CN111550066A - Brickwork wall former - Google Patents

Abstract

The invention discloses a masonry wall forming equipment, comprising a frame body, a mortar supply system, a block supply system, a manipulator and a control system are arranged on the frame body, a walking mechanism is arranged at the bottom of the frame body, and the mortar supply system can supply mortar , the block supply system includes a conveyor belt for conveying blocks, a guide device arranged at the discharge end of the conveyor belt, and a detection device arranged above the guide device. The detection device can detect the position information of the blocks on the guide device; set on the manipulator There is a clamping device, the clamping device includes a fixed clamping plate fixed with the manipulator and a movable clamping plate driven by the first cylinder; the traveling mechanism, the detection device, the mortar supply system, the drive motor of the conveyor belt and the manipulator are respectively connected with the control system. electrical connection. The masonry wall forming equipment of the invention improves the construction quality and efficiency of the masonry wall.

Description

A masonry wall forming equipment

technical field

The invention relates to the technical field of construction equipment, in particular to a masonry wall forming equipment.

Background technique

At present, the construction of masonry walls on construction sites is mainly done manually. The construction workers put the blocks in a predetermined position after plastering, relying on the horizontal hanging lines to ensure the levelness of the blocks on the same layer, and relying on the vertical hanging lines to ensure the wall. The verticality of the body and the size of the masonry joints depend on manual observation, and the masonry quality is not easy to control.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a masonry wall forming equipment, so as to solve the above problems existing in the prior art and improve the construction quality and efficiency of the masonry wall.

For achieving the above object, the present invention provides the following scheme:

The invention provides a masonry wall forming equipment, comprising a frame body, a mortar supply system, a block supply system, a manipulator and a control system are arranged on the frame body, a walking mechanism is arranged at the bottom of the frame body, and the The mortar supply system is capable of supplying mortar, and the block supply system includes a conveyor belt for conveying blocks, a guide device provided at the discharge end of the conveyor belt, and a detection device provided above the guide device, and the detection device can The position information of the blocks on the guide device is detected; the manipulator is provided with a clamping device, and the clamping device includes a fixed clamping plate fixedly connected with the manipulator and a movable clamping plate driven by the first cylinder The running mechanism, the detection device, the mortar supply system, the drive motor of the conveyor belt and the manipulator are respectively electrically connected to the control system.

Preferably, a visual recognition system is also included, the visual recognition system comprises a vertical guide rail arranged at one end of the masonry wall, a driving device and a laser scanner, the driving device can drive the laser scanner along the vertical guide rail moving up and down; the manipulator is also provided with a grid plate and a camera facing the grid plate, the laser scanner can irradiate laser points on the grid plate, the laser scanner and the camera They are respectively electrically connected with the control system.

Preferably, the mortar supply system includes a box body, and an auger is arranged on the box body, one end of the auger is connected with the hopper, and the other end is provided with a slurry outlet, and the box body is also provided with a drive for driving the The drive motor of the auger.

Preferably, the block supply system further comprises a second air cylinder fixed under the guide device, a second connecting plate is fixed on the telescopic rod of the second air cylinder, and the second connecting plate is provided with a second connecting plate. an air gripper, the second air cylinder can drive the air gripper to push the blocks on the guide device; the end of the guide device away from the conveyor belt is provided with a first baffle, the air gripper and the second baffle Both are located between the first baffle plate and the conveyor belt, and are respectively arranged on both sides of the guide device.

Preferably, the guide device is inclined, and one end of the guide device away from the conveyor belt is lower than the end of the guide device close to the conveyor belt.

Preferably, the frame of the conveyor belt is fixedly connected to the frame body through a pull rod.

Preferably, the mortar supply system is located between the manipulator and the block supply system.

The present invention has achieved the following technical effects with respect to the prior art:

The masonry wall forming equipment of the invention improves the construction quality and efficiency of the masonry wall. The masonry wall forming equipment of the present invention can realize free walking with the masonry distance as the modulus through the walking mechanism at the bottom of the frame body, and can be safely locked after reaching a predetermined position. The block is clamped by the clamping device on the 6-DOF manipulator to ensure that the block will not be in danger of falling, and a grid plate is designed at the end, through the projection of the received laser signal and the center deviation value of the grid plate Adjust the block position on the manipulator to ensure that the final installation position of the block can meet the flatness requirements of the masonry wall. The rotating speed of the auger in the mortar supply system can be adjusted, and the amount of the sprayed mortar can be controlled by adjusting the rotating speed of the auger; the invention has a high degree of automation, high operation efficiency, and easy quality control, which is beneficial to the improvement of the quality of the wall and shortens the construction time. It can also reduce the labor intensity of construction workers and avoid the occurrence of dangerous accidents.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the working schematic diagram of the masonry wall forming equipment of the present invention;

Fig. 2 is the partial structure schematic diagram of the masonry wall forming equipment of the present invention;

Fig. 3 is the structural schematic diagram of the visual recognition system in the masonry wall forming equipment of the present invention;

Fig. 4 is the structural schematic diagram of the mortar supply system in the masonry wall forming equipment of the present invention;

5 is a schematic structural diagram of a block supply system in the masonry wall forming equipment of the present invention;

Fig. 6 is the partial structural schematic diagram of the block supply system in the masonry wall forming equipment of the present invention;

Fig. 7 is the structural schematic diagram of the manipulator in the masonry wall forming equipment of the present invention;

Fig. 8 is a partial enlarged view of Fig. 7;

Fig. 9 is a partial enlarged view of Fig. 3;

Fig. 10 is the sizing schematic diagram of the masonry wall forming equipment of the present invention;

Among them: 1-travel mechanism, 2-mortar supply system, 201-hopper, 202-box, 203-drive motor, 204-auger, 205-outlet, 3-frame, 4-robot, 401-camera , 402-grid plate, 403-moving clamping plate, 404-first cylinder, 405-first connecting plate, 406-fixed plate, 5-visual recognition system, 501-laser scanner, 502-laser point, 6 -Control System, 7-Block Feeding System, 701-Conveyor Belt, 702-Block, 703-Infrared Sensor Positioner, 704-Tie Rod, 705-Second Baffle, 706-Guide, 707-Air Gripper, 708 -First baffle plate, 709-Second cylinder, 710-Second connecting plate, 8-First sizing surface, 9-Second sizing surface.

Detailed ways

The technical solutions in 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. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a masonry wall forming equipment, so as to solve the above problems existing in the prior art and improve the construction quality and efficiency of the masonry wall. In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 9: the masonry wall forming equipment in this embodiment includes a frame body 3, a mortar supply system 2, a block supply system 7, a manipulator 4, a control system 6 and a visual recognition system 5, a mortar supply system 2, The block supply system 7, the manipulator 4 and the control system 6 are arranged on the frame body 3, and the mortar supply system 2 is located between the manipulator 4 and the block supply system 7; The walking mechanism 1 at the bottom can realize free walking with the masonry distance as the modulus.

The mortar supply system 2 is capable of supplying mortar. The mortar supply system 2 includes a box body 202. An auger 204 is arranged on the box body 202. One end of the auger 204 is communicated with the hopper 201, and the other end is provided with a slurry outlet 205. A driving motor 203 for driving the auger 204 is provided, and the rotational speed of the driving motor 203 can be adjusted, so that the rotational speed of the auger 204 can be adjusted, and the amount of ejected mortar can be controlled by adjusting the rotational speed of the auger 204 .

The block supply system 7 includes a conveyor belt 701 for conveying the blocks 702, a guide device 706 arranged at the discharge end of the conveyor belt 701, and an infrared sensor locator 703 arranged above the guide device 706. The infrared sensor locator 703 can detect The position information of the blocks 702 on the guide device 706, the skeleton of the conveyor belt 701 is fixedly connected with the frame body 3 through the pull rod 704; A second connecting plate 710 is fixed on the telescopic rod of 1000, and an air claw 707 is arranged on the second connecting plate 710. The second air cylinder 709 can drive the air claw 707 to push the block 702 on the guide device 706; the guide device 706 is far away from the conveyor belt 701 A first baffle plate 708 is provided at one end of the cable, and the air gripper 707 and the second baffle plate 705 are both located between the first baffle plate 708 and the conveyor belt 701, and are respectively arranged on both sides of the guide device 706. The guide device 706 is inclined, the end of the guide device 706 away from the conveyor belt 701 is lower than the end of the guide device 706 close to the conveyor belt 701, and a number of rollers are arranged on the bottom surface of the guide device 706. When the block 702 is conveyed by the conveyor belt 701 to the guide device 706 After that, the block 702 can slide to the end of the guide device 706 away from the conveyor belt 701 under the action of its own weight, and fit with the first baffle 708, and the second air cylinder 709 can drive the air claw 707 to push the block on the guide device 706 702 to make the block 702 fit with the second baffle 705, and at this time, the air gripper 707 and the second baffle 705 clamp the block 702.

The visual recognition system 5 includes a vertical guide rail, a driving device and a laser scanner 501 arranged at one end of the masonry wall. The driving device can drive the laser scanner 501 to move up and down along the vertical guide rail; The scanner moves up and down along the vertical guide rail through the drive mechanism of the screw structure.

The manipulator 4 is provided with a clamping device, and the clamping device includes a fixed clamping plate fixedly connected with the manipulator 4 and a movable clamping plate 403 driven by the first cylinder 404. The movement of the movable clamping plate 403 driven by the first cylinder 404 can be completed. Actions of gripping the block 702 and putting down the block 702; the manipulator 4 is also provided with a grid plate 402 and a camera 401 facing the grid plate 402, the camera 401 is set on the first connecting plate 405, below the first connecting plate 405 A fixing plate 406 is also provided, the first connecting plate 405 and the fixing plate 406 are respectively fixed with the grid plate 402, the first cylinder 404 is arranged under the first connecting plate 405, and the laser scanner 501 can irradiate the laser spot 502 on the grid plate 402. On the grid 402, the laser scanner 501 and the camera 401 are electrically connected to the control system 6, respectively. The camera 401 shoots the laser projection points on the grid plate 402 and sends a signal to the control system. The control signal controls the manipulator 4 to adjust the block position according to the deviation value between the laser projection point of the laser point 502 on the grid plate 402 and the grid center , to ensure that the final block is accurately seated.

The traveling mechanism 1, the infrared sensor locator 703, the driving device of the mortar supply system 2, the driving device of the conveyor belt 701 and the manipulator 4 are respectively electrically connected with the control system 6. The manipulator 4 adopts the manipulator 4 with 6 degrees of freedom. After the device clamps the block 702, the block 702 can be turned over freely, so that mortar can be set on both the first sizing surface 8 and the second sizing surface 9 of the block 702. The control system 6 adopts a programmable controller, and the specific model is sink Chuan H3U.

The working process of this embodiment is as follows:

First, set the visual recognition system 5 vertically at one end of the cavity to be built; manually input the position, height, length, block 702 specifications and other information of the masonry wall into the control system 6, and lift the laser scanner 501 to the wall according to the height of the wall. At a suitable position, control the traveling mechanism 1 to the working position and lock it reliably. The block supply system 7 transports the blocks 702 to the front of the conveyor belt 701. After the blocks 702 are transported by the conveyor belt 701 to the guide device 706, the blocks 702 can be transported under their own weight. It slides to the end of the guide device 706 away from the conveyor belt 701 under the action of the guide device 706, and fits with the first baffle 708, and the second air cylinder 709 can drive the air claw 707 to push the block 702 on the guide device 706, so that the block 702 and the The two baffles 705 fit together, and the air claw 707 and the second baffle 705 clamp the block 702;

The infrared sensor locator 703 can detect whether there is a block 702 on the guide device 706 and whether the position of the block 702 meets the requirements, and feeds back a signal to the control system 6, and the control system 6 adjusts the position of the block 702 according to the feedback signal to meet the requirements. The manipulator 4 works and controls the clamping device to grab the block 702; before the manipulator 4 transports the block 702 to the shotcrete device, the mortar supply system 2 should prepare a sufficient amount of mortar according to the mortar supply instruction of the control system 6 to ensure the arrival of the block 702. The blocks 702 at the outlet of the shotcrete device can be slurried in time, and the blocks 702 to be sizing are slurried in turn. The manipulator 4 continues to transport the blocks 702 to the position to be laid, and the control system 6 sends a detection signal to the visual recognition system 5. Laser scanning After the instrument 501 emits laser light to the grid plate 402, the camera 401 at the end of the manipulator 4 collects the signal on the grid plate 402 to the control system 6, and controls the manipulator 4 to adjust the grid after calculating the deviation between the laser projection point and the center of the grid plate 402. The block 702 is positioned, and finally the block 702 is reliably and accurately placed on the wall, and a signal is sent to the control device. At this point, the masonry of the block 702 is completed, and the control system 6 moves the chassis forward according to the collected signal, ready to start the next For the masonry of the blocks 702, after all the blocks 702 of the same layer are built, the laser scanner 501 is raised by one masonry height, and the masonry of the next layer is ready to be started. After this cycle is repeated until the entire wall is completed, the control system 6 sends a signal that the equipment moves as a whole to the next position of the wall to be built, and starts the next wall building.

The masonry wall forming equipment of this embodiment has a high degree of automation, high operation efficiency, and easy quality control, which is beneficial to the improvement of the quality of the masonry wall, shortens the masonry time, reduces the labor intensity of construction workers, and avoids the occurrence of dangerous accidents.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "top", "bottom", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the accompanying drawings, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In this specification, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (7)

1. The utility model provides a brickwork wall former which characterized in that: the mortar feeding system comprises a conveyor belt for conveying the building blocks, a guide device arranged at the discharge end of the conveyor belt and a detection device arranged above the guide device, wherein the detection device can detect the position information of the building blocks on the guide device; the manipulator is provided with a clamping device, and the clamping device comprises a fixed clamping plate fixedly connected with the manipulator and a movable clamping plate driven by a first cylinder; the walking mechanism, the detection device, the mortar supply system, the driving motor of the conveyor belt and the manipulator are respectively electrically connected with the control system.

2. Masonry wall forming apparatus according to claim 1, characterised in that: the laser masonry wall building block further comprises a visual recognition system, wherein the visual recognition system comprises a vertical guide rail arranged at one end of the masonry wall, a driving device and a laser scanner, and the driving device can drive the laser scanner to move up and down along the vertical guide rail; the manipulator is further provided with a grid plate and a camera facing the grid plate, the laser scanner can irradiate laser points on the grid plate, and the laser scanner and the camera are respectively and electrically connected with the control system.

3. Masonry wall forming apparatus according to claim 1, characterised in that: the mortar supply system comprises a box body, wherein an auger is arranged on the box body, one end of the auger is communicated with a hopper, a mortar outlet is formed in the other end of the auger, and a driving motor for driving the auger is further arranged on the box body.

4. Masonry wall forming apparatus according to claim 1, characterised in that: the building block supply system further comprises a second air cylinder fixedly arranged below the guide device, a second connecting plate is fixedly arranged on a telescopic rod of the second air cylinder, an air claw is arranged on the second connecting plate, and the second air cylinder can drive the air claw to push the building block on the guide device; one end of the guide device, which is far away from the conveyor belt, is provided with a first baffle, and the gas claw and the second baffle are both positioned between the first baffle and the conveyor belt and are respectively arranged on two sides of the guide device.

5. Masonry wall forming apparatus according to claim 1, characterised in that: the guide device is inclined, and one end, far away from the conveyor belt, of the guide device is lower than one end, close to the conveyor belt, of the guide device.

6. Masonry wall forming apparatus according to claim 1, characterised in that: the framework of the conveyor belt is fixedly connected with the frame body through a pull rod.

7. Masonry wall forming apparatus according to claim 1, characterised in that: the mortar supply system is located between the manipulator and the block supply system.

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