CN112459490A - Three-joint rotary type concrete distributing robot - Google Patents
Three-joint rotary type concrete distributing robot Download PDFInfo
- Publication number
- CN112459490A CN112459490A CN202011162556.2A CN202011162556A CN112459490A CN 112459490 A CN112459490 A CN 112459490A CN 202011162556 A CN202011162556 A CN 202011162556A CN 112459490 A CN112459490 A CN 112459490A
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- Prior art keywords
- assembly
- rotary table
- joint rotary
- robot
- distributing
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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
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
-
- 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
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
Abstract
A three-joint rotary concrete distributing robot is arranged on an intelligent construction machinery construction platform and comprises an upright post assembly (1), a pipeline assembly, a supporting component, a rotary table assembly (5) and a cantilever support (4); the mechanism of the application is a complete rotary type. Each horizontal distributing pipe is always in a horizontal position, the internal concrete liquid flow state and loss change are small, and high-precision control and long-term use are facilitated.
Description
Technical Field
The application relates to a three-joint rotary concrete distribution robot which is arranged on an intelligent construction machinery construction platform.
Background
The concrete distributing robot is a building industrial robot for conveying concrete to a construction site, and plays a very important role in the development process of urban modern construction. The concrete distributing machine is a new product developed and researched for expanding the concrete pouring range and improving the mechanization level of pumping construction, is matched equipment of a concrete conveying pump, is connected with the concrete conveying pump, effectively solves the problem of concrete distributing of a complex pouring surface, and plays an important role in improving the construction efficiency, reducing the labor intensity of workers and playing a role. Along with the continuous improvement of the efficiency requirement of engineering construction to the cloth robot, the mechanism research about the cloth robot develops gradually. Traditional cloth pump truck is in different positions of pouring, and its inside concrete fluid state change is very big, especially pours extreme position such as the nearest point, and the loss of pressure of inside concrete liquid stream is very big, has influenced concrete placement precision greatly, and long-term work will influence cloth arm working life greatly.
The prior art is a concrete pump truck, a plurality of trucks are required to work simultaneously during construction, and the problem of allocation among the trucks is difficult to solve; in addition, a hydraulic control mode is generally adopted at present, the control system occupies a large space and is difficult to arrange; the concrete pouring environment is severe, so that the hose of the existing actuating mechanism cannot accurately reach an expected pouring position, the hose needs to be manually operated to reach the expected position, the precision is low, and the intelligence is poor.
Disclosure of Invention
The invention can solve the problems in the prior art, simplifies the motion process by the design of a pure rotary joint, reduces the complexity of the stretching and rotating combined motion of the arm support in the traditional cloth machine, and is convenient for the design of a subsequent controller. The three joints are convenient to control by the motor, convenient to arrange and higher in accuracy compared with hydraulic control, and are suitable for later-stage application algorithm development to conveniently control a plurality of robots to work; the design of the modularized upright post can adapt to pouring planes with different heights, particularly pouring planes of super high floors which cannot be reached by the traditional pump truck; the pouring plane is two degrees of freedom, the three-joint distributing robot is set to be three degrees of freedom, an optional distributing path scheme is added, the three-joint distributing robot is suitable for the situation that the construction environment and the working condition are complex, the operation flexibility of the distributing robot is improved, the mechanism stability under the severe working condition is enhanced, the construction efficiency can be further improved, and the construction cost is reduced.
Technical scheme
A three-joint rotary concrete distribution robot is installed on an intelligent construction machinery construction platform and comprisesStand Column assembly (1), pipeline assembly, supporting component, rotary table assembly (5) and cantilever support (4)) (ii) a Wherein:
the stand column assembly (1)The supporting columns are fixed with the foundation and play a role in overall reinforcing and supporting the cloth robot. The upright post assembly is simultaneously arranged on an intelligent construction machinery construction platform and moves along with the platform to change the construction height of the working face;
the pipe assemblyThe concrete pump comprises a concrete pump, a vertical distributing pipe (2-1), a horizontal distributing pipe (2-3) and an execution end hose (2-4), wherein: the concrete is conveyed to a vertical distributing pipe (2-1) and a horizontal distributing pipe (2-3) through a concrete pump (not shown in the figure), and finally reaches a distributing execution end hose (2-4) to carry out distributing operation;
the support memberComprises a heavy pipe clamp (3-1) and a U-shaped pipe clamp (3-2) which are fixedly connected and attached to a cantilever support (4);
the revolving stage assembly (5)The robot comprises a first joint rotary table (5-1), a second joint rotary table (5-2) and a third joint rotary table (5-3), wherein the first joint rotary table, the second joint rotary table and the third joint rotary table are respectively positioned at three joints of the robot and are used for completing rotation and extension through motor drive so as to adapt to and expand the range of working points;
the cantilever support (4),the double-layer structure comprises an upper cantilever support (4-1) and a lower cantilever support (4-2), the upright post assembly (1) is supported and suspended in the air, and a support function is provided for loading the pipeline assembly.
The mechanism of the application is a complete rotary type. Each horizontal distributing pipe is always in a horizontal position, the internal concrete liquid flow state and loss change are small, and high-precision control and long-term use are facilitated.
Drawings
Fig. 1 is an oblique view of a three-joint rotary concrete distribution robot.
Fig. 2 is a front view of the three-joint rotary concrete distribution robot.
FIG. 3 is a front view of the second articulating turret (5-2)
FIG. 4 is a top view of the second articulating turret (5-2)
Fig. 5 is a front view of the outrigger (4).
The parts include
1 column assembly
2. Pipeline assembly
Comprises that
2-1 vertical distributing pipe
2-2 bent pipe
2-2-1350 bent pipe
2-2-2500 bent pipe
2-2-3 welding elbow
2-3 horizontal distributing pipe
2-4 flexible pipe
3. Pipe clamp
3-1 heavy pipe strap
3-2U-shaped pipe clamp
4. Cantilever support
4-1 upper cantilever support
4-2 lower cantilever support
5. Rotary table assembly
5-1 first joint rotary table
5-2 second joint rotary table
5-3 third joint rotary table
5-1-1, 5-2-1, 5-3-1 turntable supporting truss
5-1-2, 5-2-2, 5-3-2 upper supporting plate
5-1-3, 5-2-3 and 5-3-3 rotary driving mechanism
Support plate under 5-1-4, 5-2-4 and 5-3-4
Detailed Description
The technical solutions provided in the present application will be further described with reference to the following specific embodiments and accompanying drawings. The advantages and features of the present application will become more apparent in conjunction with the following description.
It should be noted that the embodiments of the present application have a better implementation and are not intended to limit the present application in any way. The technical features or combinations of technical features described in the embodiments of the present application should not be considered as being isolated, and they may be combined with each other to achieve a better technical effect. The scope of the preferred embodiments of this application may also include additional implementations, and this should be understood by those skilled in the art to which the embodiments of this application pertain.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
The drawings in the present application are in simplified form and are not to scale, but rather are provided for convenience and clarity in describing the embodiments of the present application and are not intended to limit the scope of the application. Any modification of the structure, change of the ratio or adjustment of the size of the structure should fall within the scope of the technical disclosure of the present application without affecting the effect and the purpose of the present application. And the same reference numbers appearing in the various drawings of the present application designate the same features or components, which may be employed in different embodiments.
In FIGS. 1 and 2
A three-joint rotary concrete distributing robot is installed on an intelligent construction machinery construction platform (not shown in the figure), and comprisesColumn assembly (1), pipeline assembly, supporting component, turntable assembly (5) and cantilever support (4))；
Wherein:
the stand column assembly (1)The support column of the three-joint rotary concrete distributing robot plays a role in overall reinforcing and supporting the distributing robot, is of a modular tower body structure and is composed of standard joint modules. And determining the installation height of the stand column assembly according to the height of the concrete pouring surface of the construction building, thereby determining the number of the required standard knot modules, and changing the height of the stand column assembly by changing the number of the standard knot modules. The stand assembly is installed simultaneously on intelligent construction machinery construction platform, moves along with the platform and changes the working face construction height, and traditional cloth pump truck will cooperate the automobile body to remove, consequently can't move on construction platform, is not suitable for the superelevation layer and pours.
The pipe assemblyIs a concrete conveying system comprising a concrete pump and a vertical shaftDistributing pipe (2-1), horizontal distributing pipe (2-3), execution end hose (2-4), wherein:
the concrete is conveyed to a vertical distributing pipe (2-1) and a horizontal distributing pipe (2-3) through a concrete pump (not shown in the figure), and finally reaches a distributing execution end hose (2-4) to carry out distributing operation. As examples, specific are: the turning joints of the distributing pipes are connected by a bent pipe (2-2), wherein the vertical distributing pipe (2-1) is connected with the first-section arm horizontal distributing pipe by a 350 bent pipe (2-2-1), the first-section arm horizontal distributing pipe is connected with the second-section arm horizontal distributing pipe, the second-section arm horizontal distributing pipe is connected with the third-section arm horizontal distributing pipe by a 500 bent pipe (2-2-2), and the third-section arm horizontal distributing pipe is connected with a hose (2-4) by a welding bent pipe (2-2-3), so that a distributing robot pipeline assembly is formed.
The support memberComprises a heavy pipe clamp (3-1) and a U-shaped pipe clamp (3-2); the heavy pipe clamp (3-1) plays a role in connecting pipelines; the U-shaped pipe clamp (3-2) is fixedly connected with the cantilever support (4).
The vertical distributing pipe (2-1) and the horizontal distributing pipe (2-3) are assembled by a series of standard pipelines to form the required length, and the heavy pipe clamp (3-1) plays a role in connecting the pipelines. The U-shaped pipe clamp (3-2) is fixedly connected with the cantilever support (4), and the heavy pipe clamp (3-1), the U-shaped pipe clamp (3-2) and the cantilever support (4) jointly play roles in reinforcing, supporting and damping and stabilizing a connecting pipeline.
The revolving stage assembly (5)The robot comprises a first joint rotary table (5-1), a second joint rotary table (5-2) and a third joint rotary table (5-3), wherein the first joint rotary table, the second joint rotary table and the third joint rotary table are respectively positioned at three joints of the robot and are used for completing rotation and extension through motor driving so as to adapt to and expand the range of working points.
As shown in fig. 3 and 4, the structure of the turntable assembly (5) is shown by taking the second articulated turntable (5-2) as an example. The second joint rotary table (5-2) is composed of a rotary table supporting truss (5-2-1), an upper supporting plate (5-2-2), a rotary driving mechanism (5-2-3) and a lower supporting plate (5-2-4), the rotary table supporting truss (5-2-1) plays a role in supporting and reinforcing the whole rotary platform, vibration generated in rotary motion due to factors such as wind load is reduced, the rotary table supporting truss is designed according to different strength requirements, the rotary table supporting truss (5-2-1) and the upper supporting plate (5-2-2) are welded into a whole, the rotary driving mechanism (5-2-3) and a motor and the like are connected and arranged on the upper supporting plate (5-2-2) and the lower supporting plate (5-2-4) through bolts, the upper and lower supporting plates also play a certain role in supporting and stabilizing.
The cantilever support (4),the double-layer structure comprises an upper cantilever support (4-1) and a lower cantilever support (4-2), the upright post assembly (1) is supported and suspended in the air, and a support function is provided for loading the pipeline assembly.
In fig. 5, the structure of the lower cantilever support (4-2) of the second distribution arm is shown, the upper cantilever support (4-1) is similar to the upper cantilever support, and a U-shaped pipe clamp (3-2) can be installed on the cantilever support to strengthen and support the horizontal distribution pipe (2-3), reduce the influence of each load and bending moment on the horizontal distribution pipe, and drive the horizontal distribution pipe (2-3) to complete 360-degree rotation.
In fig. 1-4, taking the second joint turntable (5-2) as an example, the joint rotation is mainly operated by a rotary driving mechanism (5-2-3), which is composed of a rotary support and a worm. The rotary support is an extra-large bearing which utilizes gear transmission and can bear comprehensive load, and is composed of an inner ring and an outer ring. The inner ring is fixed between the upper and lower supporting plates (5-2-2, 5-2-4) to play a role of strengthening and stabilizing, and the outer side is provided with teeth which are equivalent to worm wheels and can be engaged with the worm for transmission. When the material distributing arm rotates, the corresponding rotary driving mechanism (5-1-3, 5-2-3, 5-3-3) in the rotary joint rotary table works, an output shaft of a motor arranged on the upper supporting plate (5-1-2, 5-2-2, 5-3-2) is connected with a worm, the worm and gear drive the rotary support to rotate, an outer gear ring is fixedly connected with the upper supporting plate (5-1-2) in the first section of material distributing arm, and a lower cantilever support (4-2) fixedly connected with the upper supporting plate (5-1-2) is driven by the motor to jointly rotate; in the second and third section of material distribution arms, the rotary support outer ring is connected with the lower support plates (5-2-4, 5-3-4) of the second and third section of arm rotating tables (5-2, 5-3), and the lower support plates are fixedly connected with the lower cantilever support (4-2) of the second section of arm and the upper cantilever support (4-1) of the third section of arm, and are driven by a motor to jointly rotate; u-shaped pipe clamps (3-2) on upper and lower cantilever brackets (4-1, 4-2) of all the distributing arms drive the horizontal distributing pipe (2-3) to act, so that 360-degree rotation action of the distributing action executor hose (2-4) and the horizontal distributing pipe (2-3) is realized.
The invention relates to a three-joint rotary concrete distributing robot, which enables rotary driving mechanisms in rotary tables to work in a coordinated and matched mode by controlling motors of three rotary joints, so that concrete conveyed by a concrete pump can be conveyed to a pouring point of a construction building surface along a pipeline assembly of the distributing robot. The position height of the pouring points can be changed by changing the number of the standard knot modules in the upright post assembly.
The invention relates to a three-joint rotary concrete distributing robot which is applicable to the following places and applications: the method is suitable for high-precision unmanned concrete pouring of various complex surfaces such as planes, vertical surfaces, columns and the like, and is particularly suitable for concrete pouring of super high-rise building construction planes and under severe working conditions.
Claims (1)
1. A three-joint rotary concrete distribution robot is installed on an intelligent construction machinery construction platform and comprisesUpright post Assembly (1), pipeline assembly, supporting component, rotary table assembly (5) and cantilever support (4)) (ii) a Wherein:
the stand column assembly (1)The supporting columns are fixed with the foundation and play a role in overall reinforcing and supporting the cloth robot. The upright post assembly is simultaneously arranged on an intelligent construction machinery construction platform and moves along with the platform to change the construction height of the working face;
the pipe assemblyThe concrete pump comprises a concrete pump, a vertical distributing pipe (2-1), a horizontal distributing pipe (2-3) and an execution end hose (2-4), wherein: the concrete is conveyed to a vertical distributing pipe (2-1) and a horizontal distributing pipe (2-3) through a concrete pump (not shown in the figure), and finally reaches a distributing execution end hose (2-4) to carry out distributing operation;
the support memberComprises a heavy pipe clamp (3-1) and a U-shaped pipe clamp (3-2) which are fixedly connected and attached to a cantilever support (4);
the revolving stage assembly (5)The robot comprises a first joint rotary table (5-1), a second joint rotary table (5-2) and a third joint rotary table (5-3), wherein the first joint rotary table, the second joint rotary table and the third joint rotary table are respectively positioned at three joints of the robot and are used for completing rotation and extension through motor drive so as to adapt to and expand the range of working points;
the cantilever support (4),the double-layer structure comprises an upper cantilever support (4-1) and a lower cantilever support (4-2), the upright post assembly (1) is supported and suspended in the air, and a support function is provided for loading the pipeline assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011162556.2A CN112459490A (en) | 2020-10-27 | 2020-10-27 | Three-joint rotary type concrete distributing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011162556.2A CN112459490A (en) | 2020-10-27 | 2020-10-27 | Three-joint rotary type concrete distributing robot |
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| Publication Number | Publication Date |
|---|---|
| CN112459490A true CN112459490A (en) | 2021-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011162556.2A Pending CN112459490A (en) | 2020-10-27 | 2020-10-27 | Three-joint rotary type concrete distributing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113377007A (en) * | 2021-06-17 | 2021-09-10 | 同济大学 | Fuzzy neural network-based concrete distributing robot control method |
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| DE102006040092A1 (en) * | 2006-08-28 | 2008-03-06 | Putzmeister Ag | Arrangement for conveying concrete with height-adjustable concrete boom |
| CN201326278Y (en) * | 2008-11-21 | 2009-10-14 | 北京建研机械科技有限公司 | Material spreading machine with relative movement of three-arm combination |
| CN102535855A (en) * | 2012-02-17 | 2012-07-04 | 三一重工股份有限公司 | Rotatable cantilever crane and concrete pump truck |
| CN108086688A (en) * | 2017-11-24 | 2018-05-29 | 上海建工集团股份有限公司 | Rail mounted floor inner concrete cloth system and its construction method |
| CN108104475A (en) * | 2017-11-24 | 2018-06-01 | 上海建工集团股份有限公司 | Self-crawling type floor inner concrete cloth is equipped and its construction method |
-
2020
- 2020-10-27 CN CN202011162556.2A patent/CN112459490A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006040092A1 (en) * | 2006-08-28 | 2008-03-06 | Putzmeister Ag | Arrangement for conveying concrete with height-adjustable concrete boom |
| CN201326278Y (en) * | 2008-11-21 | 2009-10-14 | 北京建研机械科技有限公司 | Material spreading machine with relative movement of three-arm combination |
| CN102535855A (en) * | 2012-02-17 | 2012-07-04 | 三一重工股份有限公司 | Rotatable cantilever crane and concrete pump truck |
| CN108086688A (en) * | 2017-11-24 | 2018-05-29 | 上海建工集团股份有限公司 | Rail mounted floor inner concrete cloth system and its construction method |
| CN108104475A (en) * | 2017-11-24 | 2018-06-01 | 上海建工集团股份有限公司 | Self-crawling type floor inner concrete cloth is equipped and its construction method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113377007A (en) * | 2021-06-17 | 2021-09-10 | 同济大学 | Fuzzy neural network-based concrete distributing robot control method |
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Application publication date: 20210309 |
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