CN111622517A - Brick plastering device and brick plastering equipment - Google Patents
Brick plastering device and brick plastering equipment Download PDFInfo
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- CN111622517A CN111622517A CN202010484248.5A CN202010484248A CN111622517A CN 111622517 A CN111622517 A CN 111622517A CN 202010484248 A CN202010484248 A CN 202010484248A CN 111622517 A CN111622517 A CN 111622517A
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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
- E04G21/20—Tools or apparatus for applying mortar
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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
- E04G21/20—Tools or apparatus for applying mortar
- E04G2021/208—Tools or apparatus for applying mortar on a vertical joint
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Abstract
The invention belongs to the technical field of construction robots, and discloses a brick plastering device which comprises a moving mechanism and a plastering head mechanism arranged on the moving mechanism, wherein the plastering head mechanism comprises a rotary driving piece and a mortar outlet head component which are in transmission connection; the moving mechanism is used for driving the plastering head mechanism to move along the top surface to be paved and the side surface to be paved of the brick, and the plastering head mechanism moves along the side surface to be paved from bottom to top. Also discloses brick plastering equipment comprising the plastering device. The mortar outlet of the mortar outlet head component faces different surfaces to be paved of the bricks and the plastering operation can be completed, the design only needs to position and fix the bricks once, and only one mortar outlet head component is needed to finish plastering of a plurality of surfaces to be paved of the bricks.
Description
Technical Field
The invention relates to the technical field of building robots, in particular to a brick plastering device and brick plastering equipment.
Background
The traditional operation of the wall building process is to manually plaster the brick to be built and then build the plastered brick on the corresponding position, the traditional process has high labor intensity and low efficiency, the wall building quality depends on the operation level of workers, the labor cost is high, the brick is heavier, the wall building operation environment is poor, various occupational diseases of the workers are easy to cause, and the wall building by using a robot is a future development trend. Wherein, realize automatic plastering and be the important part of realizing automatic building a wall, also have some automatic plastering device at present, but these plastering device function singleness can only realize the plastering to the single face of fragment of brick, if will plaster to two different faces of fragment of brick, then need set up a plurality of different actuating mechanism, lead to the overall structure of device complicated, work efficiency is low.
Based on the above situation, it is necessary to design a new brick plastering device.
Disclosure of Invention
One object of the present invention is: the utility model provides a fragment of brick plastering device can treat the plastering operation of spreading the face to the difference of fragment of brick.
Another object of the invention is: the brick plastering equipment can carry out plastering operation on different surfaces to be plastered of bricks.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, a brick plastering device comprises
The plastering head mechanism comprises a rotary driving piece and a mortar outlet head component, the mortar outlet head component is in transmission connection with the rotary driving piece, the mortar outlet head component comprises a mortar outlet horn tube, one end of the mortar outlet horn tube is provided with a flat mortar outlet, one side of the mortar outlet along the width direction is provided with scraping teeth, and the rotary driving piece is used for driving the mortar outlet head component to rotate to the rear side of the plastering direction where the scraping teeth are located;
the moving mechanism, the first mechanism of plastering set up in moving mechanism, moving mechanism is used for the drive the first mechanism of plastering is along the fragment of brick wait to spread the thick liquid top surface and wait to spread the thick liquid side and remove, just the first mechanism of plastering is from up down along the direction of waiting to spread the thick liquid side and remove.
Specifically, under the prerequisite that fragment of brick is immovable, through setting up the adjustment of rotary driving spare go out the direction of thick liquid first subassembly, make the play thick liquid mouth of play thick liquid first subassembly can treat the spreading face towards the difference of fragment of brick, and makes and scrape the rear side that the tooth is located the direction of plastering to scrape the tooth and strike off the mortar again after a thick liquid mouth goes out the thick liquid, and then the cooperation moving mechanism realizes treating the operation of plastering of spreading the face to the difference of fragment of brick, and this kind of design only needs fix a position fixedly to the fragment of brick, and only needs a play thick liquid first subassembly can accomplish a plurality of plastering of treating the spreading face of fragment of brick, and the operating efficiency is high and equipment cost is low.
Preferably, the rotary driving piece drives the grout outlet head assembly to rotate, so that the grout outlet of the grout outlet head assembly faces the top surface to be grouted or the side surface to be grouted of the brick.
Specifically, the scraping teeth are arranged at the downstream of the slurry outlet in the direction of the plastering movement and are used for scraping the slurry on the surface to be paved.
As a preferred technical scheme, the plastering head mechanism further comprises a pipe joint, one end of the mortar outlet flared pipe, which is far away from the mortar outlet, is rotatably connected with one end of the pipe joint, the mortar outlet flared pipe is communicated with one end of the pipe joint, and the other end of the pipe joint is communicated with an external mortar supply device.
Specifically, the pipe joint is rotatably connected with the slurry outlet head assembly, so that slurry can be supplied to the slurry outlet head assembly on one hand, the pipe joint can be kept static in the rotating process of the slurry outlet head assembly on the other hand, the repeated rotation of the pipe joint is avoided, the connection reliability of the pipe joint and an external slurry supply device is effectively guaranteed, and the daily maintenance frequency is reduced. Through rotating go out thick liquid horn pipe and can adjust out thick liquid direction, and then satisfy the different plastering demands of treating the shop's starching face, easy operation is convenient.
Preferably, a bearing is arranged between the pipe joint and the slurry outlet head assembly.
Preferably, the export of coupling is circular, go out thick liquid horn pipe with the one end of coupling intercommunication is circular opening, go out on the thick liquid horn pipe go out the thick liquid mouth for the platykurtic opening, the length of going out the thick liquid mouth equals the width of waiting to spread the thick liquid fragment of brick.
As a preferred technical scheme, the plastering head mechanism further comprises a plastering head support, the plastering head support is installed on the moving mechanism, the body of the rotary driving piece and the pipe joint are installed on the plastering head support in parallel, the plastering horn pipe is sleeved on the outer side of one end of the pipe joint, and the output end of the rotary driving piece is in transmission connection with the outer wall of the plastering horn pipe.
Specifically, through will go out thick liquid horn pipe box and locate the outside of the one end of coupling, just rotary driving spare's output with the outer wall transmission of going out thick liquid horn pipe is connected, makes go out thick liquid horn pipe with the coupling can be on same straight line, and then reduces the resistance that thick liquids were carried, improves the stability that thick liquids were carried.
As a preferred technical solution, the slurry outlet head assembly further includes:
the slurry outlet head support is rotatably connected with the pipe joint, and the slurry outlet flared pipe is arranged on the slurry outlet head support.
As a preferred technical solution, the slurry outlet head assembly further includes:
the mortar outlet guide block is arranged on one side, away from the pipe joint, of the mortar outlet head bracket and is used for abutting against the bricks from two sides in the mortar coating moving direction; and/or the slurry outlet roller is arranged on one side, far away from the pipe joint, of the slurry outlet head bracket and is used for abutting against the top surface and the side surface of the slurry to be spread.
Specifically, through setting up go out thick liquid guide block, can make at the plastering in-process go out the thick liquid mouth and keep between two parties, avoid go out the thick liquid head subassembly with wait to spread the skew of thick liquid fragment of brick, and then effectively guarantee the plastering reliability.
Specifically, under the premise that the included angle between the slurry outlet head assembly and the surface to be spread is fixed and unchanged, the slurry outlet roller abutting against the surface to be spread can keep the distance between the slurry outlet and the surface to be spread unchanged, and the consistency of the plastering thickness can be improved.
As a preferable technical scheme, the moving mechanism comprises a horizontal moving assembly and a vertical moving assembly, the vertical moving assembly is slidably mounted on the horizontal moving assembly, the horizontal moving assembly is used for driving the vertical moving assembly to horizontally move, the plastering head mechanism is mounted on the vertical moving assembly, and the vertical moving assembly is used for driving the plastering head mechanism to vertically move.
Specifically, through the horizontal migration subassembly drives the first mechanism horizontal migration of plastering makes the first mechanism of plastering can be to the operation of plastering of waiting to spread the thick liquid top surface of fragment of brick, through vertical removal subassembly drives the vertical removal of the first mechanism of plastering makes the first mechanism of plastering can be to the operation of plastering of waiting to spread the thick liquid side of fragment of brick.
Preferably, the horizontal movement assembly comprises a main support, and a horizontal sliding rail, a horizontal driving piece and a horizontal screw rod which are installed on the side surface of the main support, wherein a horizontal sliding block is arranged on the horizontal sliding rail in a sliding manner, and the vertical movement assembly is installed on the horizontal sliding block. The horizontal sliding block is in threaded connection with the horizontal screw rod, and the output end of the horizontal driving piece is connected with the horizontal screw rod and used for driving the horizontal sliding block to move along the horizontal sliding rail. Further, the horizontal driving member is a servo motor.
As a preferred technical solution, the vertical moving assembly includes:
the auxiliary bracket is horizontally and slidably arranged on the horizontal moving component;
the vertical lifting frame is slidably mounted on the auxiliary bracket along the vertical direction;
the body of the vertical driving piece is mounted on the auxiliary bracket, and the output end of the vertical driving piece is in transmission connection with the vertical lifting frame and is used for driving the vertical lifting frame to move up and down;
the connecting frame is provided with a plurality of connecting holes which are circularly distributed, and the connecting frame is arranged in the vertical lifting frame through the connecting holes.
Specifically, through setting up a plurality of the connecting hole that is circular distribution, make the link can be fixed in with a plurality of different angles at vertical face vertical crane, and then the adjustment the first mechanism of plastering and the angle of waiting to spread the thick liquid fragment of brick. Further, through setting up the link cooperation the first mechanism of plastering a thick liquid play thick liquid running roller with scrape the tooth joint work, can adjust the axial lead of play thick liquid running roller with scrape the common place plane of the butt end of tooth with wait to spread the thick liquid top surface or wait to spread the contained angle of thick liquid side, work as play thick liquid running roller butt wait to spread the thick liquid top surface or wait to spread the thick liquid side surface, because the difference of this contained angle, can make scrape the butt end of tooth with wait to spread the thick liquid top surface or wait to spread the distance of thick liquid side different, and then can adjust the thickness of plastering a thick liquid. The larger the included angle is, the larger the plastering thickness is, and the smaller the included angle is, the smaller the plastering thickness is.
Preferably, one side of the auxiliary support close to the vertical lifting frame is provided with a vertical sliding block, one side of the vertical lifting frame close to the auxiliary support is provided with a vertical sliding rail, the vertical sliding block is connected with the vertical sliding rail in a sliding mode, one side of the vertical lifting frame close to the auxiliary support is further provided with a vertical rack, the output end of the vertical driving piece is provided with a vertical driving gear, and the vertical driving gear is meshed with the vertical rack. Further, the vertical drive is a servo motor.
Preferably, the upper end and the lower end of the vertical sliding rail are respectively provided with an anti-falling block, and the anti-falling blocks can abut against the vertical sliding block to prevent the vertical sliding rail from being separated from the vertical sliding block.
As a preferred technical scheme, the brick plastering device further comprises a brick fixing mechanism, wherein the brick fixing mechanism is mounted on the main support of the moving mechanism and used for grabbing the bricks to be plastered.
Specifically, install through the setting on the main support fragment of brick fixed establishment can make treat spread the thick liquid fragment of brick with the relative position of first mechanism of plastering carries out the accuracy, and the location is simpler, does benefit to and improves the operating efficiency of plastering.
Preferably, the brick fixing mechanism is mounted on the bottom surface of the main bracket.
As a preferable technical solution, the brick fixing mechanism includes:
the passive rotating frame is rotatably connected with the bottom surface of the main bracket;
the sucker is arranged at one end of the passive rotating frame and is used for adsorbing the brick to be spread with the mortar;
the leveling subassembly is used for the drive passive swivel mount returns well, the leveling subassembly includes two and resets, two reset respectively set up in the both sides of passive swivel mount, the one end that resets install in the main support, other end butt passive swivel mount.
Specifically, the centering of the passive rotating frame means that the passive rotating frame is restored to a position on the passive rotating frame, where the sucker is parallel to the horizontal moving direction of the plastering head mechanism, so that the brick is flush with the plastering head mechanism, and when the brick is located at the position, the plastering head mechanism can efficiently and accurately plaster the brick under the driving of the moving mechanism.
Preferably, the brick fixing mechanism further comprises a cantilever transverse plate, the cantilever transverse plate is mounted on the bottom surface of the main support, and the driven rotating frame is rotatably mounted on the cantilever transverse plate.
Preferably, the suction cup is a sponge suction cup.
Preferably, be provided with spacing spout on the passive swivel mount, the piece that resets includes reset seat, reset guide bar and reset spring, reset seat install in the main support, the one end of reset guide bar install in reset seat, the other end of reset guide bar inserts in the spacing spout, the reset spring cover is established reset guide bar's the outside and be located reset seat with between the spacing spout.
On the other hand, the brick plastering device comprises a mechanical arm and the brick plastering device, wherein the moving mechanism of the brick plastering device is installed on the mechanical arm.
Specifically, through setting up the arm can drive fragment of brick plastering device global movement, and then makes the first mechanism of plastering can reach the operation station of plastering fast, and further, the arm also can drive fragment of brick fixed establishment snatchs the fragment of brick of treating the shop's thick liquid fast.
Preferably, a main support of the moving mechanism is mounted to the robot arm.
The invention has the beneficial effects that: the utility model provides a fragment of brick plastering device and fragment of brick plastering equipment, under fragment of brick rigid's prerequisite, through setting up the rotation driving piece adjustment go out the direction of thick liquid first subassembly, make go out the grout outlet of thick liquid first subassembly and can treat the spread face towards the difference of fragment of brick, and then the cooperation moving mechanism realizes treating the operation of plastering of spread face to the difference of fragment of brick, and this kind of design only needs fix a position fixedly once to the fragment of brick, and only needs a thick liquid first subassembly can accomplish the plastering of a plurality of faces of waiting of fragment of brick, and the operating efficiency is high and equipment cost is low.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic structural diagram of a brick plastering device according to an embodiment from a first view angle;
FIG. 2 is a schematic structural diagram of a plastering head mechanism according to an embodiment;
FIG. 3 is a cross-sectional view of a plastering head mechanism according to an embodiment (the rotary driving member and the plastering head bracket are not shown);
FIG. 4 is a schematic structural diagram of a horizontal movement assembly according to an embodiment;
FIG. 5 is a schematic diagram of a first perspective view of a vertical motion assembly according to an embodiment;
FIG. 6 is a schematic diagram of a second perspective view of the vertical motion assembly according to the embodiment;
FIG. 7 is a schematic diagram of an initial station of a top surface plastering operation to be plastered according to an embodiment;
FIG. 8 is a schematic diagram of an ending station of a top surface plastering operation to be plastered according to the embodiment;
FIG. 9 is a schematic view of an initial station of a side plastering operation to be plastered according to an embodiment;
FIG. 10 is a schematic diagram of an ending station of a side plastering operation to be plastered according to an embodiment;
fig. 11 is a schematic structural view from a second perspective of the brick plastering device according to the embodiment;
FIG. 12 is an enlarged view of a portion of the portion A shown in FIG. 11;
fig. 13 is a schematic structural view of a brick holding mechanism according to an embodiment;
fig. 14 is a diagram showing the state in which the brick holding mechanism of the embodiment just contacts a brick;
fig. 15 is a view of the embodiment of the block securing mechanism fully engaged with a block;
fig. 16 is a state view of the brick holding mechanism according to the embodiment after leveling.
In fig. 1 to 16:
1. a plastering head mechanism; 11. a rotary drive member; 12. a slurry outlet head assembly; 121. a pulp outlet head bracket; 122. discharging the slurry to a guide block; 123. a slurry outlet flared pipe; 124. a pulp outlet; 125. scraping teeth; 126. a pulp outlet roller; 13. a pipe joint; 14. a bearing; 15. a head smearing support;
2. a moving mechanism; 21. a horizontal movement assembly; 211. a main support; 212. a horizontal slide rail; 213. a horizontal drive member; 214. a horizontal screw rod; 215. a horizontal slider; 22. a vertical movement assembly; 221. a sub-mount; 222. a vertical lifting frame; 223. a vertical drive; 224. a vertical slide block; 225. a vertical slide rail; 2251. preventing blocks from falling; 226. a vertical rack; 227. a vertical drive gear; 228. a connecting frame; 229. connecting holes;
3. a brick fixing mechanism; 31. a passive rotating frame; 311. a limiting chute; 32. a suction cup; 33. a leveling assembly; 331. a reset seat; 332. a reset guide rod; 333. a return spring; 34. a cantilever transverse plate;
4. a brick block; 41. the top surface of the pulp to be spread; 42. and (5) spreading the side of the pulp.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
A brick plastering device is shown in figures 1 to 3 and comprises a plastering head mechanism 1 and a moving mechanism 2, wherein the plastering head mechanism 1 comprises a rotary driving part 11 and a plastering head component 12, the plastering head component 12 is in transmission connection with the rotary driving part 11, the plastering head component 12 comprises a plastering flared tube 123, one end of the plastering flared tube 123 is provided with a flat plastering outlet 124, one side of the plastering outlet 124 in the width direction is provided with scraping teeth 125, and the rotary driving part 11 is used for driving the plastering head component 12 to rotate to the rear side of the plastering direction in which the scraping teeth 125 are located. The plastering head mechanism 1 is arranged on the moving mechanism 2, the moving mechanism 2 is used for driving the plastering head mechanism 1 to move along the top surface 41 to be paved and the side surface 42 to be paved of the brick 4, and the plastering head mechanism 1 moves along the side surface to be paved from bottom to top. Specifically, under the prerequisite that fragment of brick 4 is immovable, through setting up the direction that the adjustment goes out thick liquid head assembly 12 of rotary driving piece 11, the grout outlet 124 that makes out thick liquid head assembly 12 can treat the spreading surface towards the difference of fragment of brick 4, and make and scrape the rear side that the tooth is located the direction of plastering, be convenient for go out the thick liquid back at the grout outlet, scrape the tooth and strike off the mortar again, and then cooperate moving mechanism 2 to realize treating the operation of plastering of spreading surface to the difference of fragment of brick 4, this kind of design only needs fix a position fixedly to fragment of brick 4, and only need one play thick liquid head assembly 12 can accomplish a plurality of the plastering of spreading surface of treating of fragment of brick 4, the operating efficiency is high and equipment cost is low. In addition, the in-process of plastering is being waited to spread the thick liquid side and is moving from bottom to top and carry out the plastering, can avoid thick liquids unrestrained better, improves the utilization ratio and the plastering effect of data. Alternatively, rotary drive 11 drives grout head assembly 12 to rotate so that grout outlet 124 of grout head assembly 12 is directed toward top surface 41 or side surface 42 to be grouted of brick 4.
In this embodiment, as shown in fig. 2 and fig. 3, the plastering head mechanism 1 further includes a pipe joint 13, wherein an end of the mortar outlet flared pipe 123 far away from the mortar outlet 124 is rotatably connected to an end of the pipe joint 13, the mortar outlet flared pipe 123 is communicated with an end of the pipe joint 13, and the other end of the pipe joint 13 is communicated with an external mortar supply device. Through rotating coupling 13 and play thick liquid head subassembly 12 and being connected, can provide thick liquids for play thick liquid head subassembly 12 on the one hand, on the other hand can guarantee that coupling 13 keeps static in the rotatory in-process of play thick liquid head subassembly 12, and then avoids coupling 13 to rotate repeatedly, effectively guarantees coupling 13 and outside confession thick liquid device's connection reliability and reduction daily maintenance frequency. Can adjust out thick liquid direction through rotating out thick liquid horn pipe 123, and then satisfy the different plastering demands of treating the shop's starching face, easy operation is convenient. As an alternative, a bearing 14 is arranged between the pipe joint 13 and the slurry outlet head assembly 12, so that the rotary connection is realized. The outlet of the pipe joint 13 is circular, one end of the slurry outlet flared pipe 123 communicated with the pipe joint 13 is a circular opening, the slurry outlet 124 on the slurry outlet flared pipe 123 is a flat opening, and the length of the slurry outlet 124 is equal to the width of the brick 4 to be spread with slurry.
The plastering head mechanism 1 further comprises a plastering head support 15, the plastering head support 15 is installed on the moving mechanism 2, the body of the rotary driving piece 11 and the pipe joint 13 are installed on the plastering head support 15 in parallel, the mortar outlet horn pipe 123 is sleeved on the outer side of one end of the pipe joint 13, and the output end of the rotary driving piece 11 is in transmission connection with the outer wall of the mortar outlet horn pipe 123. Specifically, the slurry outlet flared tube 123 is sleeved outside one end of the tube joint 13, and the output end of the rotary driving member 11 is in transmission connection with the outer wall of the slurry outlet flared tube 123, so that the slurry outlet flared tube 123 and the tube joint 13 can be located on the same straight line, the slurry conveying resistance is reduced, and the slurry conveying stability is improved.
In this embodiment, the slurry outlet head assembly 12 includes a slurry outlet head bracket 121, a slurry outlet guide block 122 and a slurry outlet roller 126, the slurry outlet head bracket 121 is rotatably connected to the pipe joint 13, and the slurry outlet guide block 122 is installed on one side of the slurry outlet head bracket 121 away from the pipe joint 13, and is used for abutting against the bricks 4 from both sides of the slurry application moving direction. Specifically, through setting up out thick liquid guide block 122, can make and keep centering at grout outlet 124 in the plastering process, avoid out the skew of thick liquid head subassembly 12 and the fragment of brick 4 of waiting to spread thick liquid, and then effectively guarantee the plastering reliability.
The pulp outlet roller 126 is arranged on one side of the pulp outlet head bracket 121 far away from the pipe joint 13 and is used for abutting against the top surface 41 to be spread and the side surface 42 to be spread. Specifically, under the precondition that the included angle between the slurry outlet head assembly 12 and the surface to be spread is fixed and unchanged, the slurry outlet roller 126 abutting against the surface to be spread can keep the distance between the slurry outlet 124 and the surface to be spread unchanged, so that the consistency of the plastering thickness can be improved.
In the present embodiment, in the plastering state, the scraping tooth 125 is bent toward the top surface or the side surface to be plastered. Specifically, the scraping teeth 125 are disposed downstream of the slurry outlet 124 in the direction of the plastering movement, and are used for scraping the slurry on the surface to be plastered.
In this embodiment, as shown in fig. 1, the moving mechanism 2 includes a horizontal moving assembly 21 and a vertical moving assembly 22, the vertical moving assembly 22 is slidably mounted on the horizontal moving assembly 21, the horizontal moving assembly 21 is used for driving the vertical moving assembly 22 to move horizontally, the plastering head mechanism 1 is mounted on the vertical moving assembly 22, and the vertical moving assembly 22 is used for driving the plastering head mechanism 1 to move up and down. Specifically, drive the first horizontal migration of mechanism of plastering through horizontal migration subassembly 21, make the first mechanism of plastering 1 can be to the operation of plastering of waiting to spread thick liquid top surface 41 of fragment of brick 4, drive the vertical removal of first mechanism of plastering 1 through vertical removal subassembly 22, make the first mechanism of plastering 1 can be to the operation of plastering of waiting to spread thick liquid side 42 of fragment of brick 4.
As shown in fig. 4, the horizontal moving assembly 21 includes a main support 211, and a horizontal sliding rail 212, a horizontal driving member 213 and a horizontal screw 214 mounted on a side surface of the main support 211, wherein a horizontal sliding block 215 is slidably disposed on the horizontal sliding rail 212, and the vertical moving assembly 22 is mounted on the horizontal sliding block 215. The horizontal sliding block 215 is in threaded connection with the horizontal screw rod 214, and the output end of the horizontal driving element 213 is connected with the horizontal screw rod 214 and used for driving the horizontal sliding block 215 to move along the horizontal sliding rail 212. Further, the horizontal driving member 213 is a servo motor.
As shown in fig. 5 and 6, the vertical moving assembly 22 includes a sub-bracket 221, a vertical lift 222, a vertical driving member 223, and a connection bracket 228. The auxiliary support 221 is horizontally installed on the horizontal moving assembly 21 in a sliding mode, the vertical lifting frame 222 is installed on the auxiliary support 221 in a sliding mode along the vertical direction, the body of the vertical driving piece 223 is installed on the auxiliary support 221, the output end of the vertical driving piece 223 is in transmission connection with the vertical lifting frame 222 and used for driving the vertical lifting frame 222 to move up and down, a plurality of connecting holes 229 are formed in the connecting frame 228, the connecting holes 229 are distributed in a circular mode, and the connecting frame 228 is installed on the vertical lifting frame 222 through the connecting.
Specifically, through the arrangement of the connecting holes 229 distributed in a circular shape, the connecting frame 228 can be fixed to the vertical lifting frame 222 at a plurality of different angles on the vertical surface, so as to adjust the angle between the plastering head mechanism 1 and the brick 4 to be plastered. Further, through setting up the joint yoke 228 and cooperating the play thick liquid running roller 126 and the scraping tooth 125 of the first mechanism 1 of plastering to work jointly, can adjust the axis of play thick liquid running roller 126 and scrape the joint angle between the common plane of locating of the butt end of tooth 125 and the top surface 41 of waiting to spread thick liquid or the side 42 of waiting to spread thick liquid, when going out thick liquid running roller 126 butt and waiting to spread thick liquid top surface 41 or wait to spread thick liquid side 42, because the difference of this contained angle, can make the butt end of scraping tooth 125 and wait to spread thick liquid top surface 41 or wait to spread the distance of thick liquid side 42 different, and then can adjust the thickness of plastering. The larger the included angle is, the larger the plastering thickness is, and the smaller the included angle is, the smaller the plastering thickness is.
In this embodiment, a vertical slider 224 is disposed on one side of the secondary support 221 close to the vertical lifting frame 222, a vertical slide rail 225 is disposed on one side of the vertical lifting frame 222 close to the secondary support 221, the vertical slider 224 is slidably connected to the vertical slide rail 225, a vertical rack 226 is further disposed on one side of the vertical lifting frame 222 close to the secondary support 221, a vertical driving gear 227 is disposed at an output end of the vertical driving member 223, and the vertical driving gear 227 is meshed with the vertical rack 226. Further, the vertical drive 223 is a servo motor. The upper and lower both ends of vertical slide rail 225 are provided with respectively and prevent falling block 2251, and prevent falling block 2251 can butt vertical slider 224 to prevent vertical slide rail 225 from breaking away from vertical slider 224.
Specifically, when the top surface 41 to be grouted of the brick 4 is subjected to the grouting operation, the initial states of the brick grouting device and the brick 4 are as shown in fig. 7, at this time, the grouting head mechanism 1 is located at one end edge of the top surface 41 to be grouted of the brick 4, the grout outlet 124 faces the top surface 41 to be grouted, then the horizontal moving assembly 21 drives the grouting head mechanism 1 to move along the top surface 41 to be grouted, so that grouting is realized until the grouting head mechanism 1 reaches the other end edge of the top surface 41 to be grouted of the brick 4, and the end state is as shown in fig. 8. When the plastering operation is performed on the side surface 42 to be plastered of the brick 4, the initial state of the brick plastering device and the brick 4 is as shown in fig. 9, at this time, the plastering head mechanism 1 is located at the lower end edge of the side surface 42 to be plastered of the brick 4, the grout outlet 124 faces the side surface 42 to be plastered, then the vertical moving component 22 drives the plastering head mechanism 1 to move along the side surface 42 to be plastered to realize plastering until the plastering head mechanism 1 reaches the upper end edge of the side surface 42 to be plastered of the brick 4, and the end state is as shown in fig. 10.
In this embodiment, as shown in fig. 11, the brick grouting device further includes a brick fixing mechanism 3, and the brick fixing mechanism 3 is mounted on the main support 211 of the moving mechanism 2 for grabbing the brick 4 to be grouted. Through setting up fragment of brick fixed establishment 3 of installing on main support 211, can make and wait to spread the relative position of thick liquid fragment of brick 4 and first mechanism 1 of plastering and carry out the accuracy, fix a position simpler, do benefit to and improve the operating efficiency of plastering. Preferably, the brick fixing mechanism 3 is mounted to the bottom surface of the main bracket 211.
As shown in fig. 12 and 13, the brick fixing mechanism 3 includes a passive rotating frame 31, a suction cup 32 and a leveling component 33, the passive rotating frame 31 is rotatably connected to the bottom surface of the main bracket 211, the suction cup 32 is installed at one end of the passive rotating frame 31 for sucking the brick 4 to be grouted, the leveling component 33 is used for driving the passive rotating frame 31 to return, the leveling component 33 includes two reset pieces, the two reset pieces are respectively disposed at two sides of the passive rotating frame 31, one end of the reset piece is installed at the main bracket 211, and the other end of the reset piece abuts against the passive rotating frame 31. Specifically, the centering of the passive rotating frame 31 means that the passive rotating frame 31 is restored to a position on the horizontal plane where the suction cup 32 on the passive rotating frame is parallel to the horizontal moving direction of the plastering head mechanism 1 (in a non-operation state, the suction cup 32 is parallel to the horizontal moving direction of the plastering head mechanism 1), so that the brick 4 is flush with the plastering head mechanism 1, and when the brick 4 is at the position, the plastering head mechanism 1 can efficiently and accurately plaster the brick 4 under the driving of the moving mechanism 2.
Preferably, the suction cup 32 is a sponge suction cup 32. The brick fixing mechanism 3 further comprises a cantilever transverse plate 34, the cantilever transverse plate 34 is mounted on the bottom surface of the main bracket 211, and the driven rotating frame 31 is rotatably mounted on the cantilever transverse plate 34. The passive rotating frame 31 is provided with a limit sliding groove 311, the reset piece comprises a reset seat 331, a reset guide rod 332 and a reset spring 333, the reset seat 331 is installed on the main support 211, one end of the reset guide rod 332 is installed on the reset seat 331, the other end of the reset guide rod 332 is inserted into the limit sliding groove 311, and the reset spring 333 is sleeved on the outer side of the reset guide rod 332 and is located between the reset seat 331 and the limit sliding groove 311.
The brick fixing mechanism 3 grabs the bricks 4 and automatically levels the bricks in the following steps: since the suction cup 32 of the brick fixing mechanism 3 is not parallel to the brick 4, when the suction cup 32 is just abutted against the brick 4, one end of the suction cup 32 is first abutted against the brick 4, and the state is as shown in fig. 14; the suction cup 32 continues to move towards the brick 4 and one of the return members of the leveling assembly 33 is squeezed and retracted until the suction cup 32 completely abuts the brick 4, as shown in fig. 15; after the suction cup 32 is completely attached to the brick 4, the brick 4 can be reliably grabbed, and when the brick 4 is separated from the original carrier (the carrier may be other bricks 4 below or the ground, etc.), the extruded and contracted reset piece extends out and resets, so that the suction cup 32 is parallel to the horizontal moving direction of the plastering head mechanism 1, and the state is shown in fig. 16.
The embodiment also discloses a fragment of brick plastering equipment, including the arm to and foretell fragment of brick plastering device, fragment of brick plastering device's moving mechanism 2 installs in the arm. Preferably, the main support 211 of the moving mechanism 2 is mounted to a robot arm. Specifically, through setting up the arm, can drive fragment of brick plastering device global movement, and then make the first mechanism 1 of plastering can reach the operation station of plastering fast, and further, the arm also can drive fragment of brick fixed establishment 3 and snatch the fragment of brick 4 of treating the shop's thick liquid fast.
In the description herein, it is to be understood that the terms "upper", "lower", "left", "right", and the like are used in an orientation or positional relationship shown in the drawings for convenience of description and simplicity of operation, and do not indicate or imply that the elements referred to must have a particular orientation, be constructed in a particular orientation, and are not to be construed as limiting the present invention. The terms "first" and "second" are used merely for descriptive purposes and are not intended to have a special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A brick plastering device is characterized by comprising
The plastering head mechanism comprises a rotary driving piece and a mortar outlet head component, the mortar outlet head component is in transmission connection with the rotary driving piece, the mortar outlet head component comprises a mortar outlet horn tube, one end of the mortar outlet horn tube is provided with a flat mortar outlet, one side of the mortar outlet along the width direction is provided with scraping teeth, and the rotary driving piece is used for driving the mortar outlet head component to rotate to the rear side of the plastering direction where the scraping teeth are located;
the moving mechanism, the first mechanism of plastering set up in moving mechanism, moving mechanism is used for the drive the first mechanism of plastering is along the fragment of brick wait to spread the thick liquid top surface and wait to spread the thick liquid side and remove, just the first mechanism of plastering is from up down along the direction of waiting to spread the thick liquid side and remove.
2. The brick plastering device of claim 1, wherein the plastering head mechanism further comprises a pipe joint, one end of the mortar outlet flared pipe, which is far away from the mortar outlet, is rotatably connected with one end of the pipe joint, the mortar outlet flared pipe is communicated with one end of the pipe joint, and the other end of the pipe joint is communicated with an external mortar supply device.
3. The brick plastering device according to claim 2, wherein the plastering head mechanism further comprises a plastering head bracket, the plastering head bracket is mounted on the moving mechanism, the body of the rotary driving member and the pipe joint are mounted on the plastering head bracket in parallel, the mortar outlet horn pipe is sleeved outside one end of the pipe joint, and the output end of the rotary driving member is in transmission connection with the outer wall of the mortar outlet horn pipe.
4. A block grouting device as claimed in claim 2, wherein the grout head assembly further comprises:
the slurry outlet head support is rotatably connected with the pipe joint, and the slurry outlet flared pipe is arranged on the slurry outlet head support.
5. The block grouting device of claim 4, wherein the grout head assembly further comprises:
the mortar outlet guide block is arranged on one side, away from the pipe joint, of the mortar outlet head bracket and is used for abutting against the bricks from two sides in the mortar coating moving direction;
and/or the slurry outlet roller is arranged on one side, far away from the pipe joint, of the slurry outlet head bracket and is used for abutting against the top surface and the side surface of the slurry to be spread.
6. The brick plastering device of claim 1, wherein the moving mechanism comprises a horizontal moving assembly and a vertical moving assembly, the vertical moving assembly is slidably mounted on the horizontal moving assembly, the horizontal moving assembly is used for driving the vertical moving assembly to move horizontally, the plastering head mechanism is mounted on the vertical moving assembly, and the vertical moving assembly is used for driving the plastering head mechanism to move up and down.
7. A brick grouting device according to claim 6, characterised in that the vertical movement assembly comprises:
the auxiliary bracket is horizontally and slidably arranged on the horizontal moving component;
the vertical lifting frame is slidably mounted on the auxiliary bracket along the vertical direction;
the body of the vertical driving piece is mounted on the auxiliary bracket, and the output end of the vertical driving piece is in transmission connection with the vertical lifting frame and is used for driving the vertical lifting frame to move up and down;
the connecting frame is provided with a plurality of connecting holes which are circularly distributed, and the connecting frame is arranged in the vertical lifting frame through the connecting holes.
8. A brick grouting device according to any one of claims 1 to 7, characterized in that it further comprises a brick fixing mechanism mounted on the main support of the moving mechanism for gripping the brick to be grouted.
9. A brick grouting device according to claim 8, characterised in that the brick securing mechanism comprises:
the passive rotating frame is rotatably connected with the bottom surface of the main bracket;
the sucker is arranged at one end of the passive rotating frame and is used for adsorbing the brick to be spread with the mortar;
the leveling subassembly is used for the drive passive swivel mount returns well, the leveling subassembly includes two and resets, two reset respectively set up in the both sides of passive swivel mount, the one end that resets install in the main support, other end butt passive swivel mount.
10. Brick plastering apparatus, comprising a robot arm, and the brick plastering apparatus of any one of claims 1 to 9, wherein the moving mechanism of the brick plastering apparatus is mounted to the robot arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010484248.5A CN111622517B (en) | 2020-06-01 | 2020-06-01 | Brick plastering device and brick plastering equipment |
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| CN202010484248.5A CN111622517B (en) | 2020-06-01 | 2020-06-01 | Brick plastering device and brick plastering equipment |
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| CN111622517B CN111622517B (en) | 2021-12-17 |
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| CN112252521A (en) * | 2020-10-09 | 2021-01-22 | 邱亦钊 | Device and method for building wall |
| CN112267695A (en) * | 2020-10-15 | 2021-01-26 | 清华大学 | Multi-pipeline full-automatic brick grouting machine |
| CN112267697A (en) * | 2020-10-15 | 2021-01-26 | 清华大学 | Building robot for brick mortar coating |
| CN113027077A (en) * | 2021-03-16 | 2021-06-25 | 董贵银 | Ceramic tile platform of plastering for building |
| CN113389391A (en) * | 2021-06-28 | 2021-09-14 | 广东博智林机器人有限公司 | Plastering equipment and brick laying system |
| CN113431355A (en) * | 2021-06-30 | 2021-09-24 | 广东博智林机器人有限公司 | Building device |
| CN113431354A (en) * | 2021-06-28 | 2021-09-24 | 广东博智林机器人有限公司 | Bricklaying equipment |
| CN114991503A (en) * | 2022-06-21 | 2022-09-02 | 广东博智林机器人有限公司 | Plastering scraper blade, plastering device and masonry robot |
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