CN112267697B

CN112267697B - Building robot for brick mortar coating

Info

Publication number: CN112267697B
Application number: CN202011102102.6A
Authority: CN
Inventors: 赵景山; 李京虎; 魏松涛; 纪俊杰; 张家悦
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2020-10-15
Filing date: 2020-10-15
Publication date: 2021-10-29
Anticipated expiration: 2040-10-15
Also published as: CN112267697A

Abstract

The invention discloses a building robot for brick mortar coating, which comprises a frame, wherein chain wheels for driving chains to drive are arranged on the periphery of the frame, two chain wheels positioned at the lower end of the frame are connected with transmission shafts, the middle part of the frame is provided with a chain track for mounting a conveying supporting plate, the chains on the periphery of the frame penetrate through the chain track to perform circulating transmission, and one of the transmission shafts is connected with a motor; the two ends of the conveying supporting plate are connected to chains in a chain track through chain side straight connectors, the middle of the conveying supporting plate is fixedly connected with a spray head through a bolt, a protective cover is arranged on the outer side of the spray head, a scraper is arranged on one side of an opening at the upper end of the protective cover, and the spray head is connected with a conveying pipe of a mortar pumping machine; the problems of uneven coating and low efficiency of the mortar of the existing brick blocks and the problems of single application object, limited coating thickness and limited coating area of the existing grouting machine are solved.

Description

Building robot for brick mortar coating

Technical Field

The invention relates to the fields of construction machinery, construction decoration and the like, in particular to a construction robot for coating brick mortar.

Background

At present, in the field of building, bricking is a building process with large workload. Brick plastering is work with high technical requirements, and in the traditional method, a construction worker holds the bricks with one hand and uses a plastering knife to paint mortar on the surfaces of the bricks with the other hand for masonry. The labor cost is high, the efficiency is low, the construction period is long, and the brick coating quality is difficult to ensure.

The mortar coating mechanism is referred to in patents CN207513207U and CN102672795A, but these patents have some disadvantages. The brick side face grouting machine mentioned in CN207513207U can finish the grouting work of the whole blocking wall, cannot coat mortar on the surface of a single brick, and cannot be suitable for bricks with different widths. CN102672795A discloses a plastering apparatus for wall decoration members, which can only plaster the surface of a wall, and the concrete mortar can only be applied to the upper surface of a brick, but not to the side surface of the brick. Therefore, it is important to solve such problems.

Disclosure of Invention

Aiming at the problems, the invention provides a building robot for brick mortar coating, which aims to solve the problems of uneven brick mortar coating and low efficiency of the existing brick mortar coating and the problems of single application object, limited coating thickness and limited coating area of the existing grouting machine.

In order to solve the problems, the invention provides a building robot for coating brick mortar, which comprises a frame, wherein chain wheels for driving chains to drive are arranged on the periphery of the frame, two chain wheels positioned at the lower end of the frame are connected with a transmission shaft, the middle part of the frame is provided with a chain track for mounting a conveying supporting plate, the chains on the periphery of the frame penetrate through the chain track to perform circulating transmission, one of the transmission shafts is connected with a motor, and the motor drives the transmission shaft to rotate and further drives the chains to move on the chain wheels and the chain track; the two ends of the conveying supporting plate are connected to chains in a chain track through chain side straight connectors, the middle of the conveying supporting plate is fixedly connected with a spray head through a bolt, a protective cover is arranged on the outer side of the spray head, a scraper is arranged on one side of an upper end opening of the protective cover, and a conveying pipe of a mortar pumping machine is connected to the spray head.

The further improvement lies in that: a left-right symmetrical supporting main board is fixedly arranged on the frame above the conveying supporting plate, and a supporting auxiliary board is arranged on the upper surface of the supporting main board; and the supporting auxiliary plates are provided with positioning plates, and the positioning plates on the left and right supporting auxiliary plates are matched to place bricks.

The further improvement lies in that: the support auxiliary plate is provided with a limiting groove, the support auxiliary plate is fixedly arranged on the support main plate through a limiting screw in the limiting groove, and the distance between the two positioning plates is changed by adjusting the fixing position of the limiting screw in the limiting groove.

The further improvement lies in that: the support auxiliary plate is provided with a handle, and a graduated scale is arranged on one side of the limiting groove.

The further improvement lies in that: the frame is characterized in that the left end and the right end of the frame are both provided with vertical I-shaped grooves, the conveying supporting plate is provided with rollers matched with the I-shaped grooves, and the rollers are arranged on two sides of the conveying supporting plate through roller supports.

The further improvement lies in that: the both ends of scraper blade are fixed through adjusting the handle on the safety cover, there is inclination scraper blade and fragment of brick surface, and the user changes the distance on scraper blade and fragment of brick surface through adjusting the handle.

The invention has the beneficial effects that: the scraper can be detached at any time, and the mounting height is adjustable, so that the requirements of coating different mortar layer thicknesses can be met; meanwhile, the scraper plate and the spray head form a certain inclination angle, and the scraper plate can play a scraping role and a lifting role; the conveying supporting plate can synchronously move along the chain, can move along the L-shaped track and also can move along the U-shaped track, so that mortar coating on the bottom surface and the side surface of the brick is realized, and the mortar coating precision is improved; meanwhile, the invention can meet the bearing requirements of bricks with different widths, greatly improves the application range of the brick mortar coating machine, has wide application scenes and great market value, and can be widely applied to the field of masonry engineering.

Drawings

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a schematic structural view of the showerhead of the present invention.

Fig. 4 is a schematic view of the assembly of the spray head of the present invention.

Fig. 5 is a schematic view of the structure of the block of the present invention that requires load bearing.

FIG. 6 is a schematic dispensing diagram of the mortar pumping machine of the present invention.

Wherein: 1. a frame; 2. a chain; 3. a sprocket; 4. a drive shaft; 5. conveying the supporting plate; 6. a chain track; 7. a motor; 8. a chain side straight connector; 9. a spray head; 10. a protective cover; 11. a squeegee; 12. a mortar pumping machine; 13. a delivery pipe; 14. supporting the main board; 15. a support sub-plate; 16. positioning a plate; 17. a brick block; 18. a limiting groove; 19. a limit screw; 20. a handle; 21. a graduated scale; 22. an I-shaped groove; 23. a roller; 24. a roller bracket; 25. adjusting the handle; 26. a photoelectric switch.

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 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, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

According to the drawings of fig. 1-6, the embodiment provides a building robot for brick mortar coating, which includes a frame 1, chain wheels 3 for driving chains 2 to drive are arranged around the frame 1, transmission shafts 4 are connected to two chain wheels 3 at the lower end of the frame 1, a chain track 6 for mounting a conveying support plate 5 is arranged in the middle of the frame 1, the chains 2 around the frame 1 pass through the chain track 6 for circular transmission, a motor 7 is connected to one of the transmission shafts 4, the motor 7 drives the transmission shafts 4 to rotate, and further drives the chains 2 to move on the chain wheels 3 and the chain track 6; the both ends of carrying layer board 5 are passed through the straight connector 8 of chain side and are connected on chain 2 in the chain track carry the middle part of layer board 5 through bolt fixedly connected with shower nozzle 9, the outside of shower nozzle 9 is provided with protection casing 10, and the upper end open-ended one side of protection casing 10 is provided with scraper blade 11, be connected with the conveyer pipe 13 of mortar pump sending machine 12 on the shower nozzle 9.

In the embodiment, a bilaterally symmetrical supporting main plate 14 is fixedly arranged on the frame 1 above the conveying supporting plate, and a supporting auxiliary plate 15 is arranged on the upper surface of the supporting main plate 14; and a positioning plate 16 is arranged at the inner side end of the auxiliary supporting plate 15, and the positioning plates 16 on the left auxiliary supporting plate and the right auxiliary supporting plate are matched for placing bricks 17.

A limit groove 18 is provided on the support sub-plate 15, the support sub-plate 15 is fixedly mounted on the support main plate 14 by a limit screw 19 in the limit groove 18, and the distance between the two positioning plates 16 is changed by adjusting the fixing position of the limit screw 19 in the limit groove 18.

The support auxiliary plate 15 is provided with a handle 20, and a graduated scale 21 is arranged on one side of the limiting groove 18.

In this embodiment, the frame 1 is provided with vertical i-shaped grooves 22 at both left and right ends, the conveying support plate 5 is provided with rollers 23 adapted to the i-shaped grooves, and the rollers 23 are mounted on both sides of the conveying support plate 5 through roller brackets 24.

In this embodiment, the two ends of the scraper 11 are fixed on the protective cover 10 through the adjusting handles 25, the scraper 11 has an inclined angle with the surface of the brick, and the user changes the distance between the scraper and the surface of the brick by adjusting the handles.

Before use, the corresponding spray head 9 can be adapted according to the size of the brick, and the height of the scraper 11 from the lower surface of the brick is set according to the requirement of mortar coating thickness. The scraper 11 can be detached and replaced at any time, and the scraper 11 can not only scrape but also lift due to a certain inclination angle between the scraper and the spray head.

The conveying supporting plate 5 is fixed on a single chain link of the chain 2 through a chain side straight connecting head 8, and the conveying supporting plate 5 can move synchronously along with the chain 2 and can move along an L-shaped track or a U-shaped track. And the spray head 9 finally finishes the mortar coating operation of the bottom surface and the side surface of the brick under the traction and bearing action of the conveying supporting plate 5. The roller supports 24 are fixedly arranged on two sides of the conveying supporting plate 5, and the rollers 23 are tangent to the inner wall of the I-shaped groove 22, so that the problem that a chain shakes in the mortar conveying process, high-precision coating cannot be guaranteed is solved, and the chain is prevented from being overloaded.

The supporting sub-plate 15 is attached to the supporting main plate 14, and the width of the bottom edge of the supporting sub-plate contacting with the lower surface of the brick is 5 mm. In operation, the limit screw 19 is loosened, and then the support sub-plate 15 is moved in the limit groove 18, and the moving distance can be determined according to the graduated scale 21.

The scraper can be detached at any time, and the mounting height is adjustable, so that the requirements of coating different mortar layer thicknesses can be met; meanwhile, the scraper plate and the spray head form a certain inclination angle, and the scraper plate can play a scraping role and a lifting role; the conveying supporting plate can synchronously move along the chain, can move along the L-shaped track and also can move along the U-shaped track, so that mortar coating on the bottom surface and the side surface of the brick is realized, and the mortar coating precision is improved; meanwhile, the invention can meet the bearing requirements of bricks with different widths, greatly improves the application range of the brick mortar coating machine, has wide application scenes and great market value, and can be widely applied to the field of masonry engineering.

Example two

The working process of the building robot for brick mortar coating is as follows:

the method comprises the following steps: the robot gripper stably places the bricks on a positioning plate 16 on a supporting auxiliary plate of the coating machine, the photoelectric switch is turned on after 1s delay, and the mortar pumping machine 12 and the coating machine start to work;

step two: the conveying supporting plate 5 pulls the spray head 9 to move from one side of the bottom surface of the brick to the other side, so that the mortar coating of the bottom surface of the brick is completed;

step three: in the turning stage, the mortar pumping machine 12 stops working temporarily, the delay is about 1s, and when the spray head 10 rotates through a right-angle turn quickly and is completely attached to the side face of the brick, the mortar pumping machine 12 continues working;

step four: when the spray head 9 moves to the upper edge of the side face of the brick, the photoelectric switch 26 is closed, the mortar pumping machine 12 and the coating machine stop working, and the bottom face and the side face of the brick are coated with masonry mortar;

step five: and the robot gripper grips the bricks to execute the next masonry work, the spray head resets, and the next cycle of work is started.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A building robot for brick mortar coating is characterized by comprising a frame (1), wherein chain wheels (3) for driving a chain (2) to drive are arranged on the periphery of the frame (1), two chain wheels (3) positioned at the lower end of the frame (1) are connected with transmission shafts (4), a chain track (6) for mounting a conveying support plate (5) is arranged in the middle of the frame (1), the chains (2) on the periphery of the frame (1) penetrate through the chain track (6) to perform circulating transmission, one transmission shaft (4) is connected with a motor (7), the motor (7) drives the transmission shaft (4) to rotate, and further drives the chain (2) to move on the chain wheels (3) and the chain track (6); the two ends of the conveying supporting plate (5) are connected to chains (2) in a chain track through chain side straight connectors (8), a spray head (9) is fixedly connected to the middle of the conveying supporting plate (5) through a bolt, a protective cover (10) is arranged on the outer side of the spray head (9), a scraper (11) is arranged on one side of an opening in the upper end of the protective cover (10), and a conveying pipe (13) of a mortar pumping machine (12) is connected to the spray head (9);

a support main board (14) which is symmetrical left and right is fixedly arranged on the frame (1) which is positioned above the conveying supporting board, and a support auxiliary board (15) is arranged on the upper surface of the support main board (14); a positioning plate (16) is arranged at the inner side end of the auxiliary supporting plate (15), and bricks (17) are placed on the positioning plates (16) on the left and right auxiliary supporting plates in a matching manner;

the conveying support plate (5) is fixed on a single chain link of the chain (2) through a chain side straight connector (8), the conveying support plate (5) moves synchronously along with the chain (2) and can move along an L-shaped track and a U-shaped track, a spray head (9) finishes mortar coating operation on the bottom surface and the side surface of a brick under the traction and bearing effects of the conveying support plate (5), roller supports (24) are fixedly arranged on two sides of the conveying support plate (5), and rollers (23) are tangent to the inner wall of an I-shaped groove (22).

2. A construction robot for mortar coating of bricks according to claim 1, characterized in that: a limiting groove (18) is arranged on the supporting auxiliary plate (15), the supporting auxiliary plate (15) is fixedly arranged on the supporting main plate (14) through a limiting screw (19) in the limiting groove (18), and the distance between the two positioning plates (16) is changed by adjusting the fixing position of the limiting screw (19) in the limiting groove (18).

3. A construction robot for mortar coating of bricks according to claim 2, characterized in that: a handle (20) is arranged on the supporting auxiliary plate (15), and a graduated scale (21) is arranged on one side of the limiting groove (18).

4. A construction robot for mortar coating of bricks according to claim 1, characterized in that: the frame is characterized in that vertical I-shaped grooves (22) are formed in the left end and the right end of the frame (1), rollers (23) matched with the I-shaped grooves are arranged on the conveying supporting plate (5), and the rollers (23) are installed on the two sides of the conveying supporting plate (5) through roller supports (24).

5. A construction robot for mortar coating of bricks according to claim 1, characterized in that: the both ends of scraper blade (11) are fixed through adjusting handle (25) on protection casing (10), there is inclination scraper blade (11) and fragment of brick surface, and the user changes the distance of scraper blade and fragment of brick surface through adjusting the handle.