CN113389391A - Plastering equipment and brick laying system - Google Patents
Plastering equipment and brick laying system Download PDFInfo
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- CN113389391A CN113389391A CN202110718651.4A CN202110718651A CN113389391A CN 113389391 A CN113389391 A CN 113389391A CN 202110718651 A CN202110718651 A CN 202110718651A CN 113389391 A CN113389391 A CN 113389391A
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- plastering
- brick
- horizontal direction
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- head
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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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- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Coating Apparatus (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The application relates to plastering equipment and a brick laying system, and belongs to the technical field of building construction equipment. The plastering equipment comprises: a chassis; the vertical frame is vertically arranged on the chassis and comprises two vertical beams, a top beam and a fixed seat; the bearing table is arranged on the two vertical beams; the back surface of the sliding frame is in sliding fit with the fixed seat, and the sliding frame can move to a second position from a first position to a second position along a first horizontal direction relative to the fixed seat; the plastering head is movably arranged on the front surface of the sliding frame along the first horizontal direction. When the sliding frame is at the first position, the second end of the sliding frame does not protrude out of the edge of the chassis; when the balladeur train is in the second position, the balladeur train protrusion chassis, the length of balladeur train can be shorter, through the removal of balladeur train for the fixing base and the removal of plastering head for the balladeur train, realizes the plastering operation of the long stroke of plastering head, and is with low costs, saves installation space, is convenient for walk in narrow environment, avoids interfering with other parts.
Description
Technical Field
The application relates to the technical field of building construction equipment, in particular to plastering equipment and a brick laying system.
Background
In the field of building construction, wall building is a construction operation process with high labor intensity and high technical level requirement. After the concrete frame is poured, the non-bearing partition wall of the building is built by adopting pressurized aerated concrete block bricks so as to realize the isolation of the space. Facing the improvement of labor cost and the shortage of labor resources in the building industry, mechanized construction operation gradually appears in the field of building construction. The existing wall building robot occupies a large space and has high cost.
Disclosure of Invention
An object of this application is to provide a plastering equipment and system of laying bricks. The plastering equipment is low in cost and saves installation space.
The application is realized by the following technical scheme:
in a first aspect, an embodiment of the present application provides a plastering apparatus, including:
a chassis;
the vertical frame is vertically arranged on the chassis and comprises two vertical beams, a top beam and a fixed seat, wherein the top beam is connected with the two vertical beams along a first horizontal direction, and the fixed seat is arranged on the top beam;
the bearing tables are arranged on the two vertical beams and used for bearing bricks;
the back surface of the sliding frame is in sliding fit with the fixed seat, and the sliding frame can move to a second position from a first position to a second position along a first horizontal direction relative to the fixed seat;
the plastering head is movably arranged on the front surface of the sliding frame along a first horizontal direction;
when the sliding frame is located at the first position, the first end of the sliding frame along the first horizontal direction protrudes out of the bricks carried by the bearing platform by a first size, the protruding part of the sliding frame is configured to be used for placing the plastering head, the plastering head is not connected with the bricks in the vertical direction, and the second end of the sliding frame along the first horizontal direction does not exceed the edge of the chassis;
the first fragment of brick upper surface that can bear with the plastering plummer along first horizontal direction displacement of plastering, in the in-process of plastering the head along first horizontal direction plastering, the carriage equidirectional displacement to second position, the second end that is located the carriage of second position is protruding chassis edge relatively and is protruding fragment of brick second size relatively, the plastering head after the plastering can be settled to convex partial carriage, at the ascending projection of vertical direction, the plastering head does not meet with the fragment of brick.
According to the plastering device of the embodiment of the application, when the sliding frame is at the first position, the second end of the sliding frame does not protrude out of the edge of the chassis; when the balladeur train is in the second position, the balladeur train protrusion chassis, the length of balladeur train can be shorter, utilizes the balladeur train of shorter length to settle two non-station state positions of plastering head, through the removal of balladeur train for the fixing base and the removal of plastering head for the balladeur train, realizes the long stroke plastering operation of plastering head, and the cost is saved installation space, is convenient for walk in constrictive environment, avoids interfering with other parts.
According to some embodiments of this application, the fixing base is provided with first slider, and the back of balladeur train is provided with the first slide rail that corresponds with first slider, and first slide rail extends along first horizontal direction, first slider and first slide rail sliding fit, and equipment of plastering still includes: and the first driving mechanism is used for driving the sliding frame to move along the first horizontal direction relative to the fixed seat.
In the above scheme, through the sliding fit of first slider and first slide rail, guarantee that the balladeur train moves stably for the fixing base.
According to some embodiments of this application, the front of balladeur train is located through the mount pad to the plastering head, and the mount pad is provided with the second slider, and the front of balladeur train is provided with the second slide rail that corresponds with the second slider, and the second slide rail extends along first horizontal direction, second slider and second slide rail sliding fit, and plastering equipment still includes: and the second driving mechanism is used for driving the mounting seat to move along the first horizontal direction relative to the sliding frame.
In the above scheme, the sliding fit of the second sliding block and the second sliding rail ensures that the plastering head moves stably relative to the sliding frame.
According to some embodiments of the application, the plastering head is matched with the mounting seat in a rotating mode, the plastering head can rotate around a first rotating axis relative to the mounting seat, and the first rotating axis is perpendicular to the first horizontal direction.
In above-mentioned scheme, when the plastering head rotated for the mount pad, can adjust the position gesture of plastering head to the plastering head carries out the plastering on the surface of fragment of brick.
According to some embodiments of the application, the plastering head can also rotate around a second rotation axis relative to the mounting seat, and the second rotation axis is perpendicular to the first rotation axis.
In above-mentioned scheme, the plastering head can rotate around first axis of rotation and second axis of rotation respectively, realizes the multi-angle and adjusts, is adapted to the plastering of different positions.
According to some embodiments of the application, the first dimension is the same as the second dimension.
In above-mentioned scheme, when the carriage was in first position and second position, the protruding size of the first end of carriage for the fragment of brick was the same with the protruding size of the second end of carriage for the fragment of brick, and rational utilization installation space avoids the space extravagant.
According to some embodiments of the application, the plummer is provided with a clamping mechanism for clamping a brick carried by the plummer along a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction.
In above-mentioned scheme, through fixture at the second horizontal direction centre gripping fragment of brick, reduce the contact surface with the fragment of brick, be convenient for carry out the plastering at the non-clamping face.
According to some embodiments of the application, the clamping mechanism comprises first and second spaced apart jaws that approach each other relative to a first vertical centre line to secure a brick or move away from each other to release a brick; the plastering head is provided with a second vertical center line along the vertical direction, and the first vertical center line and the second vertical center line are arranged in a coplanar manner.
In the scheme, the second vertical center line (the vertical center line of the plastering) is coplanar with the first vertical center line (the center line of the clamping mechanism), so that when the clamping mechanism clamps bricks with different widths, the surfaces of the bricks are smeared along the center lines of the width directions of the bricks when the plastering head is plastered, and the phenomenon of uneven smearing on the surfaces of the bricks when the widths of the bricks are changed is avoided; in addition, the axis of the rotation of the plastering head is a vertical central line, so that when the left side surface and the right side surface are plastered, the plastering head is smeared along the center of the brick, and the surface of the brick is guaranteed to be smeared uniformly.
According to some embodiments of this application, the plummer sets up in two vertical roof beams liftable, waits that the plummer carries the fragment of brick and removes to waiting to plaster the upper surface of position after, plaster the head and can be along the displacement of first horizontal direction with plaster the fragment of brick, when the carriage is located the first position, install the plaster head of the first end of carriage and allow the plummer lift fragment of brick and not contact with the fragment of brick, when the carriage is located the second position, install the plaster head of the second end of carriage and allow the plummer lift fragment of brick and not contact with the fragment of brick.
In the above scheme, the supporting body is arranged on the vertical beam in a liftable mode so as to facilitate grouting of bricks of different specifications.
According to some embodiments of the application, when the carriage is located at the first position, the plastering head mounted at the first end of the carriage is configured to plaster the first end face of the brick along the first horizontal direction when the bearing platform carries the brick to ascend and descend; when the sliding frame is located at the second position, the plastering head arranged at the second end of the sliding frame is configured to plaster the second end surface of the brick along the first horizontal direction when the bearing platform carries the brick to lift; the first end face and the second end face are oppositely arranged, the first end face is arranged close to the first end, and the second end face is arranged close to the second end.
In the above scheme, through plummer and the cooperation of plastering head, carry out the plastering to two terminal surfaces of fragment of brick when realizing the fragment of brick lift, be convenient for realize the plastering demand of the different faces of fragment of brick.
According to some embodiments of this application, the plummer is provided with the third slider on the one side that is close to two vertical roof beams, and two vertical roof beams are provided with the third slide rail that corresponds with the third slider, third slider and third slide rail sliding fit, and plastering equipment still includes: and the third driving mechanism is used for driving the bearing platform to lift relative to the two vertical beams.
In the above scheme, the sliding fit of the third sliding block and the third sliding rail ensures that the bearing platform can stably lift relative to the two vertical beams.
According to some embodiments of the present application, the chassis is an AGV chassis.
In the scheme, the AGV chassis has an automatic navigation function, and is convenient to butt joint with other robots for cooperative operation.
According to some embodiments of the application, the plastering apparatus further comprises:
the vertical part and the vertical frame are arranged at intervals along a first horizontal direction, the lower end of the vertical part is installed on the chassis, the vertical part is provided with an accommodating space, the accommodating space is located between the upper end and the lower end of the vertical part, and the accommodating space is used for accommodating the slurry barrel and accommodating the slurry smearing head installed at the first end of the sliding frame when the sliding frame is located at the first position.
In the above scheme, accept a thick liquid section of thick bamboo and the balladeur train and install the head of plastering a paste in the balladeur train when being in the primary importance through accommodation space, rational utilization structural space protects the head of plastering a paste when plastering a paste equipment removes.
In a second aspect, the embodiment of the application further provides a brick laying system, which includes the plastering device.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic view of a carriage of a plastering apparatus provided in an embodiment of the present application in a first position;
fig. 2 is a schematic view of a carriage of a plastering apparatus provided in an embodiment of the present application in a third position;
fig. 3 is a schematic view of a plastering head of a plastering apparatus provided in an embodiment of the present application plastering on the upper surface of a brick;
fig. 4 is a schematic view of a carriage of a plastering apparatus provided in an embodiment of the present application in a second position;
fig. 5 is a schematic structural diagram of a plastering apparatus according to an embodiment of the present application;
FIG. 6 is an enlarged view of FIG. 5 at A;
fig. 7 is a schematic view of a plastering head of a plastering apparatus plastering on a first end surface of a brick according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a plastering apparatus according to an embodiment of the present application.
Icon: 100-plastering equipment; 10-a chassis; 20-a vertical frame; 21-vertical beam; 22-a top beam; 23-a fixed seat; 231-a first slider; 24-a third slide rail; 30-a bearing platform; 31-a clamping mechanism; 311-a first splint; 312-a second splint; 32-a fourth slide rail; 33-a third slider; 40-a carriage; 41-a first end; 42-a second end; 44-a second slide rail; 50-a plastering head; 51-a storage bin; 52-a spatula; 60-a mounting seat; 61-a second slide; 71-a second drive mechanism; 712-a first belt drive assembly; 713-first lead screw; 714-a first nut; 80-bricks; 81-a first end face; 82-a second end face; 90-a vertical part; 91-an accommodation space; 92-a pulp barrel; x-a first horizontal direction; y-a second horizontal direction; z-vertical direction; d1 — first size; d2 — second size; l1-first axis of rotation; l2-second axis of rotation; m1-first vertical centerline; m2-second vertical centerline.
Detailed Description
Embodiments of the present application will be described in further detail below with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the application and are not intended to limit the scope of the application, i.e., the application is not limited to the described embodiments.
In the description of the present application, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," and the like, indicate an orientation or positional relationship that is merely for convenience in describing the application and to simplify the description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. "vertical" is not strictly vertical, but is within the tolerance of the error. "parallel" is not strictly parallel but within the tolerance of the error.
The following description is given with the directional terms as they are used in the drawings and not intended to limit the specific structure of the present application. In the description of the present application, it is also to 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; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood as appropriate by one of ordinary skill in the art.
A plastering apparatus according to an embodiment of the first aspect of the present application is described below with reference to the drawings.
As shown in fig. 1 to 8, the plastering apparatus 100 according to the embodiment of the present application comprises: chassis 10, vertical frame 20, plummer 30, carriage 40 and plastering head 50.
As shown in fig. 1, the plastering head 50 includes a storage bin 51, a cavity is formed in the storage bin 51 for accommodating the slurry, the upper end of the cavity is communicated with a feeding pipe, the feeding pipe is communicated with a feeding pump, so that the feeding pump supplies the slurry to the cavity, and the lower end of the cavity is open to form a discharge hole. The plastering head further has a spatula 52, and the spatula 52 is arranged at the edge of the discharge hole and is used for smearing the grout on an object to be plastered (such as a brick 80). The feed bin 51 is the gradual change shape of top-down thickness convergent and top-down width, thereby prescribes a limit to the material chamber and is the gradual change shape of top-down width and makes the discharge gate have great width, and meanwhile, prescribes a limit to feed bin 51 top-down thickness convergent, can not reduce the pressure of thick liquids when having guaranteed that the discharge gate has great width, has guaranteed the stability of ejection of compact. The spatula 52 is installed on the wide edge of the discharge port, the spatula 52 is provided with a smearing tooth which is positioned below the discharge port and used for forming a toothed slurry layer on the surface of an object to be smeared with slurry, and the smearing tooth in the embodiment can be square, circular arc, trapezoidal or conical.
Specifically, the chassis 10 functions as a positioning support and can support other components. As shown in fig. 1, the vertical frame 20 is disposed on the chassis 10, and the vertical frame 20 includes two vertical beams 21, a top beam 22 connecting the two vertical beams 21 along a first horizontal direction X, and a fixing seat 23 (shown in fig. 5) installed on the top beam 22, that is, the vertical beams 21 are disposed along a vertical direction Z, the top beam 22 is connected to top ends of the two vertical beams 21, and bottom ends of the vertical beams 21 are connected to the chassis 10. As shown in fig. 1, the bearing platform 30 is disposed on two vertical beams 21, and the bearing platform 30 is used for bearing bricks 80 and plays a role of positioning and supporting the bricks 80. As shown in fig. 5, the back surface of the carriage 40 is slidably engaged with the fixed seat 23, and the carriage 40 can move from a first position (shown in fig. 1) to a second position (shown in fig. 4) along the first horizontal direction X relative to the fixed seat 23, that is, the carriage 40 can move from the first position to the second position along the first horizontal direction X, so as to switch between two different positions. The plastering head 50 is provided on the front surface of the carriage 40 so as to be movable in the first horizontal direction X, and the plastering head 50 is movable in the first horizontal direction X relative to the carriage 40. When the carriage 40 is in the first position, a first end 41 of the carriage 40 in the first horizontal direction X is opposite to a brick 80 carried by the protruding carrier 30 by a first dimension D1, the protruding part of the carriage 40 is configured to seat the plastering head 50, the plastering head 50 does not meet the brick 80 in the vertical direction Z projection, and a second end 42 of the carriage 40 in the first horizontal direction X does not extend beyond the edge of the chassis 10. The plastering head 50 can be displaced along the first horizontal direction X to the upper surface of the brick 80 borne by the plastering bearing platform 30, in the process of plastering the plastering head 50 along the first horizontal direction X, the sliding frame 40 is displaced to the second position in the same direction, the second end 42 of the sliding frame 40 at the second position is relatively protruded out of the edge of the chassis 10 and is relatively protruded out of the second dimension D2 of the brick 80, the protruded part of the sliding frame 40 can be used for placing the plastering head 50 after plastering, and the plastering head 50 is not connected with the brick 80 in the projection in the vertical direction Z.
It should be noted that the front side of the carriage 40 may refer to the side of the carriage 40 facing the operator, and the back side of the carriage 40 may refer to the side of the carriage 40 facing away from the operator; alternatively, the front side of the carriage 40 may be a side of the carriage 40 facing away from the operator, and the back side of the carriage 40 may be a side of the carriage 40 facing the operator.
Referring to fig. 1, according to the plastering apparatus 100 of the embodiment of the present application, when the carriage 40 is at the first position, the second end 42 of the carriage 40 does not protrude beyond the edge of the chassis 10; referring to fig. 4, when the plastering head 50 plasters on the upper surface of the brick 80 along the first horizontal direction X, the carriage 40 can be moved to the second position, and when the carriage 40 is at the second position, the carriage 40 protrudes out of the edge of the chassis 10 and protrudes with the second dimension D2 relative to the brick 80, the length of the carriage 40 can be shorter, two non-station state positions of the plastering head 50 can be placed by using the carriage 40 with a shorter length, and by moving the carriage 40 relative to the fixing base 23 along the first horizontal direction X and moving the plastering head 50 relative to the carriage 40 along the first horizontal direction X, a long-stroke plastering operation of the plastering head 50 is realized, which is low in cost, saves installation space, facilitates walking in a narrow environment, and avoids interference with other components.
Note that, the first horizontal direction X may be a left-right direction; the front-rear direction may be a direction in which the front and back surfaces of the carriage 40 are opposed, that is, a direction indicated by Y in the drawing.
According to some embodiments of the present application, the first dimension D1 is the same as the second dimension D2. That is, when the carriage 40 is at the first position, the protruding dimension of the first end 41 of the carriage 40 relative to the brick 80 is the same as the protruding dimension of the second end 42 of the carriage 40 relative to the brick 80 when the carriage 40 is at the second position, so that the installation space is reasonably utilized, and the space waste is avoided.
According to some embodiments of the present application, as shown in fig. 5, the fixed seat 23 is provided with a first sliding block 231, the back surface of the sliding frame 40 is provided with a first sliding rail (not shown in the figure) corresponding to the first sliding block 231, the first sliding rail extends along the first horizontal direction X, and the first sliding block 231 is in sliding fit with the first sliding rail; the plastering apparatus 100 further includes a first driving mechanism (not shown in the drawings) for driving the carriage 40 to move in the first horizontal direction X relative to the fixed base 23. Through the sliding fit of the first slider 231 and the first slide rail, the sliding stability of the sliding frame 40 relative to the fixed seat 23 is ensured.
The first driving mechanism can be a driving mode in which the driving motor is matched with the gear and rack transmission structure, a driving mode in which the driving motor is matched with the lead screw nut transmission structure, and a linear driving mode in which other telescopic structures are adopted, and the application is not limited.
It should be noted that, because fixing base 23 is fixed knot structure, balladeur train 40 removes for fixing base 23, in order to guarantee that balladeur train 40 removes stably for fixing base 23, first slide rail sets up in balladeur train 40, and first slider 231 sets up in fixing base 23 for fixing base 23 need not to occupy great installation space, can guarantee that balladeur train 40 removes stably for fixing base 23.
According to some embodiments of the present application, as shown in fig. 5, the plastering head 50 is disposed on the front surface of the carriage 40 through a mounting base 60, the mounting base 60 is provided with a second sliding block 61, the front surface of the carriage 40 is provided with a second sliding rail 44 corresponding to the second sliding block 61, the second sliding rail 44 extends along the first horizontal direction X, the second sliding block 61 is in sliding fit with the second sliding rail 44, and the second sliding block 61 can move along the second sliding rail 44; the plastering apparatus 100 further comprises a second driving mechanism 71, wherein the second driving mechanism 71 is used for driving the mounting base 60 to move along the first horizontal direction X relative to the sliding frame 40. Through the sliding fit of the second slide block 61 and the second slide rail 44, the plastering head 50 is ensured to move stably relative to the sliding frame 40.
The carriage 40 sets up first slide rail and second slide rail 44, and the first sliding fit of plastering through mount pad 60 and carriage 40 is passed through to the plastering head 50 for the plastering head 50 can have different positions on the length of first slide rail and the length of second slide rail 44 for fixing base 23, so that increase the removal length of plastering head 50, realize long distance's removal under the short condition of length of carriage 40, satisfy brick 80's plastering demand, save the cost.
According to some embodiments of the present application, the second driving mechanism 71 may be a driving motor and a lead screw nut transmission structure, for example, as shown in fig. 5, the second driving mechanism 71 may include a first driving motor (not shown), a first belt transmission component 712, a first lead screw 713, and a first nut 714, the first driving motor being mounted to the carriage 40; the first belt transmission assembly 712 is connected with the first driving motor and the first lead screw 713, and is used for transmitting the power of the first driving motor to the first lead screw 713; the first lead screw 713 is disposed along the first horizontal direction X, the first nut 714 is sleeved on the first lead screw 713 and is in threaded fit with the first lead screw 713, and the mounting seat 60 is connected with the first nut 714. When the first driving motor works, the first driving motor transmits power to the first lead screw 713 through the first belt transmission assembly 712, the first lead screw 713 rotates, the first nut 714 moves along the first lead screw 713, so that the mounting base 60 and the second slider 61 move along the first horizontal direction X, and the plastering head 50 moves along the first horizontal direction X relative to the carriage 40. In other embodiments of the present application, the second transmission mechanism may also be a driving mode in which the driving motor is matched with a rack-and-pinion transmission structure, and may also be a linear driving mode in which other telescopic structures are adopted.
According to some embodiments of the present application, the plastering head 50 is rotatably engaged with the mounting base 60, and as shown in fig. 1 and 5, the plastering head 50 can rotate around a first rotation axis L1 with respect to the mounting base 60, wherein the first rotation axis L1 is perpendicular to the first horizontal direction X. When the plastering head 50 rotates relative to the mounting base 60, the position and the posture of the plastering head 50 can be adjusted, so that the plastering head 50 can plaster on the surface of the brick 80.
For example, as shown in fig. 5, the first rotation axis L1 is arranged horizontally, the first rotation axis L1 and the first horizontal direction X are both located in a horizontal plane, and when the plastering head 50 rotates around the first rotation axis L1, the plastering head 50 can change its posture to adapt to different surfaces of the brick 80.
According to some embodiments of the present application, as shown in fig. 1 and 5, the plastering head 50 can also rotate relative to the mounting base 60 about a second rotation axis L2, the second rotation axis L2 being arranged perpendicular to the first rotation axis L1. The plastering head 50 can rotate around a first rotating axis L1 and a second rotating axis L2 respectively, so that multi-angle adjustment is realized, and the plastering head is suitable for plastering at different positions.
In order to facilitate multi-angle adjustment and avoid interference between components, the first rotation axis L1 and the second rotation axis L2 are arranged in a non-coplanar manner.
In order to ensure that the plastering head 50 can plaster evenly, the second rotation axis L2 can be a vertical center line of the plastering head 50 along the vertical direction Z.
According to some embodiments of the present application, as shown in fig. 5, the carrier table 30 is provided with a clamping mechanism 31, the clamping mechanism 31 being used to clamp the brick 80 carried by the carrier table 30 in a second horizontal direction Y, which is perpendicular to the first horizontal direction X. The brick 80 is clamped in the second horizontal direction Y through the clamping mechanism 31, so that two opposite surfaces of the brick 80 in the second horizontal direction Y are clamped by the clamping mechanism 31, contact surfaces with the brick 80 are reduced, and the rest surfaces of the brick are unclamped surfaces, so that plastering can be conveniently performed on the unclamped surfaces of the brick 80. That is, the remaining unclamped faces of the brick 80, except for the surface of the brick 80 that is carried by the carrier 30, can be grouted.
In order to ensure stable clamping of the brick 80 by the clamping mechanism 31, the clamping mechanism 31 clamps the brick 80 in the width direction of the brick 80, that is, the second horizontal direction Y is the width direction of the brick 80.
According to some embodiments of the present application, as shown in fig. 5 and 6, clamping mechanism 31 includes first clamping plate 311 and second clamping plate 312 that are spaced apart from each other, with first clamping plate 311 and second clamping plate 312 being closer to each other relative to first vertical centerline M1 to secure brick 80 or farther from each other to release brick 80. The plastering head 50 has a second vertical center line M2 along the vertical direction Z, and the first vertical center line M1 is coplanar with the second vertical center line M2. The second vertical center line M2 (the vertical center line of the plastering) is coplanar with the first vertical center line M1 (the center line of the clamping mechanism 31), so that when the clamping mechanism 31 clamps bricks 80 with different widths, the surface of the brick 80 is plastered along the center line of the width direction of the brick 80 when the plastering head 50 plasters, and the phenomenon that the surface of the brick 80 is not painted uniformly when the width of the brick 80 is changed is avoided; in addition, the axis of the rotation of the plastering head 50 is the vertical central line of the plastering head, so that when the left side surface and the right side surface are plastered, the plastering head 50 is plastered along the center of the brick 80, and the surface of the brick 80 is guaranteed to be plastered uniformly. It is noted that the second vertical center line M2 may be the second rotation axis L2.
For example, when the first clamping plate 311 and the second clamping plate 312 are close to or away from each other in the second horizontal direction Y, the first vertical center line M1 is perpendicular to a line connecting the first clamping plate 311 and the second clamping plate 312 in the second horizontal direction Y, and when the first clamping plate 311 and the second clamping plate 312 clamp the brick 80, a center line in the width direction of the brick 80 coincides with the first vertical center line M1 in the first horizontal direction X. When the first vertical center line M1 and the second vertical center line M2 constitute a plane, the distance from the plane to the first clamping plate 311 is equal to the distance from the plane to the second clamping plate 312 in the second horizontal direction Y. Because the second vertical center line M2 is the vertical center of the plastering head 50, when the width direction of the plastering head 50 is parallel to the second horizontal direction Y, the extending direction of the plastering operation surface of the plastering head 50 is parallel to the width direction of the brick 80, and the plastering head 50 can plaster the surface of the brick 80 along the width direction center line of the brick 80 during plastering, thereby ensuring even plastering.
It should be noted that the plastering apparatus 100 further includes a fourth driving mechanism (not shown in the drawings) for driving the first clamping plate 311 and the second clamping plate 312 to approach or move away from each other in the second horizontal direction Y. The bearing table 30 is provided with a fourth slide rail 32 extending along the second horizontal direction Y, the first clamping plate 311 and the second clamping plate 312 are both in sliding fit with the fourth slide rail 32, and the fourth driving mechanism can drive the first clamping plate 311 and the second clamping plate 312 to move along the fourth slide rail 32 so as to change the distance between the first clamping plate 311 and the second clamping plate 312. The fourth driving mechanism may be a driving mode in which the driving motor is matched with the rack-and-pinion transmission structure, a driving mode in which the driving motor is matched with the screw-nut transmission structure, or a linear driving mode in which other telescopic structures are adopted, and the present application is not limited.
According to some embodiments of the present application, the bearing platform 30 is arranged on the two vertical beams 21 in a liftable manner, and after the bearing platform 30 carries the brick 80 and moves to the position to be grouted, the grouting head 50 can be displaced along the first horizontal direction X to grout the upper surface of the brick 80; when the carriage 40 is in the first position, the plastering head 50 mounted to the first end 41 of the carriage 40 allows the carrier 30 to lift the brick 80 without contacting the brick 80; when the carriage 40 is in the second position, the plastering head 50 mounted to the second end 42 of the carriage 40 allows the carrier 30 to lift the brick 80 without contacting the brick 80. Plummer 30 sets up in vertical roof beam 21 liftable to in the plastering to the fragment of brick 80 of different specifications, adaptability is good, satisfies different plastering demands.
It should be noted that the movement of the carrier 30 to carry the brick 80 means that the carrier 30 carries and transports the brick 80.
According to some embodiments of the present application, as shown in fig. 7, when the carriage 40 is in the first position, the plastering head 50 mounted to the first end 41 of the carriage 40 is configured to plaster the first end face 81 of the brick 80 in the first horizontal direction X when the carriage 30 carries the brick 80 up and down; as shown in fig. 4, when the carriage 40 is in the second position, the plastering head 50 mounted to the second end 42 of the carriage 40 is configured to plaster the second end surface 82 of the brick 80 in the first horizontal direction X when the brick 80 carried by the carrier 30 is lifted; the first end surface 81 and the second end surface 82 are oppositely disposed, the first end surface 81 is disposed near the first end 41, and the second end surface 82 is disposed near the second end 42. Through the cooperation of plummer 30 and plastering head 50, carry out the plastering to two terminal surfaces of fragment of brick 80 when realizing the lift of fragment of brick 80, be convenient for realize the plastering demand of the different faces of fragment of brick 80.
Through the lift of plummer 30, the head of plastering 50 carries out the plastering to the terminal surface of fragment of brick 80, the rational utilization installation space, and simple structure need not to change the height of the head of plastering 50.
According to some embodiments of the present application, as shown in fig. 5, a third sliding block 33 is disposed on one side of the bearing platform 30 close to the two vertical beams 21, the two vertical beams 21 are provided with a third sliding rail 24 corresponding to the third sliding block 33, and the third sliding block 33 is in sliding fit with the third sliding rail 24; the plastering apparatus 100 further comprises a third driving mechanism for driving the carrier 30 to ascend and descend relative to the two vertical beams 21. Through the sliding fit of the third sliding block 33 and the third sliding rail 24, the bearing platform 30 is ensured to be lifted and lowered stably relative to the two vertical beams 21.
As shown in fig. 5, the carrier 30 and the plastering head 50 are both located on the same side of the carriage 40, so that the plastering head 50 can plaster the brick 80 carried by the carrier 30. That is, the third slider 33 is disposed on the back surface of the susceptor 30.
The third driving mechanism can be a driving mode in which the driving motor is matched with the screw nut transmission structure, a driving mode in which the driving motor is matched with the gear rack transmission structure, and a telescopic linear driving mode, and the application is not limited.
According to some embodiments of the present application, the chassis 10 is an AGV (Automated Guided Vehicle) chassis, and the AGV chassis has an automatic navigation function, so as to facilitate docking and cooperative operation with other robots, thereby improving the degree of automation.
According to some embodiments of the present application, as shown in fig. 8, the plastering apparatus 100 further comprises a vertical part 90, the vertical part 90 and the vertical frame 20 are arranged at an interval along the first horizontal direction X, the lower end of the vertical part 90 is mounted on the chassis 10, the vertical part 90 is provided with a receiving space 91, the receiving space 91 is located between the upper end and the lower end of the vertical part 90, the receiving space 91 is used for receiving the mortar barrel 92 and receiving the plastering head 50 mounted on the first end 41 of the carriage 40 when the carriage 40 is located at the first position. The slurry barrel 92 is used to contain slurry to provide slurry to the plastering head 50. The accommodating space 91 accommodates the grout cylinder 92 and the plastering head 50 mounted on the sliding frame 40 when the sliding frame 40 is at the first position, so that the structural space is reasonably utilized, and the plastering head 50 is protected when the plastering device 100 moves.
In order to save space, as shown in fig. 8, the vertical part 90 and the vertical frame 20 are located at two opposite ends of the chassis 10 along the first horizontal direction X, and the vertical part 90 and the vertical frame 20 are both close to the edge of the corresponding end of the chassis 10, so that the size of the first horizontal direction X of the chassis 10 is small, the space is saved, and the overall structure of the plastering apparatus 100 is compact.
When the carriage 40 is in the first position, the first end 41 of the carriage 40 is located in the accommodating space 91, and the second end 42 of the carriage 40 extends beyond the edge of the chassis 10, so that the plastering apparatus 100 can conveniently travel and be in a narrow space and avoid interference with other components.
The working principle of the plastering apparatus 100 according to the embodiment of the present application is as follows:
initially, the carriage 40 is in a first position, the plastering head 50 is mounted to the first end 41 of the carriage 40;
as shown in fig. 1, the brick 80 may be placed on the carrier 30 in advance, the carrier 30 is driven to rise to a predetermined height, the lower end face of the brick 80 is higher than the height of the plastering teeth of the trowel 52 in a vertical state, the carriage 40 carries the plastering head 50 to move to a third position along the first horizontal direction X, the third position is located between the first position and the second position, the plastering head 50 rotates to face the first end face 81 of the brick 80, the posture of the plastering head 50 is adjusted until the plastering teeth of the trowel 52 are flush with the lower edge of the brick 80 located right below the first end face 81 or flush with the lower edge of the first end face 81 (see fig. 2), the carrier 30 is driven to fall, and the plastering head 50 plasters the first end face 81 of the brick 80 from bottom to top; or, the unloaded carrier table 30 is raised to a predetermined height, the carrier table 30 at the predetermined height receives the brick 80 transferred from the outside, the lower end surface of the brick 80 at the predetermined height is higher than the height of the plastering teeth of the spatula 52 in the vertical state, the plastering head 50 is rotated to face the first end surface 81 of the brick 80, the posture of the plastering head 50 is adjusted until the plastering teeth of the spatula 52 are positioned right below the first end surface 81 of the brick 80 or flush with the lower edge of the first end surface 81, the carrier table 30 is driven to descend, and the plastering head 50 plasters the first end surface 81 of the brick 80 from bottom to top.
Plastering the upper surfaces of the bricks 80, as shown in fig. 3, adjusting the posture of the plastering head 50 and the height of the bricks 80, when the bearing platform 30 carries the bricks 80 to move to the plastering head 50 corresponding to the upper surfaces of the bricks 80, the plastering head 50 moves from the first end 41 to the second end 42 of the carriage 40 along the first horizontal direction X, and simultaneously, the carriage 40 moves from the first position to the second position along the first horizontal direction X, finishing plastering the upper surfaces of the bricks 80;
when the carriage 40 is in the second position, as shown in fig. 4, the plastering head 50 is mounted on the second end 42 of the carriage 40, and the posture of the plastering head 50 and the height of the brick 80 are adjusted, the posture of the plastering head 50 is adjusted as follows: rotating the plastering head 50 by 180 degrees along the second axis L2, so that the plastering head of the plastering second end face 82 and the plastering head of the plastering first end face 81 are symmetrically arranged; the height of block 80 is adjusted as follows: the supporting platform 30 is lifted to enable the brick 80 to be higher than the spatula 52 of the plastering head 50, the supporting platform 30 is driven to descend, and the plastering head 50 plasters the second end surface 82 of the brick 80 from bottom to top.
It should be noted that the spatula 52 of the plastering head 50 is oriented in one direction, and can only plaster in this direction; moreover, plastering of the second end 82 does not require plastering of every block 80, and only a few blocks 80 need to be laid, so plastering of the second end 82 is optional.
According to a second aspect of embodiments of the present application, there is provided a brick laying system comprising the plastering apparatus 100 as described above.
For example, the brick laying system may further comprise a brick laying robot working in cooperation with the plastering apparatus 100, the plastering apparatus 100 providing the plastered brick 80 to the brick laying robot, and the brick laying robot laying the plastered brick 80 on a wall.
While the application has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the application. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present application is not intended to be limited to the particular embodiments disclosed herein but is to cover all embodiments that may fall within the scope of the appended claims.
Claims (14)
1. A plastering apparatus, comprising:
a chassis;
the vertical frame is arranged on the chassis and comprises two vertical beams, a top beam and a fixed seat, wherein the top beam is connected with the two vertical beams along a first horizontal direction, and the fixed seat is arranged on the top beam;
the bearing tables are arranged on the two vertical beams and used for bearing bricks;
the back surface of the sliding frame is in sliding fit with the fixed seat, and the sliding frame can move to a second position from a first position to a second position along the first horizontal direction relative to the fixed seat;
the plastering head is movably arranged on the front surface of the sliding frame along the first horizontal direction;
when the carriage is located at the first position, a first end of the carriage along the first horizontal direction relatively protrudes out of the brick carried by the bearing platform by a first size, the protruding part of the carriage is configured to be used for placing the plastering head, the plastering head is not connected with the brick in a vertical projection, and a second end of the carriage along the first horizontal direction does not exceed the edge of the chassis;
the plastering head can move along the first horizontal direction to plaster the upper surface of the brick borne by the bearing platform, the sliding frame moves to the second position in the same direction in the plastering process of the plastering head along the first horizontal direction, the second end of the sliding frame at the second position relatively protrudes out of the edge of the chassis and relatively protrudes out of the second size of the brick, the protruding part of the sliding frame can be used for arranging the plastering head after plastering, and the plastering head is not connected with the brick in the projection in the vertical direction.
2. The plastering apparatus of claim 1, wherein the fixed seat is provided with a first sliding block, the back surface of the sliding frame is provided with a first sliding rail corresponding to the first sliding block, the first sliding rail extends along the first horizontal direction, the first sliding block is in sliding fit with the first sliding rail, and the plastering apparatus further comprises:
the first driving mechanism is used for driving the sliding frame to move relative to the fixed seat along the first horizontal direction.
3. The plastering apparatus of claim 1, wherein the plastering head is disposed on the front surface of the carriage through a mounting seat, the mounting seat is provided with a second sliding block, the front surface of the carriage is provided with a second sliding rail corresponding to the second sliding block, the second sliding rail extends along the first horizontal direction, the second sliding block is in sliding fit with the second sliding rail, and the plastering apparatus further comprises:
a second drive mechanism for driving the mount to move relative to the carriage in the first horizontal direction.
4. The plastering apparatus of claim 3, wherein the plastering head is rotatably engaged with the mounting base, and the plastering head can rotate relative to the mounting base about a first rotation axis which is arranged perpendicular to the first horizontal direction.
5. The plastering apparatus of claim 4, wherein the plastering head is further rotatable relative to the mounting base about a second rotation axis, the second rotation axis being arranged perpendicular to the first rotation axis.
6. The plastering apparatus of claim 1, wherein the first size is the same as the second size.
7. Plastering apparatus according to claim 1, wherein the carrier is provided with a gripping mechanism for gripping the brick carried by the carrier in a second horizontal direction perpendicular to the first horizontal direction.
8. The plastering apparatus of claim 7, wherein the clamping mechanism comprises a first clamping plate and a second clamping plate spaced from each other, the first clamping plate and the second clamping plate being close to each other with respect to the first vertical center line to fix the brick or being far away from each other to release the brick;
the plastering head is provided with a second vertical center line along the vertical direction, and the first vertical center line and the second vertical center line are arranged in a coplanar mode.
9. The plastering apparatus of claim 1, wherein the carrier is liftable on two of the vertical beams, the plastering head can be displaced in the first horizontal direction to plaster the upper surface of the brick after the carrier carries the brick to move to a position to be plastered, when the carrier is located at the first position, the plastering head mounted at the first end of the carrier allows the carrier to lift the brick without contacting the brick, and when the carrier is located at the second position, the plastering head mounted at the second end of the carrier allows the carrier to lift the brick without contacting the brick.
10. The plastering apparatus of claim 9, wherein when the carriage is in the first position, the plastering head mounted at the first end of the carriage is configured to plaster the first end face of the brick in the first horizontal direction when the carriage carries the brick up and down;
when the carriage is located at the second position, the plastering head mounted at the second end of the carriage is configured to plaster a second end face of the brick along the first horizontal direction when the bearing platform carries the brick to lift;
the first end face and the second end face are oppositely arranged, the first end face is close to the first end, and the second end face is close to the second end.
11. The plastering apparatus of claim 1, wherein a third sliding block is disposed on one side of the bearing table close to the two vertical beams, the two vertical beams are provided with third sliding rails corresponding to the third sliding block, and the third sliding block is in sliding fit with the third sliding rails, and the plastering apparatus further comprises:
and the third driving mechanism is used for driving the bearing table to lift relative to the two vertical beams.
12. The grouting equipment of claim 1, wherein the chassis is an AGV chassis.
13. The plastering apparatus of claim 1, wherein the plastering apparatus further comprises:
the vertical part and the vertical frame are arranged at intervals in the first horizontal direction, the lower end of the vertical part is installed on the chassis, the vertical part is provided with an accommodating space, the accommodating space is located between the upper end and the lower end of the vertical part, and the accommodating space is used for accommodating a pulp barrel and accommodating the sliding frame and is installed at the first end of the sliding frame when the sliding frame is located at the first position.
14. A brick laying system comprising a plastering apparatus as claimed in any one of claims 1 to 13.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110718651.4A CN113389391B (en) | 2021-06-28 | 2021-06-28 | Plastering equipment and brick laying system |
| PCT/CN2022/101473 WO2023274137A1 (en) | 2021-06-28 | 2022-06-27 | Plastering device and bricklaying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110718651.4A CN113389391B (en) | 2021-06-28 | 2021-06-28 | Plastering equipment and brick laying system |
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| Publication Number | Publication Date |
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| CN113389391A true CN113389391A (en) | 2021-09-14 |
| CN113389391B CN113389391B (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110718651.4A Active CN113389391B (en) | 2021-06-28 | 2021-06-28 | Plastering equipment and brick laying system |
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| Country | Link |
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| CN (1) | CN113389391B (en) |
| WO (1) | WO2023274137A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023274137A1 (en) * | 2021-06-28 | 2023-01-05 | 广东博智林机器人有限公司 | Plastering device and bricklaying system |
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| US5284000A (en) * | 1992-11-30 | 1994-02-08 | Redwall Engineering Corp. | Automating bricklaying |
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| CN113389391B (en) * | 2021-06-28 | 2022-05-17 | 广东博智林机器人有限公司 | Plastering equipment and brick laying system |
| CN113431355B (en) * | 2021-06-30 | 2022-11-01 | 广东博智林机器人有限公司 | Building device |
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| GB2131474A (en) * | 1982-11-26 | 1984-06-20 | Arthur Stanley Large | Bricklaying device |
| US5695560A (en) * | 1996-05-14 | 1997-12-09 | Kenneth A. Soulant | Mortar applying assembly |
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|---|---|
| CN113389391B (en) | 2022-05-17 |
| WO2023274137A1 (en) | 2023-01-05 |
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