CN110130663B - Mechanical claw capable of building indoor wall top - Google Patents
Mechanical claw capable of building indoor wall top Download PDFInfo
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- CN110130663B CN110130663B CN201910482900.7A CN201910482900A CN110130663B CN 110130663 B CN110130663 B CN 110130663B CN 201910482900 A CN201910482900 A CN 201910482900A CN 110130663 B CN110130663 B CN 110130663B
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- 210000000078 claw Anatomy 0.000 title claims abstract description 15
- 239000004570 mortar (masonry) Substances 0.000 claims abstract description 157
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 230000005540 biological transmission Effects 0.000 claims description 33
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000011449 brick Substances 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 230000036642 wellbeing Effects 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention belongs to the technical field of construction machinery, and discloses a mechanical claw capable of building an indoor wall roof, which comprises a movable base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is arranged on the movable base; the mortar laying mechanism comprises a mortar hopper and a mortar laying head, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the mortar laying head is connected with a mortar laying head pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit. The gripper capable of building the indoor wall top not only can be used for building a wall body in a large space, but also can be used for building the wall body in a limited space position, which is close to the wall top, in the indoor space, so that labor-intensive physical strength is liberated, and the wall building efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of construction machinery, and particularly relates to a mechanical claw capable of building an indoor wall top.
Background
The construction industry is a pillar industry of national economy, and plays an important role in comprehensively constructing the well-being society. Along with the development of building commercialization, the construction progress is quickened, the engineering period is shortened, the investment benefit is improved, and the method becomes a central link of building commercialization.
The masonry structure is a large and wide structural form in China, and is suitable for various civil buildings such as houses, schools and hospitals. At present, the wall body of the house is mostly built by red bricks or cement bricks in a certain piling mode by manual operation, and the manual wall building has low efficiency, high labor intensity and severe working environment. Along with the progress of science and technology, a plurality of automatic wall building machines gradually appear to replace manual masonry, but the existing automatic wall building machines have great limitations in actual construction, such as the need of a large enough space above a wall body, and the indoor position close to a wall top cannot be built.
Disclosure of Invention
The present invention is directed to a gripper for use in laying interior wall tops that overcomes one or more of the problems set forth above.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The mechanical claw comprises a movable base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is arranged on the movable base, the masonry grasping mechanism comprises a grasping bracket rotationally connected with the mechanical arm, a mounting plate is fixedly arranged at the bottom of the grasping bracket, a basic clamping unit is arranged on the mounting plate, and the basic clamping unit is connected with a rotating mechanism which enables the basic clamping unit to rotate around the axis of the basic clamping unit; the mortar laying mechanism comprises a mortar hopper and a mortar laying head, the mortar hopper is arranged on the movable base, the mortar laying head is arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the mortar laying head is connected with a mortar laying head pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit.
Further, the basic clamping unit comprises a clamp base and a first screw rod sliding table arranged on one side of the clamp base, the bottom of the first screw rod sliding table is fixedly connected to the mounting plate, a sliding block is arranged in the middle of the first screw rod sliding table, and the sliding block is connected with the output end of the grabbing motor through a screw rod; one end of the top of the holder base is provided with a gear base, the other end of the top of the holder base is provided with a gear seat, the gear base is provided with a slide plate gear, and the gear seat is provided with a front end gear; a center shaft rod extending towards the direction of the slide plate gear is arranged at the axis of the front end gear, a first track wheel and a second track wheel are sleeved on the center shaft rod at intervals, the first track wheel is in meshed connection with the slide plate gear through a first rack plate, the second track wheel penetrates through the first track wheel through a second rack plate and is in meshed connection with the slide plate gear, and the first rack plate and the second rack plate are positioned on two sides of the slide plate gear; one end, far away from the second rail wheel, of the second rack plate is connected with the sliding block in a clamping way; a first clamping rod and a second clamping rod are symmetrically arranged on two sides of the front end gear, which are positioned at the central axis of the front end gear, and the front end gear is respectively connected with the first clamping rod and the second clamping rod in a sliding manner; one end of the first clamping rod bypasses the second rail wheel to be connected with the first rail wheel in a sliding way, and the other end of the first clamping rod is fixedly provided with a first clamping plate; one end of the second clamping rod is in sliding connection with the second track wheel, and a second clamping plate is fixedly arranged at the other end of the second clamping rod; the bottom of holder base is provided with the holder footing, holder footing with adorn admittedly in slide rail sliding connection on the mounting panel.
Further, the rotating mechanism comprises a rotating motor frame fixedly arranged on the mounting plate, a rotating motor is fixedly arranged on the rotating motor frame, and the output end of the rotating motor is meshed and connected with the front end gear of the basic clamping unit through a transmission mechanism.
Further, a plurality of basic clamping units are arranged on the mounting plate side by side.
Further, the device also comprises a translation mechanism for controlling the translation of each basic clamping unit, wherein the translation mechanism comprises a translation transmission rod and a translation limit rod which are arranged along the direction perpendicular to the axis of the basic clamping unit, two ends of the translation transmission rod are movably connected with the grabbing bracket, and two ends of the translation limit rod are fixedly connected with the grabbing bracket; the translational transmission rod is connected with the output end of the translational motor through a second screw rod sliding table, the position, corresponding to each basic clamping unit, on the translational transmission rod is connected with the basic clamping unit through a translational connecting piece, each translational connecting piece is connected with the translational limiting rod in a sleeved mode, and limiting sleeves are respectively arranged on two sides, located on each translational connecting piece, of the translational limiting rod; all the translational connecting pieces are fixedly connected with the corresponding basic clamping units, one translational connecting piece at the edge of all the translational connecting pieces is fixedly connected with the translational transmission rod, the rest of the translational connecting pieces are connected with the translational transmission rod in a sleeved mode, and compression springs are arranged between two adjacent translational connecting pieces on the translational transmission rod.
Further, a gripping mechanism translation table is arranged at one end, connected with the masonry gripping mechanism, of the mechanical arm, a gripping mechanism translation slide bar is arranged on the gripping mechanism translation table, and the gripping bracket is in sliding connection with the gripping mechanism translation slide bar; the gripping mechanism translation table is also provided with a gripping mechanism translation control motor, and the output end of the gripping mechanism translation control motor is connected with the gripping bracket.
Further, a mortar laying head translation table is further arranged on the mounting plate, a mortar laying head translation sliding rod is arranged on the mortar laying head translation table, a mortar laying head support is sleeved on the mortar laying head translation sliding rod, the mortar laying head support is connected with an output end of a mortar laying head translation motor for controlling the mortar laying head translation sliding rod to slide on the mortar laying head translation sliding rod, a lifting sliding rail is arranged on the mortar laying head support, and the mortar laying head is in sliding connection with the lifting sliding rail through an L-shaped sliding block, and the L-shaped sliding block is connected with an output end of the mortar laying head lifting control motor.
Further, the mortar laying head pulling and holding mechanism comprises a mortar laying head longitudinal sliding table which is arranged on the mortar laying head support and is perpendicular to the mortar laying head translation table, a mortar laying head longitudinal sliding bar is arranged on the mortar laying head longitudinal sliding table, a longitudinal pulling and holding sliding block is arranged on the mortar laying head longitudinal sliding bar, and the longitudinal pulling and holding sliding block is connected with an output end of a mortar laying head longitudinal sliding control motor arranged on the side part of the mortar laying head longitudinal sliding table; the bottom of the lifting slide rail is hinged with the mortar laying head support, and one side, deviating from the mortar laying head, of the top of the lifting slide rail is connected with the longitudinal pulling sliding block through a connecting rod.
Further, two sides of the bottom of the mortar laying head are provided with mortar laying baffles.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects or advantages:
The mechanical claw capable of building the indoor wall top can not only build the wall body with a large space, but also build the wall body at a limited space position which is close to the wall top indoors, so that labor-intensive physical strength is liberated, and the wall building efficiency is improved.
Specific embodiments of the invention are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not limited in scope thereby. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a masonry gripping mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of a basic clamping unit according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a rotating mechanism and a translating mechanism in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be noted that, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship conventionally put in use of the product of the present invention as understood by those skilled in the art, merely for convenience of describing the present invention and simplifying the description, and is not indicative or implying that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for understanding as indicating or implying a relative importance.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate medium. It will be apparent to those skilled in the art that the foregoing terms are used in the specific meaning of the embodiments of the present invention and that the technical solutions of the embodiments of the present invention will be clearly and fully described, and that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
As shown in fig. 1 to 4, the embodiment of the invention provides a gripper capable of laying indoor wall tops, which comprises a movable base 100, a mechanical arm 200, a masonry gripping mechanism 300 and a mortar laying mechanism, wherein the mechanical arm 200 is arranged on the movable base 100, the masonry gripping mechanism 300 comprises a gripping bracket 301 rotatably connected with the mechanical arm 200, the bottom of the gripping bracket 301 is fixedly provided with a mounting plate 302, the mounting plate 302 is provided with a basic clamping unit, and the basic clamping unit is connected with a rotating mechanism which enables the basic clamping unit to rotate around the axis of the basic clamping unit; the mortar laying mechanism comprises a mortar bucket 401 and a mortar laying head 403, wherein the mortar bucket 401 is arranged on the movable base 100, the mortar laying head 403 is arranged at the upper position of the basic clamping unit, and the mortar bucket 401 is connected with the mortar laying head 403 through a conveying pipeline 402; to the mortar applying head 403, a mortar applying head pulling mechanism for moving the mortar applying head toward the tail end of the basic clamping unit is connected.
The basic clamping unit in the embodiment of the invention comprises a clamp base 303 and a first screw rod sliding table 304 arranged on one side of the clamp base 303, wherein the bottom of the first screw rod sliding table 304 is fixedly connected to a mounting plate 302, a sliding block 305 is arranged in the middle of the first screw rod sliding table 304, and the sliding block 305 is connected with the output end of a clamping motor 307 through a screw rod 306; one end of the top of the holder base 303 is provided with a gear base 308, the other end is provided with a gear seat 309, the gear base 308 is provided with a slide plate gear 310, and the gear seat 309 is provided with a front end gear 311; a center shaft rod 312 extending towards the direction of the slide plate gear 310 is arranged at the axis of the front end gear 311, a first track wheel 313 and a second track wheel 314 are sleeved on the center shaft rod 312 at intervals, the first track wheel 313 is meshed with the slide plate gear 310 through a first rack plate 315, the second track wheel 314 penetrates through the first track wheel 313 through a second rack plate 316 and is meshed with the slide plate gear 310, and the first rack plate 315 and the second rack plate 316 are positioned on two sides of the slide plate gear 310; one end of the second rack plate 316, which is far away from the second rail wheel 314, is connected with the sliding block 305 in a clamping way; the front end gear 311 is symmetrically provided with a first clamping rod 317 and a second clamping rod 318 on two sides of the central axis thereof, and the front end gear 311 is simultaneously connected with the first clamping rod 317 and the second clamping rod 318 in a sliding manner; one end of the first clamping rod 317 bypasses the second rail wheel 314 to be connected with the first rail wheel 313 in a sliding way, and the other end of the first clamping rod 317 is fixedly provided with a first clamping plate 319; one end of the second clamping rod 318 is slidably connected with the second rail wheel 314, and the other end of the second clamping rod is fixedly provided with a second clamping plate 320; the bottom of the holder base 303 is provided with holder feet 321, and the holder feet 321 are slidably connected with slide rails 322 fixedly mounted on the mounting plate 302.
The rotating mechanism in the embodiment of the invention comprises a rotating motor frame 323 fixedly arranged on the mounting plate 302, a rotating motor 324 is fixedly arranged on the rotating motor frame 323, and the output end of the rotating motor 324 is meshed and connected with the front end gear 311 of the basic clamping unit through a transmission mechanism.
In a specific implementation process, only one basic clamping unit or a plurality of basic clamping units can be arranged on the mounting plate 302 in the embodiment of the invention, when the plurality of basic clamping units are arranged, the embodiment of the invention further comprises a translation mechanism for controlling the translation of each basic clamping unit, wherein the translation mechanism comprises a translation transmission rod 325 and a translation limit rod 326 which are arranged along the direction perpendicular to the axis of the basic clamping unit, two ends of the translation transmission rod 325 are movably connected with the gripping bracket 301, and two ends of the translation limit rod 325 are fixedly connected with the gripping bracket 301; the translation transmission rod 326 is connected with the output end of the translation motor 328 through a second screw rod sliding table 327, the position of the translation transmission rod 325 corresponding to each basic clamping unit is respectively connected with the basic clamping unit through a translation connecting piece 329, each translation connecting piece 329 is sleeved with a translation limiting rod 326, and limiting sleeves 330 are respectively arranged on two sides of each translation connecting piece 329 on the translation limiting rod 326; all the translational connecting pieces 329 are fixedly connected with the corresponding basic clamping units, one translational connecting piece 329 at the edge of all the translational connecting pieces 329 is fixedly connected with the translational transmission rod 325, the rest of the translational connecting pieces 329 are sleeved with the translational transmission rod 325, and a compression spring 331 is arranged between two adjacent translational connecting pieces 329 on the translational transmission rod 325.
It should be noted that, the mechanical arm 200 in the embodiment of the present invention may be an existing six-axis mechanical arm, or may be another mechanical arm, which is not limited herein. The transmission mechanism in the embodiment of the present invention adopts an existing transmission mechanism, such as a gear transmission mechanism, but other existing transmission mechanisms can be adopted, which is not limited herein. In addition, the conveying pipeline 402 in the embodiment of the invention is formed by splicing a plurality of hard pipes and a plurality of hoses, the hoses are mainly arranged at the movable positions of the mechanical arm 200, and mortar in the mortar bucket 401 is conveyed from the conveying pipeline 402 to the mortar laying head 403 through a conveying pump.
The basic working principle of the gripper capable of building the indoor wall top provided by the embodiment of the invention is as follows, and in order to facilitate understanding, the gripper provided with three basic clamping units and capable of building the indoor wall top is described in detail by taking the gripper provided with three basic clamping units as an example:
Firstly, determining the running route of the wall building mechanical claw according to the position of the wall body and the relevant position of each raw material on the running route.
In a specific implementation process, the moving base 100 in the embodiment of the present invention adopts a track type moving base 100 (other forms of moving bases 100 may also be adopted), two tracks for moving the moving base 100 are laid in advance according to the position of the wall, and then the moving base 100 of the wall-building mechanical claw is mounted on the tracks. And then placing the raw materials on one side of the rail far away from the wall to be built.
Then, when the wall is built, the wall building mechanical claw moves along the axis direction of the wall, and meanwhile, the mortar laying mechanism is controlled to lay the transverse mortar of the wall along the way.
In order to keep no dead angle in the process of laying transverse mortar, in a further embodiment, a mortar laying head translation table 332 is further arranged on the mounting plate 302, a mortar laying head translation slide bar 333 is arranged on the mortar laying head translation table 332, a mortar laying head bracket 334 is sleeved on the mortar laying head translation slide bar 333, the mortar laying head bracket 334 is connected with an output end of a mortar laying head translation motor 335 for controlling the mortar laying head bracket 334 to slide on the mortar laying head translation slide bar 333, a lifting slide rail 336 is arranged on the mortar laying head bracket 334, the mortar laying head 403 is in sliding connection with the lifting slide rail 336 through an L-shaped slide block 337, and the L-shaped slide block 337 is connected with an output end of a mortar laying head lifting control motor 338. Through setting up mortar laying head translation platform 332 for mortar laying head 403 can be in horizontal direction lateral shifting, ensures that mortar laying does not appear the dead angle, through setting up lift slide rail 336, can adjust mortar laying head 403 and the vertical ascending distance of wall body, ensures that mortar does not splash, avoids extravagant.
After the transverse mortar is laid, the clamping of the building blocks is carried out, and the basic principle of the clamping of the building blocks is as follows:
The gripping motor 307 on the basic gripping unit drives the sliding block 305 to move towards the direction of the gripping motor 307, the sliding block 305 drives the second rack plate 316 to move, under the action of the sliding plate gear 310, the first rack plate 315 moves towards the direction away from the gripping motor 307, the first rack plate 315 and the second rack plate 316 respectively drive the first rail wheel 313 and the second rail wheel 314 to move towards each other, the first rail wheel 313 and the second rail wheel 314 then drive the first gripping rod 317 and the second gripping rod 318 to move towards each other, and the first gripping rod 317 and the second gripping rod 318 drive the first gripping plate 319 and the second gripping plate 320 at the end parts of the first gripping rod 317 and the second gripping rod 318 to move towards each other, so that the gripping of the building blocks is realized.
In the embodiment of the invention, three basic clamping units are arranged, so that three building blocks can be clamped at the same time. Because the building blocks of the wall body are required to be arranged in an up-down staggered mode, non-whole length building blocks exist, when the non-whole length building blocks are grabbed, the basic clamping units at the most edge are used for clamping the non-whole length building blocks according to actual conditions, for example, when the non-whole length building blocks are required to be arranged at the most right side of the wall body, the basic clamping units at the most right side are used for clamping the non-whole length building blocks; when the non-whole length building block is required to be arranged at the leftmost side of the wall body, the non-whole length building block is clamped by the basic clamping unit at the leftmost side, and when the non-whole length building block is built, the building block is clamped by the basic clamping unit at the left side or the right side, and the rest basic clamping units do not clamp the building block.
After the block is clamped, the outer side of the non-whole length block clamped by the same basic clamping unit is in the same plane with the outer side of the clamped whole length block. After the building blocks are clamped, the bottom surfaces of the building blocks are lower than the mounting plate, and the intervals between the adjacent building blocks are the same.
After the building blocks are clamped, the movable base 100 is controlled to move to a designated position, the mechanical arm 200 is rotated, and the masonry grasping mechanism 300 is driven to rotate, so that the building blocks reach a horizontal position above a position to be built; then, the rotating motor 324 is controlled to drive the front end gear 311 to rotate, so that the building block rotates by 90 degrees, the side surface of the building block faces upwards, and then the position of the mortar laying head 403 is adjusted, so that the lower edge of the mortar laying head 40 and the upper edge of the building block reach a set distance; mortar is then applied to the sides of each block one by one.
In a specific implementation process, in order to avoid mortar falling from the building block to cause mortar waste when mortar is laid, in a further implementation manner, two sides of the bottom of the mortar laying head 403 are provided with mortar laying baffles 404, and by arranging the mortar laying baffles 404, mortar can be prevented from falling from the building block when mortar is laid, so that the mortar consumption is effectively saved.
The adjacent blocks were assumed to be 2cm apart after the blocks were clamped. After mortar is laid, the mortar is laid, firstly, the mechanical arm 200 and the masonry gripping mechanism 300 are controlled to move downwards, meanwhile, the clamped building blocks are controlled to rotate 90 degrees in opposite directions to reach a masonry position, then the transverse mortar laid before is compressed, the transverse mortar is compressed to a designed thickness, for example, 1cm, then the translation motor 328 drives the translation transmission rod 325 to move to the right (assuming that a wall body is laid from right to left) along a horizontal direction by a certain distance, for example, 3cm, the translation transmission rod 325 drives all the basic clamping units to slide to the right along the corresponding sliding rails 322 through the translation connecting pieces 329, at the moment, the basic clamping units on the right side are not moved any more after moving to the right by 1cm, the corresponding limiting sleeves 330 on the translation limiting rods 326 block the movement direction of the translation transmission rod 325, at the moment, the compression springs 331 between the basic clamping units on the right side and the basic clamping units in the middle are compressed by 2cm; the middle basic clamping unit does not move any more after moving rightwards by 2cm, the movement direction of the basic clamping unit is blocked by the corresponding limiting sleeve 330 on the translational limiting rod 326, and the translational transmission rod continues to move rightwards, at this time, the compression spring 331 between the middle basic clamping unit and the basic clamping unit on the left side is compressed by 1cm; the basic clamping unit on the left side moves rightwards along with the translation transmission rod by 3cm. The basic clamping units sequentially move from left to right for 1cm,2cm and 3cm, and the thickness of the vertical mortar finally becomes 1cm. The clamped blocks complete the masonry. When the non-whole length building block on the leftmost side or the right side of the masonry wall body is constructed, only the leftmost side or the rightmost side is used for clamping the building block, the rest basic clamping units do not clamp the building block, and the movement of the rest parts is completely consistent with the working mode when the whole length building block is constructed. The lengths 1cm,2cm, and 3cm are not fixed in size, and are merely illustrative of the working principle, and are not intended to limit the present invention.
When the wall is built to be close to the top surface of the floor, clamping of the building blocks is consistent with the method, transverse mortar and longitudinal mortar of the building blocks are also laid through the mortar laying heads 403 according to the method, at the moment, the side surfaces of the building blocks are still upward, and the front end gear is assumed to rotate 90 degrees clockwise; then, when building the wall, the masonry gripping mechanism 300 is rotated clockwise by 180 ° around the axis of the end portion of the mechanical arm 200 connected thereto, and the basic clamping unit rotates the clamped block counterclockwise by 90 ° around the central shaft 312, at this time, the bottom of the mounting plate 302 is upward, and the first clamping plate 319 and the second clamping plate 320 of the basic clamping unit maintain the state of clamping the block downward, and then the masonry is performed in the same manner as described above, and it is noted that the masonry sequence of the blocks is changed from left to right at this time.
In a specific implementation process, since the mortar laying head 403 is located right above the basic clamping unit, in order to avoid that the mortar laying head 403 is located in a plane of a masonry wall and occupies a masonry space and affects masonry of the wall close to a roof, the embodiment of the invention provides a mortar laying head pulling and holding mechanism for moving the mortar laying head 403 towards the tail end of the basic clamping unit, specifically, the pulling and holding mechanism comprises a mortar laying head longitudinal sliding table 339 which is arranged on a mortar laying head bracket 334 and is perpendicular to a mortar laying head translation table 332, a mortar laying head longitudinal sliding bar 340 is arranged on the mortar laying head longitudinal sliding table 339, a longitudinal pulling and holding sliding block 341 is arranged on the mortar laying head longitudinal sliding bar 340, and the longitudinal pulling and holding sliding block 341 is connected with an output end of a mortar laying head longitudinal sliding control motor 342 which is arranged on the side part of the mortar laying head longitudinal sliding table 339; the bottom of the lifting slide rail 336 is hinged with the mortar laying head bracket 334, and one side of the top of the lifting slide rail 336, which is away from the mortar laying head 403, is connected with the longitudinal pulling slide block 341 through a connecting rod 343. After the masonry gripping mechanism 300 rotates 180 ° clockwise around the axis of the end connected to the mechanical arm 200, the longitudinal sliding control motor 342 of the mortar laying head drives the longitudinal pulling sliding block 341 to move along the longitudinal sliding rod 340 of the mortar laying head towards the tail end of the basic gripping unit, and the connecting rod 343 connected with the longitudinal pulling sliding block 341 drives the lifting sliding rail 336 to rotate around the tail end of the basic gripping unit at the position hinged to the mortar laying head bracket 334, so that the mortar laying head is outside the plane of the wall body, and the wall body close to the top surface of the floor can be built smoothly.
When the highest distance from the beam/floor bottom surface of the wall body to be built reaches the national requirement of oblique building, the mechanical claw is controlled to conduct the building in a 45-degree oblique building mode, the clamping of the building blocks is consistent with the mode of approaching the floor top surface, but only one basic clamping unit at the most edge is used for clamping, the basic clamping unit is used for clamping the building blocks at the most right side for illustration, after the building blocks are clamped, the basic clamping unit rotates the clamped building blocks by 180 degrees clockwise around the center shaft 312, mortar is laid along the long side direction of the building blocks, then the masonry clamping mechanism 300 rotates by 180 degrees anticlockwise around the axis of the end part connected with the mechanical arm 300 on the mechanical arm, meanwhile, the basic clamping unit rotates the clamped building blocks by 45 degrees clockwise around the center shaft 312, at the moment, the bottom of the mounting plate 302 faces upwards, the first clamping plate 319 and the second clamping plate 320 of the basic clamping unit incline by 45 degrees, and then the building blocks to the top of the wall body one by one left to right. After the long-side mortar of the building block is laid, the mortar laying head moves out of the plane of the wall body in the second-stage building mode, so that the blocking of building the top building block is avoided.
The whole wall body can be built through the three-stage wall body.
In a specific implementation process, a wall may have a position where the mobile base 100 cannot reach, so that in order to be able to construct such a wall, in a further embodiment, a gripping mechanism translation table 201 is provided at one end of the mechanical arm 200 connected to the masonry gripping mechanism 300, a gripping mechanism translation slide bar 202 is provided on the gripping mechanism translation table 201, and the gripping bracket 301 is slidably connected to the gripping mechanism translation slide bar 202; the grasping mechanism translation table 201 is further provided with a grasping mechanism translation control motor 203, and an output end of the grasping mechanism translation control motor 203 is connected with the grasping bracket 301. By arranging the translation table 201 of the gripping mechanism, the moving range of the masonry gripping mechanism 300 can be enlarged, so that the wall body at a position where the moving base 100 cannot reach can be built; further, when the blocks are clamped, the basic clamping units can be switched by the translation table 201 of the clamping mechanism, so that each basic clamping unit can clamp the blocks from a specified position under the condition that the wall building mechanical claw is not moved.
The mechanical claw capable of building the indoor wall top provided by the embodiment of the invention not only can be used for building the wall body with a large space, but also can be used for building the wall body at a limited space position which is close to the wall top indoors, so that labor-intensive physical strength is liberated, and the wall building efficiency is improved.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The mechanical claw capable of building the indoor wall top is characterized by comprising a movable base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is arranged on the movable base, the masonry grasping mechanism comprises a grasping bracket rotationally connected with the mechanical arm, a mounting plate is fixedly arranged at the bottom of the grasping bracket, a basic clamping unit is arranged on the mounting plate, and the basic clamping unit is connected with a rotating mechanism which enables the basic clamping unit to rotate around the axis of the basic clamping unit; the mortar laying mechanism comprises a mortar hopper and a mortar laying head, the mortar hopper is arranged on the movable base, the mortar laying head is arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the mortar laying head is connected with a mortar laying head pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit; two sides of the bottom of the mortar laying head are provided with mortar laying baffles;
The basic clamping unit comprises a clamp base and a first screw rod sliding table arranged on one side of the clamp base, the bottom of the first screw rod sliding table is fixedly connected to the mounting plate, a sliding block is arranged in the middle of the first screw rod sliding table, and the sliding block is connected with the output end of the grabbing motor through a screw rod; one end of the top of the holder base is provided with a gear base, the other end of the top of the holder base is provided with a gear seat, the gear base is provided with a slide plate gear, and the gear seat is provided with a front end gear; a center shaft rod extending towards the direction of the slide plate gear is arranged at the axis of the front end gear, a first track wheel and a second track wheel are sleeved on the center shaft rod at intervals, the first track wheel is in meshed connection with the slide plate gear through a first rack plate, the second track wheel penetrates through the first track wheel through a second rack plate and is in meshed connection with the slide plate gear, and the first rack plate and the second rack plate are positioned on two sides of the slide plate gear; one end, far away from the second rail wheel, of the second rack plate is connected with the sliding block in a clamping way; a first clamping rod and a second clamping rod are symmetrically arranged on two sides of the front end gear, which are positioned at the central axis of the front end gear, and the front end gear is respectively connected with the first clamping rod and the second clamping rod in a sliding manner; one end of the first clamping rod bypasses the second rail wheel to be connected with the first rail wheel in a sliding way, and the other end of the first clamping rod is fixedly provided with a first clamping plate; one end of the second clamping rod is in sliding connection with the second track wheel, and a second clamping plate is fixedly arranged at the other end of the second clamping rod; the bottom of holder base is provided with the holder footing, holder footing with adorn admittedly in slide rail sliding connection on the mounting panel.
2. The gripper of claim 1, wherein the rotating mechanism comprises a rotating motor frame fixedly mounted on the mounting plate, a rotating motor is fixedly mounted on the rotating motor frame, and an output end of the rotating motor is meshed and connected with a front end gear of the basic clamping unit through a transmission mechanism.
3. A gripper according to claim 1, wherein a plurality of said basic gripping units are arranged side by side on said mounting plate.
4. A gripper for a wall top in a masonable room according to claim 3, further comprising a translational mechanism for controlling the translational motion of each basic clamping unit, wherein the translational mechanism comprises a translational transmission rod and a translational limit rod which are arranged along the direction perpendicular to the axis of the basic clamping unit, two ends of the translational transmission rod are movably connected with the gripping bracket, and two ends of the translational limit rod are fixedly connected with the gripping bracket; the translational transmission rod is connected with the output end of the translational motor through a second screw rod sliding table, the position, corresponding to each basic clamping unit, on the translational transmission rod is connected with the basic clamping unit through a translational connecting piece, each translational connecting piece is connected with the translational limiting rod in a sleeved mode, and limiting sleeves are respectively arranged on two sides, located on each translational connecting piece, of the translational limiting rod; all the translational connecting pieces are fixedly connected with the corresponding basic clamping units, one translational connecting piece at the edge of all the translational connecting pieces is fixedly connected with the translational transmission rod, the rest of the translational connecting pieces are connected with the translational transmission rod in a sleeved mode, and compression springs are arranged between two adjacent translational connecting pieces on the translational transmission rod.
5. The mechanical claw capable of building an indoor wall top according to claim 1, wherein a gripping mechanism translation table is arranged at one end of the mechanical arm connected with the masonry gripping mechanism, a gripping mechanism translation slide bar is arranged on the gripping mechanism translation table, and the gripping bracket is in sliding connection with the gripping mechanism translation slide bar; the gripping mechanism translation table is also provided with a gripping mechanism translation control motor, and the output end of the gripping mechanism translation control motor is connected with the gripping bracket.
6. The gripper of claim 1, wherein a mortar laying head translation table is arranged on the mounting plate, a mortar laying head translation slide bar is arranged on the mortar laying head translation table, a mortar laying head bracket is sleeved on the mortar laying head translation slide bar, the mortar laying head bracket is connected with an output end of a mortar laying head translation motor for controlling the mortar laying head bracket to slide on the mortar laying head translation slide bar, a lifting slide rail is arranged on the mortar laying head bracket, the mortar laying head is in sliding connection with the lifting slide rail through an L-shaped slide block, and the L-shaped slide block is connected with an output end of the mortar laying head lifting control motor.
7. The mechanical claw capable of building an indoor wall top according to claim 6, wherein the mortar laying head pulling and holding mechanism comprises a mortar laying head longitudinal sliding table which is arranged on the mortar laying head support and is perpendicular to the mortar laying head translation table, a mortar laying head longitudinal sliding bar is arranged on the mortar laying head longitudinal sliding table, a longitudinal pulling and holding sliding block is arranged on the mortar laying head longitudinal sliding bar, and the longitudinal pulling and holding sliding block is connected with an output end of a mortar laying head longitudinal sliding control motor arranged on the side part of the mortar laying head longitudinal sliding table; the bottom of the lifting slide rail is hinged with the mortar laying head support, and one side, deviating from the mortar laying head, of the top of the lifting slide rail is connected with the longitudinal pulling sliding block through a connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482900.7A CN110130663B (en) | 2019-06-04 | 2019-06-04 | Mechanical claw capable of building indoor wall top |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910482900.7A CN110130663B (en) | 2019-06-04 | 2019-06-04 | Mechanical claw capable of building indoor wall top |
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| CN110130663A CN110130663A (en) | 2019-08-16 |
| CN110130663B true CN110130663B (en) | 2024-04-26 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3722244A1 (en) * | 1987-07-06 | 1989-01-19 | Michael Hering | Apparatus for producing walls from masonrywork |
| CN106703428A (en) * | 2017-01-19 | 2017-05-24 | 宁波工程学院 | Automatic brick laying machine |
| CN108516343A (en) * | 2018-06-14 | 2018-09-11 | 广州云厦智能设备有限公司 | One kind grabbing brick device |
| CN210177990U (en) * | 2019-06-04 | 2020-03-24 | 沈洋 | Can build gripper on indoor wall top |
-
2019
- 2019-06-04 CN CN201910482900.7A patent/CN110130663B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3722244A1 (en) * | 1987-07-06 | 1989-01-19 | Michael Hering | Apparatus for producing walls from masonrywork |
| CN106703428A (en) * | 2017-01-19 | 2017-05-24 | 宁波工程学院 | Automatic brick laying machine |
| CN108516343A (en) * | 2018-06-14 | 2018-09-11 | 广州云厦智能设备有限公司 | One kind grabbing brick device |
| CN210177990U (en) * | 2019-06-04 | 2020-03-24 | 沈洋 | Can build gripper on indoor wall top |
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| CN110130663A (en) | 2019-08-16 |
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