CN111550066B - Brickwork wall former - Google Patents
Brickwork wall former Download PDFInfo
- Publication number
- CN111550066B CN111550066B CN202010369017.XA CN202010369017A CN111550066B CN 111550066 B CN111550066 B CN 111550066B CN 202010369017 A CN202010369017 A CN 202010369017A CN 111550066 B CN111550066 B CN 111550066B
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- Prior art keywords
- guide device
- conveyor belt
- manipulator
- supply system
- masonry wall
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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
Abstract
The invention discloses masonry wall forming equipment which comprises a frame body, wherein a mortar supply system, a building 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, the mortar supply system can supply mortar, the building block supply system comprises a conveyor belt for conveying building blocks, a guide device arranged at the discharge end of the conveyor belt and a detection device arranged above the guide device, and 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. The masonry wall forming equipment improves the construction quality and efficiency of the masonry wall.
Description
Technical Field
The invention relates to the technical field of building equipment, in particular to masonry wall forming equipment.
Background
At present, building site's brickwork wall construction is mainly accomplished through the manual work, and the preset position is placed to the construction workman after plastering the building block, relies on the plumb line of horizontal direction to guarantee the levelness of same layer of building block, relies on the plumb line of vertical direction to guarantee the straightness that hangs down of wall body, and the seam size relies on artifical visual observation, builds by laying bricks or stones the quality and is difficult to control.
Disclosure of Invention
The invention aims to provide masonry wall forming equipment, which is used for solving the problems in the prior art and improving the construction quality and efficiency of masonry walls.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides masonry wall forming equipment which comprises a frame body, wherein a mortar supply system, a building 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, the mortar supply system can supply mortar, the building block supply system comprises a conveyor belt for conveying building blocks, a guide device arranged at the discharge end of the conveyor belt and a detection device arranged above the guide device, and 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.
Preferably, the system 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.
Preferably, the mortar supply system comprises a box body, an auger is arranged on the box body, one end of the auger is communicated with the 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.
Preferably, the block supply system further comprises a second cylinder fixedly arranged below the guide device, a second connecting plate is fixedly arranged on a telescopic rod of the second cylinder, an air claw is arranged on the second connecting plate, and the second cylinder can drive the air claw to push the 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.
Preferably, the guide means is inclined, and the end of the guide means remote from the conveyor belt is lower than the end of the guide means close to the conveyor belt.
Preferably, the framework of the conveyor belt is fixedly connected with the frame body through a pull rod.
Preferably, the mortar supply system is located between the manipulator and the block supply system.
Compared with the prior art, the invention has the following technical effects:
the masonry wall forming equipment improves the construction quality and efficiency of the masonry wall. The masonry wall forming equipment can freely travel by taking the masonry distance as a modulus through the traveling mechanism at the bottom of the frame body, and can be safely locked after reaching a preset position. Through the clamping device centre gripping building block on the manipulator of 6 degrees of freedom, guarantee that the building block can not take place the danger of falling to design the grid plate at the tip, through the projection of received laser signal and the comparison of grid plate central deviation value, the building block position on the adjustment manipulator guarantees that the final mounted position of building block can satisfy the roughness requirement of brickwork wall. The rotating speed of the packing auger in the mortar supply system can be adjusted, and the rotating speed of the packing auger can be adjusted to control the amount of the sprayed mortar; the invention has high automation degree, high operation efficiency and easy quality control, is beneficial to improving the wall building quality, shortens the building time, can also lighten the labor intensity of building workers and avoids dangerous accidents.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the masonry wall forming apparatus of the present invention;
FIG. 2 is a schematic view of a portion of the masonry wall forming apparatus of the present invention;
FIG. 3 is a schematic structural diagram of a visual recognition system in the masonry wall forming apparatus according to the present invention;
FIG. 4 is a schematic structural view of a mortar supply system in the masonry wall forming apparatus according to the present invention;
FIG. 5 is a schematic structural view of a block supply system in the masonry wall forming apparatus of the present invention;
FIG. 6 is a schematic view of a portion of the block supply system of the masonry wall forming apparatus of the present invention;
FIG. 7 is a schematic structural view of a manipulator in the masonry wall forming apparatus according to the present invention;
FIG. 8 is an enlarged view of a portion of FIG. 7;
FIG. 9 is an enlarged view of a portion of FIG. 3;
FIG. 10 is a schematic view of the grouting of the masonry wall forming apparatus of the present invention;
wherein: 1-running gear, 2-mortar supply system, 201-hopper, 202-box, 203-driving motor, 204-auger, 205-grout outlet, 3-frame, 4-manipulator, 401-camera, 402-grid plate, 403-mobile clamping plate, 404-first cylinder, 405-first connecting plate, 406-fixing plate, 5-visual identification system, 501-laser scanner, 502-laser point, 6-control system, 7-block supply system, 701-conveyor belt, 702-block, 703-infrared sensing positioner, 704-pull rod, 705-second baffle, 706-guiding device, 707-air claw, 708-first baffle, 709-second cylinder, 710-second connecting plate, 8-first sizing surface, 9-second sizing surface.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide masonry wall forming equipment, which is used for solving the problems in the prior art and improving the construction quality and efficiency of masonry walls. In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 9: the masonry wall forming equipment comprises a frame body 3, a mortar supply system 2, a building block supply system 7, a manipulator 4, a control system 6 and a visual recognition system 5, wherein the mortar supply system 2, the building 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 positioned between the manipulator 4 and the building block supply system 7; the bottom of the frame body 3 is provided with a traveling mechanism 1, and the traveling mechanism 1 at the bottom of the frame body 3 can realize free traveling by taking the masonry distance as a modulus.
The mortar supply system 2 can supply mortar, the mortar supply system 2 comprises 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, a mortar outlet 205 is formed in the other end of the auger 204, a driving motor 203 for driving the auger 204 is further arranged on the box body 202, the rotating speed of the driving motor 203 is adjustable, so that the rotating speed of the auger 204 is adjustable, and the amount of sprayed mortar can be controlled by adjusting the rotating speed of the auger 204.
The block supply system 7 comprises a conveyor belt 701 for conveying blocks 702, a guide device 706 arranged at the discharge end of the conveyor belt 701 and an infrared sensing positioner 703 arranged above the guide device 706, wherein the infrared sensing positioner 703 can detect the position information of the blocks 702 on the guide device 706, and the framework of the conveyor belt 701 is fixedly connected with the frame body 3 through a pull rod 704; the block supply system 7 further comprises a second air cylinder 709 fixedly arranged below the guide device 706, a second connecting plate 710 is fixedly arranged on an expansion link of the second air cylinder 709, an air claw 707 is arranged on the second connecting plate 710, and the second air cylinder 709 can drive the air claw 707 to push the block 702 on the guide device 706; the end of the guiding device 706 away from the conveyor belt 701 is provided with a first baffle 708, and the gas claw 707 and the second baffle 705 are both positioned between the first baffle 708 and the conveyor belt 701 and are respectively arranged at two sides of the guiding device 706. The guide device 706 is inclined, one end of the guide device 706 far away from the conveyor belt 701 is lower than one end of the guide device 706 close to the conveyor belt 701, a plurality of rollers are arranged on the bottom surface of the guide device 706, after the building block 702 is conveyed to the guide device 706 by the conveyor belt 701, the building block 702 can slide to one end of the guide device 706 far away from the conveyor belt 701 under the action of self weight and is attached to the first baffle 708, the second air cylinder 709 can drive the air claw 707 to push the building block 702 on the guide device 706 to enable the building block 702 to be attached to the second baffle 705, and the air claw 707 and the second baffle 705 clamp the building block 702 at the moment.
The visual recognition system 5 comprises a vertical guide rail arranged at one end of the masonry wall, a driving device and a laser scanner 501, wherein the driving device can drive the laser scanner 501 to move up and down along the vertical guide rail; specifically, the driving device may be a motor, and the motor may move up and down along the vertical guide rail through the screw structure driving mechanism scanner.
The manipulator 4 is provided with a clamping device, the clamping device comprises a fixed clamping plate fixedly connected with the manipulator 4 and a movable clamping plate 403 driven by a first air cylinder 404, and the first air cylinder 404 drives the movable clamping plate 403 to move so as to finish actions of clamping the building block 702 and putting down the building block 702; the manipulator 4 is further provided with a grid plate 402 and a camera 401 facing the grid plate 402, the camera 401 is arranged on a first connecting plate 405, a fixing plate 406 is further arranged below the first connecting plate 405, the first connecting plate 405 and the fixing plate 406 are respectively fixedly connected with the grid plate 402, a first air cylinder 404 is arranged below the first connecting plate 405, a laser scanner 501 can irradiate a laser spot 502 on the grid plate 402, and the laser scanner 501 and the camera 401 are respectively electrically connected with the control system 6. The camera 401 shoots the laser projection point on the grid plate 402 and sends a signal to the control system, and the control signal controls the manipulator 4 to adjust the position of the building block according to the deviation value between the laser projection point of the laser point 502 on the grid plate 402 and the center of the grid, so as to ensure that the building block is finally and accurately positioned.
Running gear 1, infrared sensing locator 703, the drive arrangement of mortar feed system 2, the drive arrangement and the manipulator 4 of conveyer belt 701 are connected with control system 6 electricity respectively, manipulator 4 adopts the manipulator 4 of 6 degrees of freedom, manipulator 4 presss from both sides through clamping device and gets behind the building block 702, can freely overturn building block 702 to conveniently all set up the mortar at first starching face 8 and the second starching face 9 of building block 702, control system 6 adopts programmable controller, specific model is confluent chuan H3U.
The working process of the embodiment is as follows:
firstly, vertically arranging a visual recognition system 5 at one end of a wall to be built; the method comprises the steps of manually inputting information such as masonry wall position, height, length and building block 702 specification to a control system 6, lifting a laser scanner 501 to a proper position according to the wall height, controlling a walking mechanism 1 to a working position and reliably locking, conveying the building block 702 to the front part of a conveyor belt 701 by a building block supply system 7, conveying the building block 702 to a guide device 706 by the conveyor belt 701, enabling the building block 702 to slide to one end, away from the conveyor belt 701, of the guide device 706 under the action of self weight and to be attached to a first baffle 708, driving an air claw 707 by a second air cylinder 709 to push the building block 702 on the guide device 706, enabling the building block 702 to be attached to a second baffle 705, and clamping the building block 702 by the air claw 707 and the second baffle 705 at the moment;
the infrared sensing positioner 703 can detect whether there is a building block 702 on the guiding device 706 and whether the position of the building block 702 meets the requirements, and feed back a signal to the control system 6, and the control system 6 controls the manipulator 4 to work and controls the clamping device to grab the building block 702 after adjusting the position of the building block 702 to meet the requirements according to the feedback signal; before the manipulator 4 conveys the building blocks 702 to the guniting device, the mortar supply system 2 needs to allocate enough mortar according to a mortar supply instruction of the control system 6, the building blocks 702 reaching the outlet of the guniting device can be timely starched, the to-be-starched surfaces of the building blocks 702 are sequentially starched, the manipulator 4 continues to convey the building blocks 702 to the to-be-built layer position, the control system 6 sends detection signals to the visual identification system 5, after the laser scanner 501 emits laser to the grid plate 402, the camera 401 at the end of the manipulator 4 collects signals on the grid plate 402 to the control system 6, the manipulator 4 is controlled to adjust the position of the building blocks 702 after calculating the deviation between the laser projection point and the center of the grid plate 402, finally the building blocks 702 are reliably and accurately placed on the wall, and signals are sent to the control device, accordingly, the building of the building blocks 702 is completed once, the control system 6 moves the chassis forwards according to the collected signals, the next block 702 is ready to be laid, and when all the blocks 702 of the same course are laid, the laser scanner 501 is raised by one laying height to be ready to be laid of the next course. After the whole wall body is repeatedly worked in such a circulating way, the control system 6 gives a signal to enable the equipment to integrally move to the next position of the wall body to be built, and the next building of the wall body is started.
The masonry wall forming equipment has the advantages of high automation degree, high operating efficiency and easy quality control, is favorable for improving the wall building quality, shortens the building time, reduces the labor intensity of building workers and avoids dangerous accidents.
In the description of the present invention, it should be noted that the terms "top", "bottom", "vertical", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
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;
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 also provided with a grid plate and a camera which is opposite to 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;
the guide device inclines, one end of the guide device, which is far away from the conveyor belt, is lower than one end of the guide device, which is close to the conveyor belt, and a plurality of rollers are arranged on the bottom surface of the guide device.
2. 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.
3. 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.
4. 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.
5. 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010369017.XA CN111550066B (en) | 2020-04-30 | 2020-04-30 | Brickwork wall former |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010369017.XA CN111550066B (en) | 2020-04-30 | 2020-04-30 | Brickwork wall former |
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| Publication Number | Publication Date |
|---|---|
| CN111550066A CN111550066A (en) | 2020-08-18 |
| CN111550066B true CN111550066B (en) | 2021-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010369017.XA Active CN111550066B (en) | 2020-04-30 | 2020-04-30 | Brickwork wall former |
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| Country | Link |
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| CN (1) | CN111550066B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113389393A (en) * | 2021-05-18 | 2021-09-14 | 中国一冶集团有限公司 | Building block mortar conveyer |
| CN114482582A (en) * | 2021-06-28 | 2022-05-13 | 广东博智林机器人有限公司 | Bricklaying equipment |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106088632B (en) * | 2016-06-22 | 2018-03-30 | 浙江视野环境艺术装饰工程有限公司 | A kind of wall-building machine based on machine vision |
| CN206553893U (en) * | 2017-01-23 | 2017-10-13 | 西安文理学院 | A kind of automatic paving machine |
| CN209066910U (en) * | 2018-10-25 | 2019-07-05 | 南京嘉怡装饰设计有限公司 | One kind, which is built a wall, marks straight equipment |
| CN209601537U (en) * | 2019-02-22 | 2019-11-08 | 宜都楚韵建材科技有限公司 | A kind of concrete segment conveying device |
| CN110094074B (en) * | 2019-06-04 | 2024-04-26 | 沈洋 | Wall body masonry robot system |
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| CN110670447A (en) * | 2019-09-27 | 2020-01-10 | 陈楚旋 | Automatic paving brick equipment of road for highway engineering |
| CN110884882A (en) * | 2019-12-27 | 2020-03-17 | 彭进业 | Brick stacking auxiliary device |
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2020
- 2020-04-30 CN CN202010369017.XA patent/CN111550066B/en active Active
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| CN111550066A (en) | 2020-08-18 |
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