CN111519921A - Industrial robot and automatic wall building machine based on helping hand system - Google Patents
Industrial robot and automatic wall building machine based on helping hand system Download PDFInfo
- Publication number
- CN111519921A CN111519921A CN202010434639.6A CN202010434639A CN111519921A CN 111519921 A CN111519921 A CN 111519921A CN 202010434639 A CN202010434639 A CN 202010434639A CN 111519921 A CN111519921 A CN 111519921A
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- Prior art keywords
- arm
- industrial robot
- connector
- power
- wire rope
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Links
- 230000005484 gravity Effects 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 15
- 239000010959 steel Substances 0.000 claims abstract description 15
- 239000004570 mortar (masonry) Substances 0.000 claims description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
Abstract
The invention discloses an industrial robot based on a power-assisted system, which comprises a base body, a multi-axis mechanical arm fixed with the base body and a clamping mechanism fixed with the multi-axis mechanical arm, and is characterized by further comprising the power-assisted system, wherein the power-assisted system comprises a gravity balancer, a steel wire rope and a power-assisted arm, the gravity balancer and the power-assisted arm are fixed with the base body, the power-assisted arm comprises an upright post and a folding arm perpendicular to the upright post, the steel wire rope is fixedly connected with the gravity balancer and extends along the upright post and the folding arm, and the free end of the power-assisted arm is connected with the clamping mechanism through the tail end of the steel wire rope. The invention also relates to an automatic wall building machine comprising an industrial robot based on the power assisting system. The invention has the following beneficial effects: a power assisting system is formed by a gravity balancer, a steel wire rope and a power assisting arm, the power assisting system is combined with the mechanical arm, the gravity of a heavy object is balanced by the gravity balancer, and then the accurate positioning of the heavy object is completed by the low-load high-accuracy mechanical arm.
Description
Technical Field
The invention relates to the technical field of buildings, in particular to an industrial robot based on a power assisting system and an automatic wall building machine comprising the industrial robot based on the power assisting system.
Background
The construction is wastefully used due to high labor intensity, severe environment, boring operation and the like of the building construction wall building process. To solve this problem, and in conjunction with the actual construction environment, the application level automatic wall building machine solution is currently the best choice. However, the industrial robot body capable of loading 40kg or more is heavy at present, and the weight of the industrial robot capable of loading 40kg or more and the base body reaches 2 tons, and 2 tons is the bearing capacity exceeding the floor. The heavy-duty mechanical arm requires high stability of the movable base, the operation area of the mechanical arm is not fixed, the whole set of equipment can move, the heavy-duty mechanical arm has high requirements on supporting mechanisms of the movable equipment and fixed operation, and the addition of the auxiliary equipment causes the whole weight to exceed the floor load and cannot operate on the floor.
Disclosure of Invention
In order to achieve the technical purpose, the embodiment of the invention provides an industrial robot based on a power assisting system, a system and an automatic wall building machine.
The utility model provides an industrial robot based on helping hand system, its includes the pedestal, with the multiaxis arm that the pedestal is fixed and the fixture of fixing with the multiaxis arm, its characterized in that, industrial robot still includes the helping hand system, the helping hand system includes gravity balancer, steel wire rope and helping hand arm, gravity balancer and helping hand arm are all fixed with the pedestal, the helping hand arm includes stand and the arm that rolls over perpendicular with the stand, steel wire rope is connected fixedly with the gravity balancer and extends along stand and the arm that rolls over, the free end of helping hand arm passes through the end connection of steel wire rope fixture.
In a preferred embodiment, the housing is a mobile housing.
In a preferred embodiment, the gravity balancer is disposed within the housing.
In a preferred embodiment, the folding arms comprise a first arm, a second arm and a third arm, adjacent arms are connected through a connector in a rotating mode, so that the second arm can rotate relative to the first arm, and the third arm can rotate relative to the second arm.
In a preferred embodiment, the end of the first arm far away from the second arm and the end of the third arm far away from the second arm are respectively provided with a reversing pulley.
In a preferred embodiment, fixture include the casing and with the first grip block and the second grip block that the relative both ends of casing are fixed, fixture still includes the connector that is located first grip block and deviates from the second grip block side, the multiaxis arm passes through the connector is connected fixture.
The invention also relates to an automatic wall building machine comprising the industrial robot based on the power assisting system.
The automatic wall building machine comprises the industrial robot based on the power assisting system and a mortar conveyor, wherein the mortar conveyor comprises a mortar smearing head, and the automatic wall building machine is characterized in that a fixing piece is further arranged on a clamping mechanism and is used for fixing the mortar smearing head, and the mortar smearing head faces towards a seat body.
In a preferred embodiment, the folding arms comprise a first arm, a second arm and a third arm, adjacent arms are connected through a connector in a rotating mode, so that the second arm can rotate relative to the first arm, and the third arm can rotate relative to the second arm; and one end of the first support arm, which is far away from the second support arm, and one end of the third support arm, which is far away from the second support arm, are respectively provided with a reversing pulley.
In a preferred embodiment, the clamping mechanism includes a housing, and a first clamping plate and a second clamping plate fixed to opposite ends of the housing, and the booster system-based industrial robot includes a wire rope fixed to a center of an upper surface of the housing.
In a preferred embodiment, the clamping mechanism further comprises a connector located on the side surface of the first clamping plate, which is away from the second clamping plate, and the multi-axis mechanical arm is connected with the clamping mechanism through the connector.
Compared with the prior art, the invention has the following beneficial effects: according to the industrial robot based on the power assisting system, the power assisting system is formed by the gravity balancer, the steel wire rope and the power assisting arm, so that the power assisting system is combined with the mechanical arm, the gravity of a heavy object is balanced through the gravity balancer, then the accurate positioning of the heavy object is completed through the low-load high-accuracy mechanical arm, the problem of heavy load operation is solved, and meanwhile the whole weight is controlled within a range capable of being borne by a floor.
Drawings
Fig. 1 is a schematic structural diagram of an industrial robot based on a power assisting system provided by the invention.
Fig. 2 is a schematic structural diagram of an automatic wall building machine provided by the invention.
Fig. 3 is an enlarged schematic view of the region III identified in fig. 2.
Description of the main elements
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.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an industrial robot 100 based on a power assisting system 40 according to the present invention. Fig. 2 is a schematic structural view of an automatic walling machine 300 according to the present invention.
The invention provides an industrial robot 100 based on a power assisting system 40, which comprises a base 10, a multi-axis mechanical arm 20 fixed with the base 10, a clamping mechanism 30 fixed with the multi-axis mechanical arm 20 and the power assisting system 40.
The base 10 is a movable base 10. The mobile mount 10 may be roller, track, Automated Guided Vehicle (AGV), or the like. Any movable type may be used.
The multi-axis robot arm 20 may be a four-axis, five-axis, or six-axis robot arm to achieve multi-degree-of-freedom stretching operation of the robot arm.
The clamping mechanism 30 can be adjustable in clamping width to clamp different sizes of weights, or a clamping mechanism 30 based on a specific load or a clamping mechanism 30 based on an adaptive load can be used for the clamping mechanism 30.
In this embodiment, the clamping mechanism 30 includes a housing 31, and a first clamping plate 32 and a second clamping plate 33 fixed to opposite ends of the housing 31, the clamping mechanism 30 further includes a connector 34 located at a side of the first clamping plate 32 facing away from the second clamping plate 33, and the multi-axis robot arm 20 is connected to the clamping mechanism 30 through the connector 34.
The assist system 40 includes a gravity balancer 41, a wire rope 42, and an assist arm 43. The gravity balancer 41 and the power-assisting arm 43 are both fixed with the seat body 10, the power-assisting arm 43 comprises an upright column 44 and a folding arm 45 perpendicular to the upright column 44, the steel wire rope 42 is fixedly connected with the gravity balancer 41 and extends along the upright column 44 and the folding arm 45, and the free end of the power-assisting arm 43 is connected with the clamping mechanism 30 through the tail end of the steel wire rope 42.
In the present embodiment, the gravity balancer 41 is disposed in the housing 10. The gravity balancer 41 balances the load due to gravity by the force of a spring or compressed air. The base 10 is formed with a through hole (not shown) through which a wire rope 42 connected to the gravity balancer 41 passes and extends in the direction of the upright 44 and the folding arm 45.
In the present embodiment, the folding arm 45 includes a first arm 450, a second arm 451, and a third arm 452, and adjacent arms are rotatably connected to each other by a connector 453 such that the rear arm can rotate relative to the front arm. Specifically, in the present embodiment, the second arm 451 is capable of rotating relative to the first arm 450, and the third arm 452 is capable of rotating relative to the second arm 451. Of course, it will be appreciated that in other embodiments, the folding arm 45 may include a number of arms depending on the actual requirements.
Referring to fig. 3, in the present embodiment, the connector 453 includes a column 455 connected to the end of the folding arm, a U-shaped member 456 fixed to opposite ends of the column 455, two rollers 457 fixed to the U-shaped member 456, and a limiting plate 458. That is, the U-shaped member 456 holds the cylinder 455 at the inside thereof, the two rollers 457 are disposed side by side at the outside of the U-shaped member 456 at the upper portion of the cylinder 455, and the central axes of the two rollers 457 are parallel to each other. The limiting plate 458 is used for limiting the two rollers 457 on the U-shaped piece. The wire rope 42 can pass through the gap between the two rollers 457 and then stretch in the direction in which the next arm extends. The connectors 453 are used to connect two adjacent arms and also to adjust the direction of extension of the wire 42 so that the wire 42 can be adjusted in real time as the arms are rotated.
In this embodiment, the end of the first arm 450 away from the second arm 451 and the end of the third arm 452 away from the second arm 451 are respectively provided with a diverting pulley 454. The wire rope 42 passes through the diverting pulley 454 and then extends along the folding arm 45 when extending along the upright post 44 to the top end of the upright post 44, and then passes through the diverting pulley 454 at the tail end of the folding arm 45 and then is connected with the hanging hole 34 arranged on the upper surface of the shell 31. In the present embodiment, since the first arm 450, the second arm, and the third arm 452 are all illustrated as being positioned in the linear direction, the wire rope 42 is not connected to the hanging hole 34, and the wire rope 42 is actually connected to the hanging hole 34 in real time.
When the industrial robot 100 based on the power assisting system 40 provided by the invention clamps a heavy object, the heavy object is clamped by the power assisting system 40 formed by the gravity balancer 41, the steel wire rope 42 and the power assisting arm 43, and the gravity of the heavy object is balanced by the gravity balancer 41 included in the power assisting system 40, so that a large-load mechanical arm is not needed. When the clamped weight is placed at a preset position, the accurate positioning of the weight can be completed through the low-load high-accuracy mechanical arm. That is, the multi-axis robot 20 only needs a small force to complete the positioning of the heavy object, so that the industrial robot 100 based on the power assisting system 40 solves the technical problem that the heavy industrial robot body is too heavy, and the weight of the multi-axis robot 20 and the base 10 is controlled within the range that the floor can bear.
The industrial robot 100 of the present invention may be used in the construction industry for holding heavy weight air-entraining blocks, or in the logistics industry for mobile sorting, etc.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an automatic wall building machine 300 according to the present invention. The automatic wall building machine 300 comprises an industrial robot 100 based on a power assisting system 40 and a mortar conveyor 50, wherein the mortar conveyor 50 comprises a mortar smearing head 54 connected with the mortar conveyor 50 through a conveying pipe 52, a fixing member 35 is further arranged on the clamping mechanism 30, the mortar smearing head 54 is fixed by the fixing member 35, and the mortar smearing head 54 faces the seat body 10. In the present embodiment, the mortar application head 54 is fixed to a side surface of the housing 31.
When the automatic wall building machine 300 is used, the following steps can be performed:
moving the industrial robot 100 based on the power assisting system 40 to a position where brick laying is needed, wherein the gravity balancer 41 keeps the gravity balance of the end clamping mechanism 30 through the steel wire rope 42 and the folding arm 45, and the end clamping mechanism 30 is in a suspension mode; next, the mortar applying head 54 is precisely controlled by the multi-axis robot arm 20 to perform a work of applying masonry mortar on the block, and then the block is held by the holding mechanism 30 and precisely moved to a position to be masonry by the multi-axis robot arm 20. And continuously performing the circulating actions of plastering mortar, clamping the building blocks and placing the building blocks until the masonry of the wall surface at the position is finished.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides an industrial robot based on helping hand system, its includes the pedestal, with the multiaxis arm that the pedestal is fixed and the fixture of fixing with the multiaxis arm, its characterized in that, industrial robot still includes the helping hand system, the helping hand system includes gravity balancer, steel wire rope and helping hand arm, gravity balancer and helping hand arm are all fixed with the pedestal, the helping hand arm includes stand and the arm that rolls over perpendicular with the stand, steel wire rope is connected fixedly with the gravity balancer and extends along stand and the arm that rolls over, the free end of helping hand arm passes through the steel wire rope and connects fixture.
2. An industrial robot based on a force assist system according to claim 1, characterized in that the holder is a mobile trolley.
3. The booster system based industrial robot of claim 2, wherein the gravity balancer is disposed within the seat.
4. An industrial robot based on a power assisting system according to claim 3, characterized in that the folding arms comprise a first arm, a second arm and a third arm and a connector arranged between adjacent arms, the connector is connected with each arm in a rotating way so that the second arm can rotate relative to the first folding arm, the third folding arm can rotate relative to the second folding arm, and the end of the first arm far away from the second arm and the end of the third arm far away from the second arm are respectively provided with a reversing pulley.
5. An industrial robot based on a power assisting system according to claim 4, characterized in that the connector comprises a column connected with the end of the folding arm, a U-shaped member fixed with the opposite ends of the column, two rollers and a limiting plate, the U-shaped member clamps the column on the inner side thereof, the two rollers are arranged on the outer side of the U-shaped member and on the upper part of the column side by side, and the central axes of the two rollers are parallel to each other. The limiting plate is used for limiting the two rollers on the U-shaped piece.
6. The booster system based industrial robot of claim 5 wherein the gripper mechanism includes a housing and first and second gripper plates secured to opposite ends of the housing, the gripper mechanism further including a connector on a side of the first gripper plate facing away from the second gripper plate, the multi-axis robotic arm being connected to the gripper mechanism through the connector.
7. An automatic wall building machine, comprising the industrial robot based on the power assisting system and a mortar conveyor according to claim 1, wherein the mortar conveyor comprises a mortar applying head, and the clamping mechanism is further provided with a fixing member, the fixing member fixes the mortar applying head, and the mortar applying head is arranged towards the seat body.
8. The automatic wall building machine of claim 7, wherein the folding arms comprise a first arm, a second arm and a third arm, wherein the rotational connection between adjacent arms via the connector enables the second arm to rotate relative to the first arm, and the third arm to rotate relative to the second arm; and one end of the first support arm, which is far away from the second support arm, and one end of the third support arm, which is far away from the second support arm, are respectively provided with a reversing pulley.
9. The automatic walling machine of claim 8, wherein the gripper mechanism includes a housing and first and second gripper plates secured to opposite ends of the housing, the booster system based industrial robot including a wire rope secured to a centrally located hanging hole in an upper surface of the housing.
10. The automatic wall building machine of claim 9 wherein the gripper mechanism further comprises a connector located on a side of the first gripper plate facing away from the second gripper plate, the multi-axis robotic arm connecting the gripper mechanism through the connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010434639.6A CN111519921A (en) | 2020-05-21 | 2020-05-21 | Industrial robot and automatic wall building machine based on helping hand system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010434639.6A CN111519921A (en) | 2020-05-21 | 2020-05-21 | Industrial robot and automatic wall building machine based on helping hand system |
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| CN111519921A true CN111519921A (en) | 2020-08-11 |
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| CN202010434639.6A Pending CN111519921A (en) | 2020-05-21 | 2020-05-21 | Industrial robot and automatic wall building machine based on helping hand system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083317A (en) * | 2020-09-21 | 2020-12-15 | 深圳市控汇智能股份有限公司 | High efficiency industrial robot detecting system |
| CN112177363A (en) * | 2020-09-25 | 2021-01-05 | 中物智建(武汉)科技有限公司 | Wall building robot |
| CN113183182A (en) * | 2021-05-10 | 2021-07-30 | 河南工程学院 | Power assisting device for industrial robot |
| CN114029932A (en) * | 2021-11-21 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Support mechanism of flexible arm of warehouse cleaning robot |
| CN114055432A (en) * | 2021-11-11 | 2022-02-18 | 江苏月生达机械制造有限公司 | Intelligent mechanical arm mechanism for large prefabricated box girder |
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| CN205840368U (en) * | 2016-06-08 | 2016-12-28 | 同济大学 | A kind of High Precision Automatic brick-laying machine of self-travel type |
| CN208962003U (en) * | 2018-09-30 | 2019-06-11 | 泰安卓信自动化科技有限公司 | A kind of mechanical arm power assisting device |
| CN110094073A (en) * | 2019-06-04 | 2019-08-06 | 沈洋 | One kind is built a wall gripper |
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| CN212613864U (en) * | 2020-05-21 | 2021-02-26 | 中物智建(武汉)科技有限公司 | Industrial robot and automatic wall building machine based on helping hand system |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205840368U (en) * | 2016-06-08 | 2016-12-28 | 同济大学 | A kind of High Precision Automatic brick-laying machine of self-travel type |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083317A (en) * | 2020-09-21 | 2020-12-15 | 深圳市控汇智能股份有限公司 | High efficiency industrial robot detecting system |
| CN112177363A (en) * | 2020-09-25 | 2021-01-05 | 中物智建(武汉)科技有限公司 | Wall building robot |
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| CN114055432A (en) * | 2021-11-11 | 2022-02-18 | 江苏月生达机械制造有限公司 | Intelligent mechanical arm mechanism for large prefabricated box girder |
| CN114029932A (en) * | 2021-11-21 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Support mechanism of flexible arm of warehouse cleaning robot |
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