CN110158978B - Full-automatic wall building system and wall building method - Google Patents
Full-automatic wall building system and wall building method Download PDFInfo
- Publication number
- CN110158978B CN110158978B CN201910574605.4A CN201910574605A CN110158978B CN 110158978 B CN110158978 B CN 110158978B CN 201910574605 A CN201910574605 A CN 201910574605A CN 110158978 B CN110158978 B CN 110158978B
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- wall
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000011449 brick Substances 0.000 claims abstract description 124
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 238000010276 construction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 description 6
- 239000004570 mortar (masonry) Substances 0.000 description 4
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011469 building brick Substances 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000007723 transport mechanism 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
Landscapes
- 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 relates to a full-automatic wall building system and a wall building method, comprising a building platform; the first robot is used for grabbing bricks in the brick pile; the conveying and positioning device is arranged at one side of the first robot and used for conveying and positioning bricks grabbed by the first robot; the second robot is arranged on one side of the conveying and positioning device and is used for grabbing the positioned bricks and building the wall on the building table; the conveying and positioning device comprises a conveying mechanism, a first driving mechanism, a second driving mechanism and a positioning table; the first driving mechanism and the positioning table are respectively positioned at two sides of the conveying direction of the conveying mechanism; when the conveying mechanism conveys the brick to the target position, the first driving mechanism is used for driving the brick to move to the positioning table to adjust the horizontal direction position of the brick, and the second driving mechanism is used for adjusting the vertical direction position of the brick on the positioning table. The invention can simplify the brick carrying structure of the robot.
Description
Technical Field
The invention belongs to the technical field of building equipment, and particularly relates to a full-automatic wall building system and a wall building method.
Background
The wall body of building site is built by laying bricks or stones to the majority adopts the manual work, and intensity of labour is big, and personnel quantity demand is more, and work efficiency is lower simultaneously to easily there is human error. At present, the artificial work cannot meet the increasingly developing demands of the building industry. To solve these problems, robots have been used in the prior art to construct walls.
For example, chinese patent document with publication number CN 101694130B discloses a wall building robot, wherein the wall building robot is carried and built by a manipulator, bricks are carried by an aerial ladder, an injection mechanism is driven by a motor to drive cement to the building position, and the wall building robot integrally moves in a stepping manner to simulate the wall building action of a person. Although the wall building robot can reduce the labor intensity to a certain extent and improve the working efficiency and the working quality, the actions of carrying bricks are completed by using an aerial ladder, so that the wall building robot has more structural parts and a complex structure.
Disclosure of Invention
The invention aims to solve the problem that the brick moving structure of the existing wall building robot is complex, and provides a full-automatic wall building system and a wall building method.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a fully automated walling system comprising: a masonry table; the first robot is used for grabbing bricks in the brick pile; the conveying and positioning device is arranged at one side of the first robot and used for conveying and positioning bricks grabbed by the first robot; the second robot is arranged on one side of the conveying and positioning device and is used for grabbing the positioned bricks and building the wall on the building table; the conveying and positioning device comprises a conveying mechanism, a first driving mechanism, a second driving mechanism and a positioning table; the first driving mechanism and the positioning table are respectively positioned at two sides of the conveying direction of the conveying mechanism; when the conveying mechanism conveys the brick to the target position, the first driving mechanism is used for driving the brick to move to the positioning table to adjust the horizontal direction position of the brick, and the second driving mechanism is used for adjusting the vertical direction position of the brick on the positioning table.
Further, the first driving mechanism comprises a first cylinder and a bracket; the tail end of the conveying mechanism is provided with a guide rail; a first push rod in the first cylinder is fixedly connected with the bracket; the bracket is movably matched with the guide rail; the first cylinder pushes the brick through the bracket.
Further, the second driving mechanism comprises a second cylinder and a baffle plate; a second push rod in the second cylinder is fixedly connected with the baffle, and the second cylinder pushes the brick through the baffle; the positioning table is also provided with a limiting plate, and the second driving mechanism and the limiting plate are respectively positioned at two opposite sides of the positioning table along the driving direction of the second driving mechanism.
Further, the conveying mechanism is provided with a photoelectric sensor and a reflecting mirror, and bricks at the target position of the conveying mechanism are identified through the combination of the photoelectric sensor and the reflecting mirror.
Further, the full-automatic wall building system also comprises a base, a first rail and a second rail; the second track is arranged at the top end of the base, and the second robot is movably matched with the two second tracks which are arranged in parallel; the first track is arranged on the ground, and the masonry table is movably matched with the two first tracks which are arranged in parallel.
Further, the base, the second track and the masonry table are parallel to each other, and the base, the second track and the masonry table are perpendicular to the first track.
Further, the conveying and positioning device, the second robot and the masonry table are symmetrically arranged on two sides of the first robot.
Further, the brick pillar comprises a whole brick pillar and a half brick pillar; the whole brick pile and the half brick pile are respectively provided with a conveying and positioning device.
The invention also provides a full-automatic wall building method, which comprises the following steps:
s1: grabbing bricks in a brick pile through a first robot;
S2: conveying and positioning bricks grabbed by the first robot through a conveying and positioning device;
S3: grabbing the positioned bricks by a second robot and building the wall on a building table until the wall is built.
Further, when the wall is built, the building platform is driven to move out so as to build the wall on the other building platform.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. When the brick is carried, the first robot, the conveying and positioning device and the second robot cooperate with each other, so that the brick carrying structure of the robot can be simplified, and meanwhile, the brick carrying actions are consistent, so that the working efficiency can be improved; the first driving mechanism and the second driving mechanism can adjust the position of the brick to the position most suitable for carrying by the second robot, so that the second robot can quickly adjust the deflection angle, the rotation time is shortened, and the working efficiency is improved;
2. The brick at the tail end of the conveying mechanism is identified through the combination of the photoelectric sensor and the reflector, so that the brick on the conveying mechanism can be timely driven to be supplemented by the first robot, and the opening of the first driving mechanism can be flexibly controlled;
3. The second robot is used for building bricks on the building platform, after the building is completed, the wall body is conveyed to a designated position along the first track by the building platform to be unloaded, and meanwhile, the other building platform without the wall body is placed at the designated position for the second robot to perform wall body building, so that the working plane of the second robot building can be replaced only by replacing the building platform, and the building difficulty of the second robot is reduced.
Drawings
FIG. 1 is a plan view of a fully automated walling system according to an embodiment of the present invention;
FIG. 2 is a diagram of a transport mechanism according to an embodiment of the present invention;
Fig. 3 is a block diagram of a wall according to an embodiment of the present invention.
In the figure: the robot comprises a first robot, a second robot, a 3 conveying mechanism, a 301 conveying belt, a 302 positioning table, a 305 first cylinder, a 306 first push rod, a 307 second cylinder, a 308 second push rod, a 309 support, a 310 baffle, a 311 guide rail, a 312 photoelectric sensor, a 313 protective fence, 314 reflectors, 315 limiting plates, a 4 masonry table, 5 bricks, 51 whole bricks, 52 half bricks, 6 first tracks, 7 bases, 8 second tracks and a 9 robot control cabinet.
Detailed Description
The invention will be further described with reference to the following specific examples, but the scope of the invention is not limited thereto:
as shown in fig. 1-2, the fully automatic wall building system according to the embodiment of the invention comprises a building platform 4, a first robot 1, a conveying and positioning device and a second robot 2. The first robot 1 is used for gripping bricks in a brick stack 5. The conveying and positioning device is arranged on one side of the first robot 1 and is used for conveying and positioning bricks grabbed by the first robot 1. The second robot 2 is arranged at one side of the conveying and positioning device and is used for grabbing the positioned bricks and building the wall body on the building table 4. The conveying and positioning device comprises a conveying mechanism 3, a first driving mechanism, a second driving mechanism and a positioning table 302. The first driving mechanism and the positioning table 302 are respectively located at two sides of the conveying direction of the conveying mechanism 3. When the conveying mechanism 3 conveys the brick to the target position, the first driving mechanism is used for driving the brick to move to the positioning table 302 to adjust the horizontal direction position of the brick, and the second driving mechanism is used for adjusting the vertical direction position of the brick on the positioning table 302. When the brick is carried by the embodiment, the brick carrying structure of the robot can be simplified through the mutual cooperation of the first robot 1, the conveying and positioning device and the second robot 2, and meanwhile, the brick carrying actions are consistent, so that the working efficiency can be improved. Meanwhile, bricks are placed at the appointed position of the positioning table 302 through the first driving mechanism and the second driving mechanism, so that the second robot 2 can quickly adjust the deflection angle, the rotation time is shortened, and the working efficiency is improved.
Specifically, the first drive mechanism includes a first cylinder 305 and a bracket 309. The end of the conveying mechanism 3 is provided with a guide rail 311. A first push rod 306 in the first cylinder 305 is fixedly connected to a bracket 309. The bracket 309 is movably fitted to the guide rail 311. First cylinder 305 pushes the brick through bracket 309. The second drive mechanism includes a second cylinder 307 and a shutter 310. A second push rod 308 in the second cylinder 307 is fixedly connected with the baffle 310, and the second cylinder 307 pushes the brick through the baffle 310. The positioning table 302 is further provided with a limiting plate 315, and the second driving mechanism and the limiting plate 315 are respectively located at two opposite sides of the positioning table 302 along the driving direction of the second driving mechanism. The stop plate 315 prevents the brick from falling off the positioning table 302 and serves to limit the position of the brick. The pushing direction of the first push rod 306 is perpendicular to the conveying direction of the conveying mechanism 3, and the pushing direction of the second push rod 308 is the same as the conveying direction of the conveying mechanism 3. When the first push rod 306 is extended onto the conveyor belt 301 of the conveyor mechanism 3, the bricks on the conveyor belt 301 are pushed by the bracket 309. After the brick is sent to the positioning stage 302, the first push rod 306 is automatically retracted while the second push rod 308 is extended. After the second pusher 308 pushes the brick to the designated position of the positioning stage 302 by the shutter 310, the second pusher 308 is retracted.
In addition, the bricks on the conveying mechanism 3 are conveniently and timely supplemented, and the first driving mechanism is timely started. The conveying mechanism 3 is provided with a photoelectric sensor 312 and a reflecting mirror 314, wherein a target position where the brick is located is between the photoelectric sensor 312 and the reflecting mirror 314, and the brick at the target position is identified by combining the photoelectric sensor 312 and the reflecting mirror 314. Wherein the mirror 314 is located at the end of the transfer mechanism 3 and the photo sensor 312 is located at the side of the transfer mechanism 3. The transfer mechanism 3 is provided with two sets of photo sensors 312 and mirrors 314, and when the brick at the forefront of the transfer mechanism 3 is located between the first set of photo sensors 312 and mirrors 314, the brick at the target position is identified, the transfer mechanism 3 stops running, and the first driving mechanism is started. When no brick is detected between the first group of photoelectric sensors 312 and the reflector 314 and between the second group of photoelectric sensors 312 and the reflector 314, the conveying mechanism 3 gives an alarm to remind the first robot 1 to timely supplement the brick on the conveying mechanism 3. Guard rails 313 are provided on both sides of the conveyor 301.
To facilitate movement of the second robot 2, the fully automated walling system further comprises a base 7 and a second track 8. The second track 8 sets up in base 7 top, and second robot 2 movable fit is in two parallel arrangement's second track 8, and the concrete position of second robot 2 on second track 8 is adjusted according to the construction position on the masonry table 4. The full-automatic wall building system further comprises a first track 6 arranged on the ground, and the building platform 4 is movably matched with the two first tracks 6 which are arranged in parallel. The base 7, the second rail 8 and the masonry table 4 are parallel to each other, and the base 7, the second rail 8 and the masonry table 4 are perpendicular to the first rail 6. The second robot 2 builds bricks on the platform 4 of building by laying bricks or stones, after the completion of building, the wall body is transported to the appointed position by the platform 4 of building by laying bricks or stones along first track 6 and is unloaded, and simultaneously another platform 4 of building without wall body is placed in the appointed position and is used for the second robot 2 to build the wall body, so, the working plane that the second robot 2 built by laying bricks or stones only need to be changed to the platform 4 of building by this embodiment, and the difficulty of building by the second robot 2 is reduced.
In order to further improve the working efficiency, the conveying and positioning device, the second robot 2 and the masonry table 4 are symmetrically arranged on two sides of the first robot 1. The embodiment comprises a first robot 1, two second robots 2, two conveying mechanisms 3 and two masonry tables 4 for simultaneous construction. The first robot 1 carries the brick for the conveying and positioning device with bilateral symmetry at the same time, and the second robot 2 with bilateral symmetry of the first robot 1 carries the brick at the same time and builds the wall on the building table 4 at the same time. In this embodiment, each robot corresponds to a robot control cabinet 9, so that specific actions of the robots can be controlled conveniently.
To facilitate the robot 2 to identify the whole brick and the half brick, the present embodiment transports the whole brick and the half brick separately. Specifically, the pack 5 includes a full pack 51 and a half pack 52. The whole brick pillar 51 and the half brick pillar 52 are respectively provided with a conveying and positioning device. The second robot 2 automatically recognizes the whole bricks on the positioning table 302 of the whole brick pile 51 and the half bricks on the positioning table 302 of the half brick pile 52, and selects them as required.
Corresponding to the fully automatic wall building system, the embodiment of the invention also provides a wall building method, which comprises the following steps:
s1: grabbing bricks in a brick pile through a first robot;
S2: conveying and positioning bricks grabbed by the first robot through a conveying and positioning device;
S3: grabbing the positioned bricks by a second robot and building the wall on a building table until the wall is built. When the wall is built, the building platform is driven to move out, so that the wall on the other building platform is built.
When the forefront brick of the conveying mechanism is conveyed to the target position, after being identified by the first group of photoelectric sensors and the reflectors, the first driving device is started to push the brick to the positioning table, the first driving device adjusts the horizontal direction position of the brick, and then the second driving mechanism is used for adjusting the vertical direction position of the brick on the positioning table. When no brick is monitored between the two groups of photoelectric sensors and the reflective mirror, the first robot is driven to grasp the brick. The second robot automatically recognizes the brick on the positioning table, and in the process of carrying the brick by the second robot, the mortar spraying machine sprays mortar to the brick, and then the second robot automatically positions the brick to swing to construct the wall.
For the convenience of the second robot for masonry, the brick pile comprises a whole brick pile and a half brick pile. The whole brick pile and the half brick pile are respectively provided with a conveying and positioning device. Each robot corresponds to a robot control cabinet, and the specific actions of the robots are controlled and regulated by the robot control cabinets. As shown in fig. 3, the second robot positions the position where the brick is placed by itself in the construction process, mortar is sprayed by a mortar spraying machine, the construction is carried out from the first skin (1-6) to the second skin (10-1-10-7), and the wall body moves backwards to the designated position along the first track through the construction table after the construction is completed.
While the embodiments of the present invention have been described in detail, those skilled in the art will appreciate that many modifications are possible in the specific embodiments, and that such modifications are intended to be within the scope of the present invention.
Claims (10)
1. A full-automatic wall building system is characterized in that: comprising the following steps:
A masonry table (4);
A first robot (1) for gripping bricks in a brick stack (5);
The conveying and positioning device is arranged on one side of the first robot (1) and used for conveying and positioning bricks grabbed by the first robot (1);
The second robot (2) is arranged on one side of the conveying and positioning device and is used for grabbing the positioned bricks and building the wall body on the building table (4);
The conveying and positioning device comprises a conveying mechanism (3), a first driving mechanism, a second driving mechanism and a positioning table (302); the first driving mechanism and the positioning table (302) are respectively positioned at two sides of the conveying direction of the conveying mechanism (3); when the conveying mechanism (3) conveys the brick to the target position, the first driving mechanism is used for driving the brick to move to the positioning table (302) so as to adjust the horizontal direction position of the brick, and the second driving mechanism is used for adjusting the vertical direction position of the brick on the positioning table (302).
2. The fully automated walling system according to claim 1, wherein:
The first driving mechanism comprises a first air cylinder (305) and a bracket (309); the tail end of the conveying mechanism (3) is provided with a guide rail (311); a first push rod (306) in the first air cylinder (305) is fixedly connected with the bracket (309); the bracket (309) is movably matched with the guide rail (311); the first cylinder (305) pushes the brick through the bracket (309).
3. The fully automated walling system according to claim 1, wherein:
The second driving mechanism comprises a second air cylinder (307) and a baffle plate (310); a second push rod (308) in a second air cylinder (307) is fixedly connected with the baffle plate (310), and the second air cylinder (307) pushes the brick through the baffle plate (310); the positioning table is also provided with a limiting plate (315), and the second driving mechanism and the limiting plate (315) are respectively positioned at two opposite sides of the positioning table (302) along the driving direction of the second driving mechanism.
4. The fully automated walling system according to claim 1, wherein:
the conveying mechanism (3) is provided with a photoelectric sensor (312) and a reflecting mirror (314), and bricks at target positions of the conveying mechanism (3) are identified through the combination of the photoelectric sensor (312) and the reflecting mirror (314).
5. The fully automated walling system according to claim 1, wherein:
The full-automatic wall building system also comprises a base (7), a first rail (6) and a second rail (8); the second rails (8) are arranged at the top end of the base (7), and the second robot (2) is movably matched with the two second rails (8) which are arranged in parallel; the first rails (6) are arranged on the ground, and the masonry table (4) is movably matched with the two first rails (6) which are arranged in parallel.
6. The fully automated walling system according to claim 5, wherein: the base (7), the second track (8) and the masonry table (4) are parallel to each other, and the base (7), the second track (8) and the masonry table (4) are perpendicular to the first track (6).
7. The fully automated walling system according to claim 1, wherein: the conveying and positioning device, the second robot (2) and the masonry table (4) are symmetrically arranged on two sides of the first robot (1).
8. A fully automated walling system according to any of claims 1 to 7, wherein: the brick pile (5) comprises a whole brick pile (51) and a half brick pile (52); the whole brick pile (51) and the half brick pile (52) are respectively provided with a conveying and positioning device.
9. A method of constructing a wall using the fully automated wall construction system of any one of claims 1-8, comprising the steps of:
s1: grabbing bricks in a brick pile through a first robot;
S2: conveying and positioning bricks grabbed by the first robot through a conveying and positioning device;
S3: grabbing the positioned bricks by a second robot and building the wall on a building table until the wall is built.
10. The method of laying a wall according to claim 9, wherein: when the wall is built, the building platform is driven to move out, so that the wall on the other building platform is built.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910574605.4A CN110158978B (en) | 2019-06-28 | 2019-06-28 | Full-automatic wall building system and wall building method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910574605.4A CN110158978B (en) | 2019-06-28 | 2019-06-28 | Full-automatic wall building system and wall building method |
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| Publication Number | Publication Date |
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| CN110158978A CN110158978A (en) | 2019-08-23 |
| CN110158978B true CN110158978B (en) | 2024-04-23 |
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| CN201910574605.4A Active CN110158978B (en) | 2019-06-28 | 2019-06-28 | Full-automatic wall building system and wall building method |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110439303A (en) * | 2019-09-09 | 2019-11-12 | 安徽科达机电有限公司 | A kind of automatic wall building machine |
| CN110939281A (en) * | 2019-11-01 | 2020-03-31 | 苏州市世好建材新技术工程有限公司 | Automatic wall stacking machine |
| CN111188499A (en) * | 2020-01-21 | 2020-05-22 | 段志祥 | Mortar spreading method for building and assembling wall material and wall body by building blocks or section bars |
| CN111533048B (en) * | 2020-04-30 | 2021-06-15 | 广东博智林机器人有限公司 | Brick feeding vehicle and automatic brick feeding system with same |
| CN113513180B (en) * | 2021-03-29 | 2022-12-27 | 浙江舜虞达环境科技集团有限公司 | Modular automatic wall building system of light composite wallboard |
| CN113232145B (en) * | 2021-05-19 | 2023-01-20 | 四川建园新型建筑材料有限公司 | Intelligent production process of sintered combined wallboard |
| CN113653347A (en) * | 2021-08-25 | 2021-11-16 | 山东凯诚绿建集团有限公司 | Special full-automatic wall building machine of building site wall construction |
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Address after: 311500 No.397 Ziling Road, Fuchunjiang Town, Tonglu County, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Sanfeng Assembled Architecture Technology Co.,Ltd. Applicant after: Yafeng (Hangzhou) Construction Engineering Technology Co.,Ltd. Applicant after: Zhejiang Sanfeng Construction Group Co.,Ltd. Address before: 311500 No.397 Ziling Road, Fuchunjiang Town, Tonglu County, Hangzhou City, Zhejiang Province Applicant before: Hangzhou Sanfeng Assembled Architecture Technology Co.,Ltd. Applicant before: Yafeng (Hangzhou) Construction Engineering Technology Co.,Ltd. Applicant before: ZHEJIANG SANFENG CONSTRUCTION Co.,Ltd. |
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