CN111794534A - Automatic wall building device - Google Patents
Automatic wall building device Download PDFInfo
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- CN111794534A CN111794534A CN202010718604.5A CN202010718604A CN111794534A CN 111794534 A CN111794534 A CN 111794534A CN 202010718604 A CN202010718604 A CN 202010718604A CN 111794534 A CN111794534 A CN 111794534A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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Abstract
The invention discloses an automatic wall building device which comprises a control console, a first-stage conveying belt, a first-stage conveying claw, a self-clamping device, a second-stage conveying table, a wall cutting gripper, a guniting device and a main frame. According to the automatic walling device, the free end of the secondary transportation table can swing up and down to adjust the height, the self-clamping device can stably transport the plate bricks and the square bricks after guniting respectively, and walling is realized through the manipulator, so that walling automation is realized, manual walling is replaced, the walling efficiency and quality are improved, and the labor intensity is reduced.
Description
Technical Field
The invention relates to the technical field of building equipment, in particular to a wall building device.
Background
At present, adopt traditional mode of building a wall work progress when building construction domestically, need the manpower to lift the fragment of brick to required building height when artifical building a wall and construct, need two to three people's cooperation when building a wall moreover, intensity of labour is high, and inefficiency, and there is serious potential safety hazard. Secondly, the labor of the industry labor market is seriously short, and particularly under the background that the labor is gradually younger at present, an automatic masonry device is urgently needed to replace the labor in the building construction industry.
Disclosure of Invention
The invention aims to provide an automatic wall building device which can stably transport plate bricks and square bricks after guniting respectively, and can realize wall building automation through a manipulator to replace manual wall building, so that the wall building efficiency and quality are improved, and the labor intensity is reduced.
The invention solves the technical problems by the following technical means:
the invention discloses an automatic wall building device which comprises a control console, a first-level conveying belt, a first-level conveying claw, a self-clamping device, a second-level conveying table, a wall cutting gripper, a guniting device and a main frame, wherein the control console, the first-level conveying belt and the first-level conveying claw are arranged on the main frame; still include high automatic regulating apparatus, high automatic regulating apparatus includes sensing device, flexible thick stick A, controller, flexible thick stick A's both ends articulate respectively on second grade transport platform and main frame, through flexible thick stick A can drive the free end of second grade transport platform around the articulated shaft luffing motion between second grade transport platform and the main frame.
Preferably, the sensing device comprises a base, a suspension bracket suspended on the base, and a distance sensor and an infrared sensor which are arranged on the suspension bracket, wherein when the suspension bracket is under the action of natural gravity, the detection directions of the distance sensor and the infrared sensor are the same and are horizontal, the distance sensor is positioned below the infrared sensor, and the controller is respectively in electric signal connection with the distance sensor, the infrared sensor and the hydraulic telescopic cylinder.
Preferably, the periphery of the bottom of the main frame is provided with a vertically arranged telescopic cylinder B, the bottom of each telescopic cylinder B is provided with a wheel carrier, the wheel carriers are provided with moving wheels, the main frame is further provided with a tilt angle sensor, and the tilt angle sensor and the telescopic cylinders B are respectively connected with a controller circuit.
Preferably, the two sides of the first-stage conveying belt are provided with conveying belt holders, the conveying belt holders are arranged on the main frame, each conveying belt holder comprises a baffle plate erected on the two side edges of the first-stage conveying belt, the bottom of each baffle plate is provided with a fastening slide rail, the bottom of each baffle plate is in sliding fit with the fastening slide rail, each baffle plate is provided with a pressure sensor connected with a controller circuit, the back of each baffle plate is provided with an electromagnetic telescopic cylinder used for adjusting the position of the corresponding baffle plate, the electromagnetic telescopic cylinder is connected with the controller circuit, and the two ends of the electromagnetic telescopic cylinder are fixedly connected with the back of each baffle plate and the main frame respectively.
Preferably, the second grade transport table adopts roller chain transport mechanism, roller chain transport mechanism mainly comprises drive sprocket, driven sprocket, the chain of cover on drive sprocket and driven sprocket, the drive arrangement who is connected with the drive sprocket transmission, press from both sides tight clamping device edge the chain is provided with a plurality ofly side by side.
Preferably, the two chains are symmetrically arranged, the guide rail is arranged between the two chains, the tail end of the second-stage transport table, which is formed by conveying, is provided with a terminal device fixing frame, the wall cutting gripper and the guniting device are arranged at the top of the fixing frame, the sensing device is arranged at the bottom of the fixing frame, and the base is fixedly connected with the bottom of the fixing frame.
Preferably, the first-stage transport claw is composed of a y-axis guide mechanism, an x-axis guide mechanism, a z-axis electromagnetic telescopic cylinder, a z-axis guide rail fixing block, a fastening bolt, a guide rail positioning block and a front end clamping device, the front end clamping device is arranged at the bottom of a telescopic rod on the z-axis electromagnetic telescopic cylinder, the y-axis guide mechanism and the x-axis guide mechanism are both composed of a guide rail, a motor connected with a controller and a lead screw in transmission connection with the motor, the z-axis electromagnetic telescopic cylinder is arranged on the guide rail of the x-axis guide mechanism through the z-axis guide rail fixing block and is in sliding fit with the guide rail of the x-axis guide mechanism, the lead screw of the x-axis guide mechanism is in threaded connection with a cylinder body of the z-axis electromagnetic telescopic cylinder, so that the z-axis electromagnetic telescopic cylinder can be driven to move on the guide rail of the x-axis guide mechanism through the rotation of the lead screw, two ends of the guide rail of the x-axis guide mechanism are arranged on the, the guide rail positioning block is fixedly connected with the end part of the guide rail of the x-axis guide mechanism through a fastening bolt, the guide rail positioning block is in threaded fit with a lead screw of the y-axis guide mechanism, and the lead screw of the y-axis guide mechanism can drive the guide rail of the x-axis guide mechanism to move along the guide rail of the y-axis guide mechanism; the guide rail locating piece comprises y axle guide rail fixed block A, y axle guide rail fixed block B, one side of y axle guide rail fixed block A and x axle guiding mechanism's guide rail fixed connection, y axle guide rail fixed block A's opposite side and the detachable connection of y axle guide rail fixed block B, y axle guide rail fixed block B sets up on y axle guiding mechanism's guide rail and with y axle guiding mechanism's guide rail sliding fit.
Preferably, install the motor mount on the main frame, install servo motor on the motor mount, with controller circuit connection's warning light, be used for installing the conveyer belt support frame of one-level conveyer belt, location bearing, step motor, the reduction gears who is connected with the step motor transmission, with the one-level chain of reduction gears transmission connection, with the second grade chain of one-level chain transmission connection, the second grade chain is connected with the transmission of one-level conveyer belt.
Preferably, self-holding clamping device comprises two side levers, atress spring, two mobile jib, support, the support sets up on the chain, two mobile jib are the fixed setting on the support of U style of calligraphy symmetry, the middle part of support is provided with the atress spring, and every side lever is the L type, the tip of two side levers is passed through fastening nut and is connected simultaneously on the top of atress spring, the other end of two side levers forms the free end that is used for the centre gripping, the top of mobile jib and the middle part of the side lever of every side are articulated as the articulated shaft through the torsion bolt, and external force compression atress spring can make the side lever free end of both sides do the centre gripping action each other.
Preferably, the wall cutting gripper mainly comprises three parts, namely a gripper, an arm and a trunk, wherein the gripper mainly comprises a bolt, an upper support frame, a motor, a worm, a gear, a left support arm, a right support arm, a shaft, a gripper movable joint, a gripper plate and a gripper fixing joint; two clamping plates are placed at the front end of the gripper, the clamping plates are connected with the clamp holder fixed section through two clamp holder movable sections and are connected with the worm through a nut, and then the gripper is installed at the front end of the arm through an upper support frame and a bolt; the transmission shaft is arranged in the inner hole of the arm and can transmit the application to the wrist so as to rotate, stretch the wrist and open and close the hand grip.
The invention has the beneficial effects that:
the invention discloses an automatic wall building device which comprises a control console, a first-stage conveying belt, a first-stage conveying claw, a self-clamping device, a second-stage conveying table, a wall cutting gripper, a guniting device and a main frame. According to the automatic walling device, the free end of the secondary transportation table can swing up and down to adjust the height, the self-clamping device can stably transport the plate bricks and the square bricks after guniting respectively, and walling is realized through the manipulator, so that walling automation is realized, manual walling is replaced, the walling efficiency and quality are improved, and the labor intensity is reduced.
Drawings
Fig. 1 is a front view of an automatic walling apparatus of the invention;
FIG. 2 is an isometric view of the automatic walling apparatus of the invention;
FIG. 3 is a front view of a primary transport claw;
FIG. 4 is an isometric view of a primary transport claw;
FIG. 5 is a front view of the main frame;
FIG. 6 is a side view of the main frame;
FIG. 7 is a front view of the self-clamping gripping device;
FIG. 8 is a side view of the self-clamping gripping device;
FIG. 9 is a front view of a middle grip of the wall cutting grip;
FIG. 10 is a side view of a gripper of the wall cutting gripper;
fig. 11 is a schematic perspective view of the wall cutting gripper;
fig. 12 is a perspective view of another perspective of the wall cutting gripper;
fig. 13 is a schematic structural view of the sensor device.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 12, the automatic walling device of the invention comprises a control console 1, a primary conveyer belt 2, a primary conveyer claw 3, a self-clamping holding device 4, a secondary conveyer table 5, a wall cutting gripper 6, a guniting device 7 and a main frame 9, wherein the control console 1, the primary conveyer belt 2 and the primary conveyer claw 3 are arranged on the main frame 9, a controller is installed in the control console, the primary conveyer claw 3 is positioned at the tail end of the conveying path of the primary conveyer belt 2, one end of the secondary conveyer table 5 is hinged to the main frame 9, the other end of the secondary conveyer table 5 forms a free end, and a hinge point between the secondary conveyer table 5 and the main frame 9 is positioned between the starting end of the conveying path of the secondary conveyer table 5 and the tail end of the conveying path of the primary conveyer belt 2; still include high automatic regulating apparatus, high automatic regulating apparatus includes sensing device 60, telescopic bar A8, controller, telescopic bar A's both ends articulate respectively on second grade transport platform 5 and main frame 9, through telescopic bar A can drive the free end of second grade transport platform 5 around the articulated shaft luffing motion between second grade transport platform 5 and the main frame 9.
As shown in fig. 13, the sensing device 60 includes a base 61, a suspension bracket 62 suspended on the base, a distance sensor 63 and an infrared sensor 64, the distance sensor and the infrared sensor are arranged on the suspension bracket, the top end of the suspension bracket 62 is hinged to the base, when the suspension bracket is under the action of natural gravity, the detection directions of the distance sensor and the infrared sensor are the same and are horizontal, the distance sensor is located below the infrared sensor, and the controller is respectively connected with the distance sensor, the infrared sensor and the hydraulic telescopic cylinder through electric signals.
As shown in fig. 1, a vertically arranged telescopic cylinder B56 is respectively arranged around the bottom of the main frame, a wheel carrier 11 is arranged at the bottom of each telescopic cylinder B56, a movable wheel 10 is arranged on the wheel carrier, and a tilt angle sensor is further arranged on the main frame and is respectively connected with the telescopic cylinder B through a controller circuit. The inclination angle of the main frame 9 is detected by the inclination angle sensor, and the telescopic cylinder B is controlled by the controller to adjust the angle of the main frame 9, so that the main frame 9 can be in a horizontal state when working.
As shown in fig. 2 and 6, two sides of the first-stage conveying belt 2 are provided with a conveying belt fixer 12, the conveying belt fixer 12 is arranged on the main frame 9, the conveying belt fixer 12 includes a baffle plate erected at two side edges of the first-stage conveying belt 2, the bottom of the baffle plate is provided with a fastening slide rail 34, the bottom of the baffle plate is in sliding fit with the fastening slide rail 34, the baffle plate is provided with a pressure sensor connected with a controller circuit, the back of the baffle plate is provided with an electromagnetic telescopic cylinder for adjusting the position of the baffle plate, the electromagnetic telescopic cylinder is connected with the controller circuit, and two ends of the electromagnetic telescopic cylinder are respectively fixedly connected with the back of the baffle plate and the main frame 9.
As shown in fig. 2, the secondary transport table 5 adopts an adjustable variable-pitch roller chain transmission mechanism, which mainly comprises a driving sprocket 13, a driven sprocket, a chain sleeved on the driving sprocket 13 and the driven sprocket, and a driving device in transmission connection with the driving sprocket, and specifically comprises a chain link, a chain plate, a chain pin, a sealing device, a lubricating system and a tensioning device; the self-clamping gripping means 4 are provided in plurality in parallel along the chain.
As shown in fig. 2, the two chains are symmetrically arranged, the guide rail 14 is arranged between the two chains, the end of the second-stage transport table 5, which is formed by conveying, is provided with an end device fixing frame 15, the wall cutting gripper 6 and the guniting device 7 are arranged at the top of the fixing frame 15, the sensing device is arranged at the bottom of the fixing frame, and the base is fixedly connected with the bottom of the fixing frame.
As shown in fig. 3 and 4, the primary transport claw 3 is composed of a y-axis guide mechanism 16, an x-axis guide mechanism 17, a z-axis electromagnetic telescopic cylinder 18, a z-axis guide rail fixing block 22, a fastening bolt 19, a guide rail positioning block 20, and a front end clamping device 21, the front end clamping device 21 is arranged at the bottom of an expansion link on the z-axis electromagnetic telescopic cylinder, the y-axis guide mechanism 16 and the x-axis guide mechanism 17 are both composed of a guide rail, a motor connected with a controller, and a lead screw in transmission connection with the motor, the z-axis electromagnetic telescopic cylinder 18 is arranged on the guide rail of the x-axis guide mechanism 17 through the z-axis guide rail fixing block 22 and is in sliding fit with the guide rail of the x-axis guide mechanism 17, the lead screw of the x-axis guide mechanism 17 is in threaded connection with a cylinder body of the z-axis electromagnetic telescopic cylinder 18, so that the z-axis electromagnetic telescopic cylinder 18 can be driven to move on the guide rail of the x-axis guide mechanism, two ends of the guide rail of the x-axis guide mechanism 17 are arranged on the guide rail of the y-axis guide mechanism 16 through guide rail positioning blocks 20, the guide rail positioning blocks 20 are fixedly connected with the end part of the guide rail of the x-axis guide mechanism 17 through fastening bolts 19, the guide rail positioning blocks 20 are in threaded fit with the lead screw of the y-axis guide mechanism 16, and the lead screw of the y-axis guide mechanism 16 can drive the guide rail of the x-axis guide mechanism 17 to move along the guide rail of the y-axis guide mechanism 16; guide rail locating piece 20 comprises y axle guide rail fixed block A23, y axle guide rail fixed block B23a, one side of y axle guide rail fixed block A23 and x axle guide mechanism 17's guide rail fixed connection, the opposite side of y axle guide rail fixed block A23 is connected with the Y axle guide rail fixed block B23a is detachable, y axle guide rail fixed block B23a set up on y axle guide mechanism 16's guide rail and with y axle guide mechanism 16's guide rail sliding fit.
As shown in fig. 5 and 6, a motor fixing frame 25, a servo motor 27 mounted on the motor fixing frame, an alarm lamp 26 connected with a controller circuit, a conveyor belt supporting frame 28 for mounting the primary conveyor belt 2, a positioning bearing 29, a stepping motor 32, a speed reducing mechanism 24 in transmission connection with the stepping motor, a primary chain 31 in transmission connection with the speed reducing mechanism, and a secondary chain 33 in transmission connection with the primary chain are mounted on the main frame 9, and the secondary chain 33 is in transmission connection with the primary conveyor belt.
As shown in fig. 7 and 8, the self-clamping holding device 4 is composed of two side rods 35, a force-bearing spring 36, two main rods 37 and a support 38, the support 38 is arranged on the chain, the two main rods 37 are symmetrically and fixedly arranged on the support in a U shape, the force-bearing spring 36 is arranged in the middle of the support 38, each side rod 35 is in an L shape, the ends of the two side rods 35 are simultaneously connected to the top end of the force-bearing spring 36 through fastening nuts 39, the other ends of the two side rods 35 form free ends for clamping, the top end of the main rod 37 is hinged to the middle of each side rod 35 through a torsion bolt 40 as a hinge shaft, and the free ends of the side rods 35 at both sides can be clamped by compressing the force-bearing spring with external force. The self-clamping device enables bricks to automatically clamp under the action of gravity after falling into the self-clamping device, so that the bricks can be conveyed smoothly and orderly, the chain is continuously driven, and meanwhile, the actual running length of the chain can be adjusted according to different wall height moving gears on site.
As shown in fig. 9-12, the wall cutting gripper 6 mainly comprises three parts, namely a gripper 52, an arm 53 and a trunk 54, wherein the gripper 52 mainly comprises a bolt 41, an upper support frame 42, a motor 43, a worm 49, a gear 50, a left support arm 45, a right support arm 45, a shaft 51, a gripper movable joint 47, a gripper plate 46 and a gripper fixing joint 48; two clamping plates 46 are placed at the front ends of the grippers, the clamping plates 46 are connected with a clamp fixing joint 48 through two clamp movable joints 47, meanwhile, the clamping plates are connected with a worm 49 through nuts, and then the grippers are installed at the front ends of the arms through an upper supporting frame 42 and a bolt 41; a transmission shaft 55 is arranged in an inner hole of the arm and can transmit the application to the wrist so as to rotate, stretch and bend the wrist and open and close the hand grip.
The working principle of the automatic wall building device is as follows:
first, a grabbing stage I: when the wall building device starts to work, bricks are placed at the starting point of the adjustable conveying belt initial platform, the pressure sensor is triggered, the electromagnetic telescopic cylinders arranged on the back faces of the baffles are used for adjusting the positions of the baffles, so that the conveying belt is adjusted to proper positions along the baffles on the two sides, and the controller sends out an instruction to enable the first-stage conveying belt to horizontally convey the bricks to the tail end of the platform. At the moment, the object recognition sensor arranged at the tail end of the platform sees that the bricks reach the designated positions through the camera and then feed back to the control center, and the controller or the PLC electronic control box sends out an instruction to enable the primary transportation claw to grab the bricks and move to the initial end of the secondary transportation table 5.
II, a transmission stage: the position of a brick head is determined through laser pipe aligning test, the controller controls the primary conveying claw to clamp the brick block from the clamping and clamping device, and the brick block is conveyed to the tail end of the secondary conveying table along with the adjustable variable-pitch roller chain conveying mechanism.
Thirdly, a grabbing stage II: when the bricks are conveyed to the tail end of the secondary conveying table, the laser geminate transistors test the positions of the bricks at the moment, and when the position is determined to reach the position below the wall cutting hand grab 6, the controller sends an instruction to enable the wall cutting hand grab 6 to move to the brick position through the X axis, the Y axis and the rotating shaft to clamp the bricks for the next action.
Fourthly, coating the slurry: after the wall cutting hand grip 6 grabs the bricks, under the control of a controller or a PLC (programmable logic controller) electronic control center, the controller sends instructions to accurately move the bricks to the grout spraying port along the X axis, the Z axis and the rotating shaft, a camera of an object recognition sensor at the arm seat of the mechanical arm hand grip 21 observes that the bricks reach the grout spraying port, the controller sends instructions to enable the grout spraying device to move to the optimal position along the X axis and the Z axis to paint the bottom surface and one side surface of the bricks with grout, and the next action is carried out after the painting is finished.
Fifthly, brick laying stage: after the mortar is coated, detect the distance between wall body and the second grade transport table end through distance sensor 63, whether there is the wall body to shelter from through infrared sensor 64 detection second grade transport table end the place ahead, if there is the wall body to shelter from, the extension of controller control telescopic bar A8, drive second grade transport table end risees, when near there is not the wall body to shelter from and distance sensor 63 detects the wall body distance near until infrared sensor 64 detects the place ahead, cut wall tongs 6 and send out the instruction by the controller and let it move to position department of building a wall, put the brick position through the sensor feedback adjustment of cutting wall tongs front end installation, the distance of pressing bricks, accomplish and build bricks.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides an automatic device of building a wall, includes control cabinet (1), one-level conveyer belt (2), one-level transportation claw (3), self-holding clamping device (4), second grade transport table (5), cuts wall tongs (6), whitewashing device (7), main frame (9), its characterized in that: the control platform (1), the primary conveyor belt (2) and the primary transport claw (3) are arranged on the main frame (9), the primary transport claw (3) is positioned at the tail end of the conveying path of the primary conveyor belt (2), one end of the secondary transport platform (5) is hinged to the main frame (9), the other end of the secondary transport platform (5) forms a free end, and a hinge point between the secondary transport platform (5) and the main frame (9) is positioned between the starting end of the conveying path of the secondary transport platform (5) and the tail end of the conveying path of the primary conveyor belt (2);
still include high automatic regulating apparatus, high automatic regulating apparatus includes sensing device, flexible thick stick A (8), controller, flexible thick stick A's both ends articulate respectively on second grade transport platform (5) and main frame (9), through flexible thick stick A can drive the free end of second grade transport platform (5) around the articulated shaft luffing motion between second grade transport platform (5) and main frame (9).
2. An automated walling apparatus according to claim 1, wherein: the sensing device comprises a base, a suspension bracket suspended on the base, a distance sensor and an infrared sensor, wherein the distance sensor and the infrared sensor are arranged on the suspension bracket, when the suspension bracket is under the action of natural gravity, the detection directions of the distance sensor and the infrared sensor are the same and are horizontal, the distance sensor is positioned below the infrared sensor, and the controller is respectively in electric signal connection with the distance sensor, the infrared sensor and the hydraulic telescopic cylinder.
3. An automated walling apparatus according to claim 2, wherein: the device is characterized in that the periphery of the bottom of the main frame is respectively provided with a vertically-arranged telescopic cylinder B, the bottom of each telescopic cylinder B is provided with a wheel carrier (11), the wheel carriers are provided with moving wheels (10), the main frame is also provided with an inclination angle sensor, and the inclination angle sensor and the telescopic cylinders B are respectively connected with a controller circuit.
4. An automated walling apparatus according to claim 3, wherein: the conveying belt fixing device comprises a first-stage conveying belt (2), conveying belt fixing devices (12) are arranged on two sides of the first-stage conveying belt (2), the conveying belt fixing devices (12) are arranged on a main frame (9), each conveying belt fixing device (12) comprises a baffle plate erected on edges of two sides of the first-stage conveying belt (2), a fastening slide rail (34) is arranged at the bottom of each baffle plate, the bottom of each baffle plate is in sliding fit with the fastening slide rail (34), a pressure sensor connected with a controller circuit is arranged on each baffle plate, an electromagnetic telescopic cylinder is arranged on the back of each baffle plate and used for adjusting the position of each baffle plate, the electromagnetic telescopic cylinders are connected with the controller circuit, and two ends of each electromagnetic telescopic cylinder are fixedly connected with the back of each.
5. An automated walling apparatus according to claim 4, wherein: second grade transport table (5) adopt roller chain transport mechanism, roller chain transport mechanism mainly comprises drive sprocket (13), driven sprocket, the chain of cover on drive sprocket (13) and driven sprocket, the drive arrangement who is connected with the drive sprocket transmission, follow from pressing from both sides tight clamping device (4) the chain is provided with a plurality ofly in parallel.
6. An automated walling apparatus according to claim 5, wherein: the chain symmetry is provided with two, be provided with guided way (14) between two chains, the end that second grade transport table (5) carried formation is provided with end device mount (15), cut wall tongs (6) and whitewashing device (7) set up mount (15) top, sensing device (60) set up the mount bottom, base and mount bottom fixed connection.
7. An automated walling apparatus according to claim 6, wherein: the first-stage transport claw (3) is composed of a y-axis guide mechanism (16), an x-axis guide mechanism (17), a z-axis electromagnetic telescopic cylinder (18), a z-axis guide rail fixing block (22), a fastening bolt (19), a guide rail positioning block (20) and a front end clamping device (21), the front end clamping device (21) is arranged at the bottom of an upper telescopic rod of the z-axis electromagnetic telescopic cylinder, the y-axis guide mechanism (16) and the x-axis guide mechanism (17) are composed of a guide rail, a motor connected with a controller and a lead screw in transmission connection with the motor, the z-axis electromagnetic telescopic cylinder (18) is arranged on the guide rail of the x-axis guide mechanism (17) through the z-axis guide rail fixing block (22) and is in sliding fit with the guide rail of the x-axis guide mechanism (17), the lead screw of the x-axis guide mechanism (17) is in threaded connection with a cylinder body of the z-axis electromagnetic telescopic cylinder (18), the rotation of a lead screw can drive a z-axis electromagnetic telescopic cylinder (18) to move on a guide rail of an x-axis guide mechanism (17), two ends of the guide rail of the x-axis guide mechanism (17) are arranged on the guide rail of a y-axis guide mechanism (16) through guide rail positioning blocks (20), the guide rail positioning blocks (20) are fixedly connected with the end part of the guide rail of the x-axis guide mechanism (17) through fastening bolts (19), the guide rail positioning blocks (20) are in threaded fit with the lead screw of the y-axis guide mechanism (16), and the lead screw of the y-axis guide mechanism (16) can drive the guide rail of the x-axis guide mechanism (17) to move along the guide rail of the y-axis guide mechanism (16); guide rail locating piece (20) comprise y axle guide rail fixed block A (23), y axle guide rail fixed block B (23a), one side of y axle guide rail fixed block A (23) and the guide rail fixed connection of x axle guiding mechanism (17), the opposite side and the detachable connection of y axle guide rail fixed block B (23a) of y axle guide rail fixed block A (23), y axle guide rail fixed block B (23a) set up on the guide rail of y axle guiding mechanism (16) and with the guide rail sliding fit of y axle guiding mechanism (16).
8. An automated walling apparatus according to claim 7, wherein: install motor mount (25) on main frame (9), install servo motor (27) on the motor mount, warning light (26) with controller circuit connection, be used for installing conveyer belt support frame (28), locating bearing (29) of one-level conveyer belt (2), step motor (32), reduction gears (24) be connected with the step motor transmission, one-level chain (31) be connected with the reduction gears transmission, second grade chain (33) be connected with one-level chain transmission, second grade chain (33) are connected with one-level conveyer belt transmission.
9. An automated walling apparatus according to claim 8, wherein: from pressing from both sides tight clamping device (4) by two side lever (35), atress spring (36), two mobile jib (37), support (38) constitute, support (38) set up on the chain, two mobile jib (37) are the fixed setting on the support of U style of calligraphy symmetry, the middle part of support (38) is provided with atress spring (36), and every side lever (35) is the L type, the tip of two side lever (35) is passed through fastening nut (39) and is connected simultaneously on the top of atress spring (36), the other end of two side lever (35) forms the free end that is used for the centre gripping, the top of mobile jib (37) and the middle part of the side lever (35) of every side are passed through torsion bolt (40) and are articulated as the articulated shaft, and the centre gripping action can be done each other to outside force compression atress spring side lever (35) free end of both sides.
10. An automated walling apparatus according to claim 9, wherein: the wall cutting gripper (6) mainly comprises three parts, namely a gripper (52), an arm (53) and a trunk (54), wherein the gripper (52) mainly comprises a bolt (41), an upper support frame (42), a motor (43), a worm (49), a gear (50), a left support arm (45), a right support arm (45), a shaft (51), a gripper movable joint (47), a gripper plate (46) and a gripper fixing joint (48); two clamping plates (46) are placed at the front ends of the grippers, the clamping plates (46) are connected with a clamp fixing joint (48) through two clamp movable joints (47) and are connected with a worm (49) through nuts, and then the grippers are installed at the front ends of the arms through an upper support frame (42) and bolts (41); a transmission shaft (55) is arranged in an inner hole of the arm and can transmit the application to the wrist so as to rotate, stretch and bend the wrist and open and close the hand grip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010718604.5A CN111794534A (en) | 2020-07-23 | 2020-07-23 | Automatic wall building device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010718604.5A CN111794534A (en) | 2020-07-23 | 2020-07-23 | Automatic wall building device |
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| CN111794534A true CN111794534A (en) | 2020-10-20 |
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| CN202010718604.5A Withdrawn CN111794534A (en) | 2020-07-23 | 2020-07-23 | Automatic wall building device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113356628A (en) * | 2021-05-10 | 2021-09-07 | 上海建工四建集团有限公司 | Brick wall repairing and adhering type automatic pointing device and construction method |
-
2020
- 2020-07-23 CN CN202010718604.5A patent/CN111794534A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113356628A (en) * | 2021-05-10 | 2021-09-07 | 上海建工四建集团有限公司 | Brick wall repairing and adhering type automatic pointing device and construction method |
| CN113356628B (en) * | 2021-05-10 | 2022-10-14 | 上海建工四建集团有限公司 | Brick wall repairing and adhering type automatic pointing device and construction method |
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Application publication date: 20201020 |
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