CN110453926B - Wall building robot - Google Patents
Wall building robot Download PDFInfo
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- CN110453926B CN110453926B CN201910658083.6A CN201910658083A CN110453926B CN 110453926 B CN110453926 B CN 110453926B CN 201910658083 A CN201910658083 A CN 201910658083A CN 110453926 B CN110453926 B CN 110453926B
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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
- 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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- Structural Engineering (AREA)
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Abstract
The invention discloses a wall building robot which comprises a moving device, a wall building device, a conveying belt, a connecting device and a mud coating device, wherein the moving device comprises a moving piece, a rotary cylinder, a connecting plate and a telescopic cylinder; the wall building device comprises a rotating mechanism, a plurality of brick clamping mechanisms and a plurality of brick jacking mechanisms; the conveyor belt is positioned below one of the clamping gaps; one side of the connecting device is connected with the output end of the telescopic cylinder, and the other side of the connecting device is respectively connected with the rotating mechanism and the conveying belt; the mud coating device is arranged on the connecting device, and the mud outlet end of the mud coating device is aligned to one clamping gap; the wall building robot solves the technical problems that most of the existing wall building robots in the prior art are robots of manipulator types, reciprocating telescopic mechanical arms are needed, deviation occurs in the operation track due to part aging and abrasion, and the wall building quality is affected.
Description
Technical Field
The invention relates to the technical field of wall building, in particular to a wall building robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
At present, a lot of wall building robots have appeared on the market, can the efficient accomplish the mechanism of building a wall, but current wall building robot is the robot of manipulator formula mostly, needs reciprocal flexible robotic arm, because the part is ageing and wearing and tearing can lead to the orbit deviation to appear, influences the quality of building a wall, so provide a wall building robot in order to solve above-mentioned problem.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a wall building robot, and solves the technical problems that most of the existing wall building robots in the prior art are manipulator-type robots, the robots need to be stretched and contracted in a reciprocating mode, the running track is deviated due to part aging and abrasion, and the wall building quality is affected.
In order to achieve the technical purpose, the technical scheme of the invention provides a wall building robot which comprises a moving device, a wall building device, a conveying belt, a connecting device and a mud coating device, wherein the moving device comprises a moving piece, a rotary cylinder, a connecting plate and a telescopic cylinder, one end of the rotary cylinder is arranged above the moving piece, the other end of the rotary cylinder is connected with the connecting plate, and the telescopic cylinder is arranged above the connecting plate; the wall building device comprises a rotating mechanism, a plurality of brick clamping mechanisms and a plurality of brick ejection mechanisms, wherein the plurality of brick clamping mechanisms are uniformly arranged along the circumferential direction of the rotating mechanism, each brick clamping mechanism comprises a first air cylinder and two clamping pieces, the first air cylinder is arranged on the rotating mechanism, one clamping piece is fixed on the rotating mechanism, one end of the other clamping piece is connected with an output shaft of the first air cylinder, a clamping gap is formed between the two clamping pieces, the two clamping pieces can synchronously slide along the radial direction relative to the rotating mechanism, and the plurality of brick ejection mechanisms are arranged on the rotating mechanism and correspond to the brick clamping mechanisms one by one; the conveyor belt is positioned below one of the clamping gaps; one side of the connecting device is connected with the output end of the telescopic cylinder, and the other side of the connecting device is respectively connected with the rotating mechanism and the conveying belt; the mud coating device is arranged on the connecting device, and the mud outlet end of the mud coating device is aligned to one clamping gap.
Compared with the prior art, the invention has the beneficial effects that: through the rotation type device of building a wall, can fix the fragment of brick on the conveyer belt between the splint through the clamping piece, and rotate along with rotary device's rotation, when rotating to just when the device of scribbling mud, because splint can with spout sliding connection, the play mud end of scribbling mud device can be gone into on the roof brick mechanism with the fragment of brick top, paste one deck cement on the fragment of brick, when the fragment of brick moves to building a wall device soon under, roof brick mechanism pushes down the fragment of brick, splint loosen the fragment of brick, thereby reach the function of building a wall, and after first brick is cliied, it is certain angle to rotate, second brick is cliied, it is little to press from both sides the little clearance of brick required time, it is efficient to build a wall, and whole device need not complicated telescopic manipulator device, the precision of building a wall is high, the quality of building a wall is good.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a schematic view of the construction of the clamping member of the present invention;
FIG. 4 is a schematic view of the construction of the present invention in connection with the clamping member;
fig. 5 is a schematic structural view of the mud bucket of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-2, the present invention provides a wall building robot, comprising a moving device 100, a wall building device 200, a conveyor belt 300, a connecting device 400 and a plastering device 500, wherein the upper part of the moving device 100 is connected to the connecting device 400, the moving device 100 can drive the connecting device 400 to move horizontally, and can also drive the connecting device 400 to ascend or descend, and can also drive the connecting device 400 to rotate for a certain angle, the wall building device 200, the conveyor belt 300 and the plastering device 500 are all arranged on the connecting device 400, the conveyor belt 300 is used for conveying bricks, the discharge end of the conveyor belt 300 is located in the clamping gap of the wall building device 200, the plastering end of the plastering device 500 is right opposite to the clamping gap of the wall building device 200, and plastering work is performed to the bricks located in the clamping gap of the wall building device 200, and the wall building device 200 is different from the prior art, the device of building a wall 200 is the rotation type, and the fragment of brick on one end will conveyer belt 300 is cliied, drives the fragment of brick rotation, and at the in-process of marcing, the fragment of brick contacts with the play mud end of mud-applying device 500 to paste one deck cement on the fragment of brick, when the fragment of brick moves under to the device of building a wall 200, the fragment of brick is pressed downwards, presses the fragment of brick at predetermined position, thereby accomplishes the process of building a brick.
In this embodiment, the moving device 100 includes a moving member 110, a rotating cylinder 120, a connecting plate 130 and a telescopic cylinder 140, wherein one end of the rotating cylinder 120 is disposed above the moving member 110, the other end is connected to the connecting plate 130, and the telescopic cylinder 140 is disposed above the connecting plate 130.
Wherein, moving member 110 is mobilizable dolly, and revolving cylinder 120 can drive connecting plate 130 at vertical direction circumferential direction, and revolving cylinder 120's output shaft and connecting plate 130 are concentric at vertical direction, make the atress even, and revolving cylinder 120's output shaft and telescopic cylinder 140's output shaft coaxial setting, and telescopic cylinder 140 drives the vertical direction of backup pad 410 and reciprocates.
Preferably, the bottom of the supporting plate 410 is connected with a plurality of limiting rods penetrating through the connecting plate 130 below, the limiting rods are vertically and uniformly arranged along the circumferential direction of the telescopic cylinder 140, and each limiting rod is connected with a limiting groove formed in the connecting plate 130 in a sliding manner, so that the supporting plate 410 is more stable to move up and down relative to the connecting plate 130.
As shown in fig. 2, the walling device 200 in this embodiment includes a rotating mechanism 210, a plurality of brick clamping mechanisms 220 and a plurality of brick ejection mechanisms 230, the plurality of brick clamping mechanisms 220 are uniformly arranged along the circumference of the rotating mechanism 210, each brick clamping mechanism 220 includes a first cylinder 221 and two clamping members 222, the first cylinder 221 is disposed on the rotating mechanism 210, one of the clamping members 222 is fixed on the rotating mechanism 210, one end of the other clamping member 222 is connected to an output shaft of the first cylinder 221, a clamping gap exists between the two clamping members 222, the two clamping members 222 can slide synchronously along the radial direction relative to the rotating mechanism 210, and the plurality of brick ejection mechanisms 230 are disposed on the rotating mechanism 210 and correspond to the brick clamping mechanisms 220 one to one.
Preferably, the rotating mechanism 210 includes two rotating plates 211, a plurality of connecting rods 212, a motor 213 and a rotating shaft 214, the two rotating plates 211 are arranged in parallel, two ends of the plurality of connecting rods 212 are respectively connected to the rotating plates 211, one end of the rotating shaft 214 is connected to an output shaft of the motor 213, and the other end of the rotating shaft 214 passes through the two rotating plates 211 and drives the rotating plates 211 to rotate.
It can be understood that the rotating plates 211 can be circular plates or square plates, and the functions thereof are not affected, and only the two rotating plates 211 are parallel to each other and connected with the rotating shaft 214, and rotate synchronously with the rotating shaft 214.
Wherein the connecting rod 212 plays a role of connecting the two rotating plates 211, it can be understood that the connecting rods 212 may not be parallel to each other as long as they do not interfere with the walling device 200 and connect the two rotating plates 211.
The motor 213 is used for providing power for rotation, the motor 213 is disposed on the first connecting block 420, and the rotating shaft 214 is used for connecting an output shaft of the motor 213 with the rotating plate 211.
As shown in fig. 3, preferably, each clamping member 222 includes a fixing plate 2221, a clamping plate 2223, a plurality of protrusions 2224, a plurality of sliding rods 2225, and a plurality of springs 2226, the clamping plate 2223 is slidably connected to a sliding slot 2222 formed in the fixing plate 2221, the plurality of protrusions 2224 are disposed on one side of the clamping plate 2223 close to the clamping gap, the plurality of sliding rods 2225 are arranged in parallel, one end of each sliding rod 2225 is connected to the clamping plate 2223, the other end of each sliding rod 2225 penetrates through the fixing plate 2221, the plurality of springs 2226 are one-to-one corresponding to the sliding rods 2225 and are sleeved on the sliding rods 2225, one end of each spring 2226 is connected to the clamping plate 2223.
As shown in fig. 4, each of the tile pushing mechanisms 230 in this embodiment includes a fixing base 231, a plurality of fixing rods 232, a second cylinder 233 and a top plate 234, wherein one end of each of the fixing rods 232 is connected to the fixing base 231, the other end is connected to the rotating mechanism 210, the second cylinder 233 is disposed on the fixing base 231, and the output end thereof is connected to the top plate 234, and the top plate 234 faces the clamping gap of the tile clamping mechanism 220.
It can be understood that the top plate 234 can be abutted to the clamping plate 2223, or abutted to the bricks in the clamping plate 2223, as long as the bricks in the clamping can be driven to move along the radial direction of the rotating plate 211 and away from the center direction of the rotating plate 211, so that the bricks are conveniently embedded into the mud groove 531, and the bricks are also conveniently pressed down to the required positions.
The conveyor belt 300 in this embodiment is located below one of the clamping gaps, a plurality of parallel clamping grooves 310 matching with the bricks are formed on the conveyor belt 300, and the bricks are sequentially placed in the clamping grooves 310 and move to the clamping gap along with the movement of the conveyor belt 300.
It will be appreciated that the conveyor 300 functions as a loading station and that other configurations may be used, provided that they are sufficient to transport bricks into one of the clamping gaps.
In this embodiment, the connecting device 400 is connected to the output end of the telescopic cylinder 140 at one side and connected to the rotating mechanism 210 and the conveyor belt 300 at the other side.
Preferably, the connecting device 400 includes a support plate 410, a first connecting block 420 and a second connecting block 430, the support plate 410 is connected to the output end of the telescopic cylinder 140 at one side and is connected to the first connecting block 420 and the second connecting block 430 at the other side, and the first connecting block 420 and the second connecting block 430 are connected to the rotating mechanism 210 and the conveyor belt 300, respectively.
It is understood that the outer shapes of the support plate 410, the first connection block 420 and the second connection block 430 may be any shapes, and do not affect the function of the walling robot, but only function as a connection.
The mud coating device 500 in this embodiment is disposed on the connecting device 400, and the mud outlet end of the mud coating device is aligned with one of the clamping gaps.
Preferably, the mud coating device 500 comprises a mud discharging mechanism 510, a mud discharging pipe 520 and a mud bucket 530, the mud discharging mechanism 510 is disposed on the connecting device 400, one end of the mud discharging pipe 520 is connected with the mud discharging end of the mud discharging mechanism 510, and the other end is connected with the mud bucket 530.
As shown in fig. 5, the mud discharging mechanism 510 includes a mud discharging box and a pump body, the mud discharging box has a mud storage cavity therein, the mud discharging box is disposed on the connecting device 400, the pump body is disposed on the mud discharging box to provide pressure for the mud discharging end of the mud discharging box, a mud pasting groove 531 facing one of the clamping gaps and engaged with the bricks is disposed in the mud pasting bucket 530, and the mud pasting groove 531 is communicated with the mud discharging pipe 520.
The working process is as follows: the wall building device 200 is moved to the position right above the required brick, the specific adjusting steps are that the horizontal position is controlled by the moving part 110, the circumferential position is controlled by the rotating cylinder 120, the height of the wall building device 200 is controlled by the telescopic cylinder 140, the bricks are sequentially placed into the clamping grooves 310 on the conveyor belt 300, the bricks move towards the position close to the wall building device 200 along with the conveyor belt 300, when a first brick moves to a position between two clamping plates 2223, the first cylinder 221 pushes one clamping plate 2223 to clamp the brick, the motor 213 drives the rotating shaft 214 to rotate so as to drive the rotating plate 211 to rotate, when a second brick moves to a position between the two clamping plates 2223 of the next clamping part 222, the corresponding first cylinder 221 pushes one clamping plate 2223 to clamp the brick, the steps are repeated, one wall building device 200 can clamp a plurality of bricks, when the brick moves to a position right opposite to the mud bucket 530, the second cylinder 233 pushes the top plate 234, the bricks are driven to move and are pushed into the mud pasting groove 531 of the mud pasting bucket 530, the second air cylinder 233 retracts, the bricks are separated from the mud pasting groove 531 under the action of the spring 2226, when the bricks move to the position right below the wall building device 200, the second air cylinder 233 pushes the top plate 234 to press the bricks to the preset position, at the moment, the first air cylinder 221 retracts, the clamping plate 2223 puts down the bricks, and the steps are repeated, so that the whole wall building process is obtained.
Through rotation type device 200 of building a wall, can fix the fragment of brick on conveyer belt 300 between splint 2223 through clamping piece 222, and rotate along with rotary device's rotation, when rotating to just to mud coating device 500, because splint 2223 can with spout 2222 sliding connection, brick ejection mechanism 230 can push up the fragment of brick into mud coating device 500's play mud end, paste the one deck cement on the fragment of brick, when the fragment of brick moves to building a wall device 200 under, brick ejection mechanism 230 pushes down the fragment of brick, splint 2223 unclamps the fragment of brick, thereby reach the function of building a wall, and after first brick is cliied, rotate certain angle, the second brick is cliied, the small clearance of the time that presss from both sides the brick is little, it is efficient to build a wall, and whole device need not complicated flexible manipulator device, the precision of building a wall is high, the quality of building a wall is good.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A wall building robot, comprising:
the moving device comprises a moving piece, a rotary cylinder, a connecting plate and a telescopic cylinder, wherein one end of the rotary cylinder is arranged above the moving piece, the other end of the rotary cylinder is connected with the connecting plate, and the telescopic cylinder is arranged above the connecting plate;
the wall building device comprises a rotating mechanism, a plurality of brick clamping mechanisms and a plurality of brick ejection mechanisms, wherein the plurality of brick clamping mechanisms are uniformly arranged along the circumferential direction of the rotating mechanism, each brick clamping mechanism comprises a first air cylinder and two clamping pieces, the first air cylinder is arranged on the rotating mechanism, one clamping piece is fixed on the rotating mechanism, one end of the other clamping piece is connected with an output shaft of the first air cylinder, a clamping gap exists between the two clamping pieces, the two clamping pieces can synchronously slide along the radial direction relative to the rotating mechanism, and the plurality of brick ejection mechanisms are arranged on the rotating mechanism and correspond to the brick clamping mechanisms one by one;
the conveying belt is positioned below one of the clamping gaps;
one side of the connecting device is connected with the output end of the telescopic cylinder, and the other side of the connecting device is respectively connected with the rotating mechanism and the conveying belt;
and the mud coating device is arranged on the connecting device, and the mud outlet end of the mud coating device is aligned to one clamping gap.
2. The wall building robot according to claim 1, wherein the rotating mechanism comprises two rotating plates, a plurality of connecting rods, a motor and a rotating shaft, the two rotating plates are arranged in parallel, two ends of the connecting rods are respectively connected with the rotating plates, one end of the rotating shaft is connected with an output shaft of the motor, and the other end of the rotating shaft penetrates through the two rotating plates and drives the rotating plates to rotate.
3. The wall building robot according to claim 1, wherein each clamping member comprises a fixing plate, a clamping plate, a plurality of convex blocks, a plurality of sliding rods and a plurality of springs, the clamping plate is slidably connected with a sliding groove formed in the fixing plate, the convex blocks are arranged on one side, close to a clamping gap, of the clamping plate, the sliding rods are arranged in parallel, one end of each sliding rod is connected with the clamping plate, the other end of each sliding rod penetrates through the fixing plate, the springs correspond to the sliding rods one to one and are sleeved on the sliding rods, and one end of each spring is connected with the clamping plate, and the other end of each spring is connected with the sliding groove.
4. The wall building robot according to claim 1, wherein each brick-jacking mechanism comprises a fixed seat, a plurality of fixed rods, a second cylinder and a top plate, one end of each fixed rod is connected with the fixed seat, the other end of each fixed rod is connected with the rotating mechanism, the second cylinder is arranged on the fixed seat, the output end of the second cylinder is connected with the top plate, and the top plate is opposite to the clamping gap of the brick-clamping mechanism.
5. The wall building robot as claimed in claim 1, wherein the conveyor belt is provided with a plurality of parallel clamping grooves matched with the bricks.
6. The wall building robot according to claim 1, wherein the connecting device comprises a supporting plate, a first connecting block and a second connecting block, one side of the supporting plate is connected with the output end of the telescopic cylinder, the other side of the supporting plate is respectively connected with the first connecting block and the second connecting block, and the first connecting block and the second connecting block are respectively connected with the rotating mechanism and the conveying belt.
7. The wall building robot according to claim 1, wherein the mud coating device comprises a mud discharging mechanism, a mud discharging pipe and a mud bucket, the mud discharging mechanism is arranged on the connecting device, one end of the mud discharging pipe is connected with the mud discharging end of the mud discharging mechanism, and the other end of the mud discharging pipe is connected with the mud bucket.
8. The walling robot as claimed in claim 7, wherein the mud discharging mechanism comprises a mud discharging tank and a pump body, the mud discharging tank is provided with a mud storage cavity therein, the mud discharging tank is arranged on the connecting device, and the pump body is arranged on the mud discharging tank to provide pressure for a mud discharging end of the mud discharging tank.
9. The wall building robot as claimed in claim 7, wherein the mud bucket has a mud groove facing one of the clamping gaps and engaged with the brick, and the mud groove is communicated with the mud outlet pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910658083.6A CN110453926B (en) | 2019-07-20 | 2019-07-20 | Wall building robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910658083.6A CN110453926B (en) | 2019-07-20 | 2019-07-20 | Wall building robot |
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| CN110453926A CN110453926A (en) | 2019-11-15 |
| CN110453926B true CN110453926B (en) | 2021-06-18 |
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| CN201910658083.6A Active CN110453926B (en) | 2019-07-20 | 2019-07-20 | Wall building robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111206756B (en) * | 2020-01-17 | 2021-06-15 | 安徽德茂建设工程有限公司 | External wall tile-sticking machine |
| CN111255205A (en) * | 2020-01-17 | 2020-06-09 | 张凯丽 | Quantitative plastering exterior wall tile paving equipment |
| CN111270837B (en) * | 2020-01-17 | 2021-06-15 | 安徽永筑建设工程有限公司 | Paving method of exterior wall tiles |
| CN113431091B (en) * | 2021-06-29 | 2022-03-11 | 中建七局第一建筑有限公司 | Inspection well laying and paving device |
| CN113356335B (en) * | 2021-06-30 | 2022-09-27 | 宁波衡华建设有限公司 | Municipal administration is laid with shaft step and is put |
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| CA2066089C (en) * | 1992-04-15 | 1996-12-03 | Pietro Valente | Levelled cement spreader |
| JPH07310436A (en) * | 1994-05-18 | 1995-11-28 | Koei Kisetsu Kogyo Kk | Steel-frame material positioner |
| CN204850501U (en) * | 2015-07-03 | 2015-12-09 | 浙江工业职业技术学院 | Device is scribbled at high -efficient type concrete stand |
| CN108049422A (en) * | 2016-07-06 | 2018-05-18 | 巩莉 | A kind of fluid pressure type ground landslide-proofing retaining wall intelligently builds equipment by laying bricks or stones |
| CN206279780U (en) * | 2016-10-28 | 2017-06-27 | 厦门华蔚物联网科技有限公司 | A kind of anti-lost slurry structure of the wall brick vertical plane of automatic printing pulp grinder |
| CN106703428B (en) * | 2017-01-19 | 2019-04-19 | 宁波工程学院 | Automatic brick laying machine |
| CN107217859A (en) * | 2017-05-25 | 2017-09-29 | 重庆交通大学 | A kind of wall-building machine |
| CN207436521U (en) * | 2017-11-10 | 2018-06-01 | 天津市施罗德非凡建筑工程安装有限公司 | A kind of device for building of building a wall |
| CN208137466U (en) * | 2018-02-26 | 2018-11-23 | 漳州市百兴云商务服务有限公司 | A kind of novel building building wall mortar place mat device |
| CN108331362A (en) * | 2018-03-06 | 2018-07-27 | 惠安灿锐信息技术咨询有限公司 | A kind of energy-saving wall-building machine that the effect of building a wall based on Internet of Things is good |
| CN208073011U (en) * | 2018-03-20 | 2018-11-09 | 湖北勇胜建设工程有限公司 | Build concrete building block assists device for regulating rotary |
| CN208996479U (en) * | 2018-08-29 | 2019-06-18 | 金昌建设有限公司 | A kind of construction paving slurry bucket of adjustable paving slurry thickness |
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2019
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