopic column (263) to extend or retract to drive the second lifting frame (262) to ascend or descend so as to drive the connecting part (264) to move to ascend or descend the mixing system (250).
Correspondingly, the application also provides a building component forming method, which comprises the following steps:
(1) Operating the building element forming robot (100) to form the form into a mold cavity:
(11) Moving to a design position with the first travel system (20) and then supporting with the first fixation system (80);
(12) A building element forming robot (100) is supported in an extending manner by means of a telescopic bracket (61) of an auxiliary support system (60);
(13) The lifting system (40) drives the grabbing and leveling system (50) to move to a design position, and the grabbing and leveling system (50) is utilized to realize automatic assembly of the template so as to form a die cavity;
(2) Building 3D printing robot (200) carries building cementing material to the die cavity:
(21) Starting a mixing system (250) to mix the raw materials poured by the building components to obtain a building cementing material;
(22) The climbing system (260) drives the mixing system (250) to perform lifting movement to reach a design position;
(23) The building cementitious material within the mixing system (250) is delivered to the mold cavity using a delivery system (240).
Drawings
Fig. 1 is a schematic structural view of a building element molding robot assembly of the present application.
Fig. 2 is a front view of the building element forming robot assembly of fig. 1.
Fig. 3 is a schematic view of a construction of another embodiment of a building element shaping robot in the building element shaping robot assembly shown in fig. 1.
Fig. 4 is a front view of the building element forming robot shown in fig. 3.
Fig. 5 is a schematic structural view of still another embodiment of the building element shaping robot in the building element shaping robot assembly shown in fig. 1.
Fig. 6 is a schematic view of a construction of the building element forming robot of fig. 5 at another angle.
Fig. 7 is a schematic view of a construction of still another embodiment of a building element shaping robot in the building element shaping robot assembly shown in fig. 1.
Fig. 8 is a schematic structural view of another embodiment of a building 3D printing robot in the building element shaping robot assembly shown in fig. 1.
Fig. 9 is a front view of the construction 3D printing robot shown in fig. 8.
Detailed Description
Embodiments of the present application will now be described with reference to the drawings, wherein like reference numerals represent like elements throughout.
As shown in fig. 1-2, the building element molding robot assembly 300 of the present application includes a building element molding robot 100 for forming a mold cavity with a mold plate 90 and a building 3D printing robot 200 for delivering building cementitious material to the mold cavity for casting to complete the molding of a building element. The building element forming robot 100 comprises a base 10, a first walking system 20, a first frame body 30, a lifting system 40, at least one grabbing and leveling system 50, at least one auxiliary supporting system 60 and a first fixing system 80, wherein the first walking system 20 and the first fixing system 80 are arranged at the bottom of the base 10, the first frame body 30 is arranged on the base 10, the lifting system 40 comprises a lifting-controllable first lifting frame 41, the first lifting frame 41 is in sliding connection with the first frame body 30, the grabbing and leveling system 50 comprises a base 51 arranged on the first lifting frame 41 and a plurality of telescopic rods 53 rotatably connected with the base 51, and the auxiliary supporting system 60 comprises a telescopic bracket 61 rotatably arranged on the first lifting frame 41 and controllably telescopic; the building 3D printing robot comprises a bottom frame 210, a conveying system 240, a mixing system 250 and a climbing system 260 arranged on the bottom frame 210, wherein the climbing system 260 drives the mixing system 250 to perform lifting movement, the mixing system 250 is connected to the conveying system 240, the mixing system 250 is used for mixing raw materials poured into building components to obtain building cementing materials, and the conveying system 240 is used for conveying the building cementing materials in the mixing system 250 to a die cavity.
Wherein, when the first traveling system 20 is in the contracted state, the first fixing system 80 plays a supporting role, and when the first traveling system 20 is in the supporting state, the first traveling system 20 plays a supporting role. In practical use, the first traveling system 20 is a universal wheel with telescopic function, which can facilitate moving the building element forming robot 100, and when moving to a desired position, the first traveling system 20 contracts to a contracted state, so that the first fixing system 80 abuts against the bearing surface, and the building element forming robot 100 can be stably supported, so that the building element forming robot can not move during working. In this embodiment, referring to fig. 2, the grabbing and leveling system 50 is disposed at a horizontal position of the first lifting frame 41, and can be used for automatic assembly of the vertical members using the templates 90.
Referring to fig. 3 to 4, the building element forming robot 100 further includes at least one telescopic mechanical arm 70 slidably disposed on the first lifting frame 41, and the building element forming robot 100 includes two grabbing leveling systems 50, wherein one grabbing leveling system 50 may be disposed at an extending end of the mechanical arm (70) in a vertical direction, and the other grabbing leveling system 50 may be disposed at an extending end of the mechanical arm 70 in a horizontal direction. In this embodiment, one of the grabbing and leveling systems 50 is disposed on top of the first lifting frame 41, and can be used for automatic assembly of the horizontal component using the template 90; another grasping leveling system 50 is provided at the extended end of the horizontal robotic arm 70 for automated assembly of the vertical members using the form 90. That is, one of the grab leveling systems 50 is disposed in the vertical direction of the lift frame 41, and the other grab leveling system 50 is disposed in the horizontal direction. Referring to fig. 1-4, the lifting system 40 further includes a first hydraulic control device and a first telescopic column 43, the first telescopic column 43 is connected to the first lifting frame 41, and the first hydraulic control device drives the first telescopic column 43 to extend or retract to drive the first lifting frame 41 to ascend or descend. When the first hydraulic control device controls the first telescopic column 43 to ascend, the first lifting frame 41 is driven to ascend, so that the grabbing and leveling system 50 above the first lifting frame 41 ascends to grab the template 90 in the horizontal direction. Further, the grab leveling system 50 also includes a second hydraulic control device that drives the extension rod 53 to extend or retract. The second hydraulic control device is used for driving the telescopic rod 53 to move, so that the position of the template 90 is adjusted, and the precision is improved. Still further, the grasping leveling system 50 also includes a control system that controls the rotational movement of the telescoping rod 53 about the base 51. The telescopic rod 53 is controlled by a control system to rotate around the base 51 flexibly and conveniently to achieve the aim of adjustment. The control system can adopt a general activity control mode, and particularly can adopt big data collected by the Internet of things to accurately adjust the position of the template 90. To facilitate movement of the grab leveling system 50 laterally of the first lift 41, the grab leveling system 50 includes a third hydraulic control that drives the robotic arm 70 to extend or retract. The grabbing leveling system 50 further comprises a driving device, and the driving device drives the mechanical arm 70 to ascend or descend on the first lifting frame 41. That is, when the first lifting frame 41 is lifted to a certain position, the driving device drives the mechanical arm 70 to lift or descend on the first lifting frame 41 to reach a more proper position, and then the third hydraulic control device drives the mechanical arm 70 to move, so that the template 90 is conveniently grabbed and fixed. More preferably, the telescopic rod 53 has spherical protrusions 531 at both ends, and the base 51 is provided with a groove in which one of the protrusions 531 is rotatably provided. The convex part 531 rotates in the groove through hydraulic drive, so that any angle can be conveniently adjusted, and the groove for installing the convex part 531 is correspondingly arranged on the back surface of the template 90, so that butt joint grabbing is convenient. Specifically, the mechanical arm 70 includes a telescopic controllable support arm 71, a grabbing arm 73 and an auxiliary support arm 75, where the support arm 71, the grabbing arm 73 and the auxiliary support arm 75 are controlled by different driving devices, and the template 90 is grabbed by the grabbing arm 73 and then fixed with the template 90 by the support arm 71, so as to extend the template 90 to a design position. When the width of the template 90 is large, the auxiliary supporting arms 75 assist in supporting, so that the stability of the template 90 is ensured. In order to stabilize the grasping form 90, the telescopic rod 53 is provided with an engaging portion for engaging the form 90 at the end of the other convex portion 531. When the protrusion 531 of the telescopic rod 53 is located in the groove of the template 90, the protrusion 531 is engaged with the groove of the template 90 by using the engaging portion, so that the protrusion 531 is fixed in the groove of the template 90, and can rotate in the groove of the template 90 to realize any angle adjustment.
Referring to fig. 3-4, the auxiliary support system 60 further includes a fourth hydraulic control device that drives the telescopic bracket 61 to extend or retract. The telescopic bracket 61 is driven to extend to abut the bearing surface by the fourth hydraulic control device. Further, the building element forming robot 100 further includes a base 10 provided with a telescopic stay 11 having a telescopic controllability in a horizontal direction, and when the telescopic stay 11 is in an extended state with the telescopic bracket 61, the telescopic stay 11, the telescopic bracket 61 and the first telescopic column 43 form a triangle structure. That is, the telescopic support 61 is controlled to extend and the telescopic support rod 11 is controlled to extend through hydraulic driving, the telescopic support rod 11 is clamped and abutted to a certain position, the telescopic support rod 11 is abutted to the ground through the fixing system 80, and when the telescopic support rod 11, the telescopic support 61 and the first telescopic column 43 form a triangular structure, the stability of the building member forming robot 100 during operation is further ensured. When the telescopic support 61 is not needed, the telescopic support 61 can be driven to retract through the fourth hydraulic control device, so that occupied space is reduced, and transportation and movement are facilitated.
Referring to fig. 5-6, in the embodiment, the building element forming robot 100 includes three grabbing leveling systems 50, wherein one grabbing leveling system 50 is disposed at the top of the first lifting frame 41, and the other two grabbing leveling systems 50 are respectively disposed at the extending ends of the two mechanical arms 70 in the horizontal direction, so as to complete the automatic assembly of the vertical and horizontal elements using the templates 90 to form a plurality of mold cavities. Referring to fig. 7, the building element forming robot includes five grabbing leveling systems 50, wherein one grabbing leveling system 50 is disposed at the top of the first lifting frame 41, and the other four grabbing leveling systems 50 are respectively disposed at the extending ends of the mechanical arms 70 in the horizontal direction, so as to complete automatic assembly of the vertical and multiple horizontal elements using the templates 90.
Referring to fig. 1-2, the building 3D printing robot 200 includes a second traveling system 220 and a second fixing system 230 disposed at the bottom of the chassis 210, the second traveling system 220 is telescopic and controllable to have a supporting state and a shrinking state, and the second traveling system 220 can conveniently move the chassis 210 to a desired position. The second walking system 220 comprises a retractable universal wheel with a supporting state and a retracted state, and when the second walking system 220 is in the retracted state, the second fixing system 230 plays a supporting role so as to ensure that the building 3D printing robot 200 cannot move during working; when the second traveling system 220 is in the supporting state, the second traveling system 220 plays a supporting role. Wherein, the mixing system 250 may be provided with a mixing device and a motor, the motor drives the mixing device to rotate fast to mix the raw materials, the mixing device may be a stirring rod, and other mixing modes may be adopted, which is not limited herein.
With continued reference to fig. 1-2, delivery system 240 includes a pressurization system 241 and a delivery conduit 243, with pressurization system 241 driving the output of the building cementitious material within mixing system 250 from delivery conduit 243. Further, the conveying pipeline 243 includes a first conveying pipeline 244 and a second conveying pipeline 245, one end of the first conveying pipeline 244 is communicated with the mixing system 250, the other end of the first conveying pipeline 244 is communicated with the second conveying pipeline 245, and the first conveying pipeline 244 is of a flexible structure. The climbing system 260 moves the first transfer conduit 244 up or down. In the present embodiment, the pressurizing system 241 may be disposed on the chassis 210, but is not limited thereto. Further, one end of the second conveying pipe 245 is connected to the first conveying pipe 244, and the other end of the second conveying pipe 245 is in an arc-shaped bending structure. Because the other end of the second conveying pipe 245 is in an arc-shaped bending structure, the building cementing material can be quickly and smoothly conveyed into the die cavity at a higher position. Still further, referring to fig. 8-9, the building 3D printing robot 200 further includes a driving device and a telescopic strut 291 installed between the first conveying pipeline 244 and the second conveying pipeline 245, wherein the driving device drives the telescopic strut 291 to extend or retract so as to change the angle between the first conveying pipeline 244 and the second conveying pipeline 245, so as to facilitate the slurry conveying for the cavities with different heights.
With continued reference to fig. 1-2, the climbing system 260 includes a second frame 261, a second lifting frame 262, a second telescopic column 263, a connecting portion 264 and a power system, the second frame 261 is disposed on the bottom frame 210, the second lifting frame 262 is slidably connected to the second frame 261, the second telescopic column 263 is connected to the second lifting frame 262, one end of the connecting portion 264 is mounted on the second lifting frame 262, the other end of the connecting portion 264 is connected to the mixing system 250, and the power system drives the second telescopic column 263 to extend or retract to drive the second lifting frame 262 to rise or fall, so as to drive the connecting portion 264 to move to rise or fall the mixing system 250. It can be understood that the power system drives the second telescopic column 263 to move up or down, the linkage drives the second lifting frame 262 to move up or down on the second frame 261, the linkage drives the connecting portion 264 to move up or down, and the linkage drives the mixing system 250 to move up or down. The purpose of this is to achieve a proper stay of the mixing system 250. For example, when casting a tall building element, the climbing system 260 can raise the mixing system 250 to a position higher from the bearing surface, thereby greatly increasing the feed rate of the conveying system 240 and reducing the power output of the conveying system 240. Wherein two climbing systems 260 are provided at both ends of the mixing system 250, thereby making the fixing and lifting movement of the mixing system 250 more stable.
With continued reference to fig. 1-2, the building 3D printing robot 200 further includes a batching system 270 connected to the mixing system 250, and the batching system 270 is used to convey the raw materials poured by the building components to the mixing system 250, so as to improve the construction efficiency. Wherein the batching system 270 comprises a third conveying pipe 271 and a suction pump 273, by means of which suction pump 273 the raw material for pouring the building elements is conveyed to the mixing system 250 via the third conveying pipe 271.
With continued reference to fig. 1-2, the building 3D printing robot 200 further includes a metering system including a first metering system 281 and a second metering system 283, the first metering system 281 weighing the weight of raw materials delivered by the batching system 270 to the building component placement in the mixing system 250, and the second metering system 283 weighing the weight of the delivery system 240 outputting the building cementitious material. The raw materials for casting concrete building components and the building cementing material for casting the mold cavity can be clearly known through the functions of the first metering system 281 and the second metering system 283, so that the weight of the building cementing material put into the casting mold cavity can be controlled according to practical experience or calculation, the building cementing material cannot overflow in the casting process of the building components, the material cost is greatly saved, and the situations of manually processing waste materials and blanking outside the mold cavity are avoided.
The following describes the method of using and operating the building element molding robot assembly 300 of the present application with reference to fig. 1-9:
a building component forming method comprises the following steps:
(1) Operating the building element forming robot 100 forms the form 90 into a mold cavity:
(11) Moved to the design position using the first travel system 20 and then supported using the first stationary system 80;
(12) The building element shaping robot 100 is extended and supported by means of the telescopic support 61 of the auxiliary support system 60;
(13) The lifting system 40 drives the grabbing and leveling system 50 to move to a design position, and the grabbing and leveling system 50 is utilized to realize automatic assembly of the template 90 so as to form a die cavity;
(2) Building 3D printing robot 200 delivers building cementitious material to the mold cavity:
(21) Starting a mixing system 250 to mix the raw materials poured by the building components to obtain a building cementing material;
(22) The climbing system 260 drives the mixing system 250 to perform lifting movement to reach a design position;
(23) The building cementitious material within mixing system 250 is delivered to the mold cavity using delivery system 240.
The specific working process is as follows:
when the building element shaping robot 100 works, the first travelling system 20 can be used for conveniently moving the building element shaping robot 100 to a required position, then the first travelling system 20 is contracted, and the first fixing system 80 is supported on a bearing surface for supporting. The first hydraulic control drives the first telescopic column 43 to extend to drive the first lifting frame 41 to rise, thereby driving the grabbing and leveling system 50 located at the top of the first lifting frame 41 to achieve automated assembly of the horizontal members using the mold plate 90 to form the mold cavity. The third hydraulic control device drives the mechanical arm 70 to extend to drive the grabbing and leveling system 50 installed at the extending end of the mechanical arm 70 to realize automatic assembly of the vertical component by using the template 90 so as to form a die cavity. The second hydraulic control drives the extension rod 53 to extend or retract to adjust the position of the die plate 90. The control system controls the telescopic rod 53 to perform a rotational movement around the base 51, precisely adjusting the position of the template 90.
Then, the building 3D printing robot 200 is used for working, the building 3D printing robot 200 can be conveniently moved to a required position through the second traveling system 220, the second traveling system 220 is contracted, and the second fixing system 230 is supported on the bearing surface for supporting. Raw materials poured by the building components are conveyed to the mixing system 250 by the batching system 270, the mixing system 250 mixes the raw materials poured by the building components to obtain building cementing materials, and the pressurizing system 241 sends the building cementing materials into the die cavity through the first conveying pipeline 244 and the second conveying pipeline 245 for pouring, so that the building components are formed.
Compared with the prior art, in the construction process, the grabbing and leveling system 50 is driven to move to a certain position by the lifting system 40 of the building component forming robot, and the grabbing and leveling system 50 is utilized to realize automatic assembly of the templates to form a die cavity; the mixing system 250 mixes the raw materials poured by the building components to obtain building cementing materials, and the climbing system 260 drives the mixing system 250 to perform lifting movement to reach a certain position; the building cementitious material within the mixing system 250 is then delivered to the mold cavity using the delivery system 240 to effect the formation of the building element. Therefore, the building component forming robot assembly (300) can realize automatic assembly of vertical and horizontal components by using templates to form a die cavity, avoid complexity and instability of manual assembly, reduce dependence on workers, reduce labor cost, reduce accident rate of workers, improve construction progress, shorten construction period, improve template forming precision, and simultaneously realize automatic pouring of building cementing materials into the die cavity, so that the building cementing materials can be prevented from being coagulated in the conveying process, the construction efficiency is high, the intelligent construction and unmanned construction processes are promoted, and the building component forming robot assembly has good investment and social benefits.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the claims, which follow, as defined in the claims.
Claims (9)
1. A building element forming robot assembly, characterized by: comprises a building component forming robot (100) and a building 3D printing robot (200), wherein the building component forming robot is used for forming a die cavity from a template (90), the building 3D printing robot is used for conveying building cementing materials to the die cavity,
the building component forming robot (100) comprises a base (10), a first walking system (20), a first frame body (30), a lifting system (40), at least one grabbing leveling system (50), at least one auxiliary supporting system (60) and a first fixing system (80), wherein the first walking system (20) and the first fixing system (80) are arranged at the bottom of the base (10), the first frame body (30) is arranged at the base (10), the lifting system (40) comprises a lifting-controllable first lifting frame (41), the first lifting frame (41) is in sliding connection with the first frame body (30), the grabbing leveling system (50) comprises a base (51) arranged at the first lifting frame (41) and a plurality of telescopic rods (53) which are rotatably connected with the base (51) in a telescopic manner, and the auxiliary supporting system (60) comprises a telescopic bracket (61) which is rotatably arranged at the first lifting frame (41) and is telescopic and controllable;
the building 3D printing robot comprises a bottom frame (210), a conveying system (240), a mixing system (250) and a climbing system (260) arranged on the bottom frame (210), wherein the climbing system (260) drives the mixing system (250) to conduct lifting movement, the mixing system (250) is connected to the conveying system (240), the mixing system (250) is used for mixing raw materials poured into building components to obtain building cementing materials, and the conveying system (240) is used for conveying the building cementing materials in the mixing system (250) to a die cavity.
2. The building element molding robot assembly of claim 1, wherein: the building element forming robot (100) further comprises at least one telescopic and controllable mechanical arm (70) which is slidably arranged on the first lifting frame (41), two grabbing leveling systems (50) of the building element forming robot are arranged at the extending end of the mechanical arm (70) in the vertical direction, one grabbing leveling system (50) is arranged at the extending end of the mechanical arm (70) in the horizontal direction, and the other grabbing leveling system (50) is arranged at the extending end of the mechanical arm (70) in the horizontal direction.
3. The building element molding robot assembly of claim 2, wherein: the lifting system (40) further comprises a first hydraulic control device and a first telescopic column (43), the first telescopic column (43) is connected with the first lifting frame (41), and the first hydraulic control device drives the first telescopic column (43) to extend or retract so as to drive the first lifting frame (41) to ascend or descend.
4. A building element molding robot assembly according to claim 3, wherein: the building element molding robot (100) further comprises a base (10) provided with a telescopic supporting rod (11) with telescopic control along the horizontal direction, and when the telescopic supporting rod (11) and the telescopic support (61) are in an extending state, the telescopic supporting rod (11), the telescopic support (61) and the first telescopic column (43) form a triangular structure.
5. The building element molding robot assembly of claim 1, wherein: the conveying system (240) comprises a pressurizing system (241) and a conveying pipeline (243), the conveying pipeline (243) comprises a first conveying pipeline (244) and a second conveying pipeline (245), one end of the first conveying pipeline (244) is communicated with the mixing system (250), the other end of the first conveying pipeline (244) is communicated with the second conveying pipeline (245), the first conveying pipeline (244) is of a flexible structure, and the pressurizing system (241) drives building cementing materials in the mixing system (250) to sequentially pass through the first conveying pipeline (244) and the second conveying pipeline (245) to be output.
6. The building element molding robot assembly of claim 5, wherein: one end of the second conveying pipeline (245) is communicated with the first conveying pipeline (244), and the other end of the second conveying pipeline (245) is of an arc-shaped bending structure.
7. The building element molding robot assembly of claim 1, wherein: the building 3D printing robot (200) further comprises a batching system (270) connected to the mixing system (250), whereby the batching system (270) delivers raw materials poured by building elements to the mixing system (250).
8. The building element molding robot assembly of claim 7, wherein: the building 3D printing robot (200) further comprises a metering system, the metering system comprises a first metering system (281) and a second metering system (283), the first metering system (281) weighs raw materials which are conveyed to the mixing system (250) by the batching system (270) and are poured by building components, and the second metering system (283) weighs building cementing materials which are output by the conveying system (240).
9. The building element molding robot assembly of claim 1, wherein: the climbing system (260) comprises a second frame body (261), a second lifting frame (262), a second telescopic column (263), a connecting portion (264) and a power system, wherein the second frame body (261) is arranged on the bottom frame (210), the second lifting frame (262) is connected with the second frame body (261) in a sliding mode, one end of the connecting portion (264) is installed on the second lifting frame (262), the other end of the connecting portion (264) is connected with the mixing system (250), and the power system drives the second telescopic column (263) to extend or retract to drive the second lifting frame (262) to ascend or descend so as to drive the connecting portion (264) to move so as to enable the mixing system (250) to ascend or descend.
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| CN111851295B (en) * | 2019-08-26 | 2021-12-28 | 东南大学 | Intelligent bridge pier template loading and unloading device |
| CN112192542B (en) * | 2020-10-15 | 2022-01-14 | 安徽新工科智能科技有限责任公司 | Automatic loading robot |
| CN112643427B (en) * | 2020-12-07 | 2022-06-07 | 安徽浩淼建筑工程有限公司 | Intelligent building robot for high-rise building outer wall construction |
| CN114792307B (en) * | 2022-04-24 | 2022-11-18 | 广东天太机器人有限公司 | Production system and method comprising industrial robot |
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