CN114703992A - Method for connecting wall body, frame column and frame beam suitable for wall building robot - Google Patents

Method for connecting wall body, frame column and frame beam suitable for wall building robot Download PDF

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Publication number
CN114703992A
CN114703992A CN202210477722.0A CN202210477722A CN114703992A CN 114703992 A CN114703992 A CN 114703992A CN 202210477722 A CN202210477722 A CN 202210477722A CN 114703992 A CN114703992 A CN 114703992A
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CN
China
Prior art keywords
wall
reserved
frame
special
robot
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Pending
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CN202210477722.0A
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Chinese (zh)
Inventor
邓生毛
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Handing Technology Chengdu Co ltd
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Handing Technology Chengdu Co ltd
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Priority to CN202210477722.0A priority Critical patent/CN114703992A/en
Publication of CN114703992A publication Critical patent/CN114703992A/en
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B2/00—Walls, e.g. partitions, for buildings; Wall construction with regard to insulation; Connections specially adapted to walls
    • E04B2/56—Load-bearing walls of framework or pillarwork; Walls incorporating load-bearing elongated members
    • E04B2/64—Load-bearing walls of framework or pillarwork; Walls incorporating load-bearing elongated members with elongated members of concrete
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

The invention relates to a construction engineering technology, in particular to a method for connecting a wall body, a frame column and a frame beam of a wall building robot. The invention does not adopt the traditional technical scheme of reserving reinforcing steel bars on the frame columns and the frame beams or planting reinforcing steel bars on the frame columns and the frame beams; instead, a construction process of arranging a reserved groove and a rectangular reserved hole at the connecting part of a frame column and a frame beam with a wall body is adopted. The robot lays wall bricks into the reserved grooves to achieve the aim of meeting the earthquake-resistant requirements of the building earthquake-resistant design specifications. The biggest breakthrough of the invention is that when the robot builds a wall, the robot can independently complete the connection construction of the wall, the frame column and the frame beam without manual cooperation, in particular to the connection construction of the top layer wall brick and the frame beam. The invention can greatly improve the practicability of the wall building robot, reduce the construction cost, avoid the necessity of manual work participating in the wall building construction, and has obvious social benefit and economic benefit.

Description

Method for connecting wall body, frame column and frame beam suitable for wall building robot
Technical Field
The invention relates to a construction engineering technology, in particular to a method for connecting a wall body, a frame column and a frame beam, which is suitable for wall building robot operation.
Background
According to the earthquake-resistant requirements of building earthquake-resistant design specifications (GB5011-2010), the common practice of design practice is to reserve reinforcing steel bars in frame columns and frame beams of a frame structure or plant reinforcing steel bars on the frame columns and the frame beams and connect the frame columns and the frame beams with secondary structures (walls and filling walls).
In order to reduce the construction cost and solve the problem of labor shortage in the increasingly difficult construction industry, it has become necessary to use construction robots instead of workers.
One of the end technical purposes of the wall building robot is that the robot does not need manual cooperation and independently completes wall building operation. If the traditional technical route of reserving the steel bars in the frame columns of the frame structure is adopted, the robot needs to firstly find the steel bars pre-embedded when the concrete is poured, clear away the concrete at the pre-embedded steel bars, break the pre-embedded steel bars to the positions parallel to brick joints, and then embed the pre-embedded steel bars into the brick joints of the upper and lower layers of wall bricks when the wall is built. If the traditional technology of planting the reinforcing steel bars on the frame beam (the frame column with the rigid structure) is adopted, the robot needs to weld the reinforcing steel bars on the frame column firstly, and then when the wall is built, the reinforcing steel bars are buried in the brick joints of the upper layer wall brick and the lower layer wall brick. Therefore, in the case of no manual cooperation, not only the manufacturing process of the robot and the operation process of the robot are complicated, but also the manufacturing cost and the construction cost of the wall building robot are inevitably increased.
Meanwhile, the connecting method and the masonry technology of the frame beam and the last layer of wall bricks (wall bricks on the top layer of the filler wall) are all the technical difficulties of the worldwide wall building robot, and no breakthrough is made up till now. The robot is used for building a wall, the existing technical scheme is selected, and a construction unit has to manually build the last layer of wall bricks connected with the frame beam. Because the top layer wall bricks can be built only by erecting the scaffold manually, the practicability of the wall building robot is greatly reduced and is difficult to be accepted by construction units.
Therefore, there is a need to develop an engineering technique for independently completing the connection of frame columns, frame beams and filler walls without manual cooperation when a robot builds a wall.
The patent technology of an automatic wall building machine using special wall bricks (patent number ZL202021663591.8) realizes a great breakthrough to the robot wall building technology.
In order to meet the requirements of the building earthquake-resistant design specifications, the design length of the wall body is less than 5 meters.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: when the wall body is connected with the frame column and the frame beam, the traditional technical scheme that steel bars are reserved on the frame column and the frame beam or the steel bars are planted on the frame column and the frame beam is not adopted; when the robot builds a wall, the robot can independently complete the connection operation of the filler wall and the frame column and the frame beam (including concrete or steel structure frame column and frame beam) on the premise of no manual cooperation, and meet the requirements of relevant standards such as building earthquake resistance design specification and the like.
In order to solve the problems, the technical scheme of the invention is as follows:
1. and a reserved groove is formed in the side surface, connected with the wall body, of the frame column (including concrete, steel structure and other frame columns).
2. A reserved rectangular preformed hole is formed in a frame beam (including a concrete frame beam, a steel frame beam and the like); and a reserved groove is formed at the bottom of the frame beam.
The robot builds a wall, selects the wall brick of an automatic wall building machine (patent number ZL202021663591.8) using special wall bricks. The wall brick is characterized in that the upper layer wall brick and the lower layer wall brick adopt a fitting structure, and the left wall brick and the right wall brick adopt a fitting structure.
Further, the wall brick for connecting the wall body and the frame column uses the wall brick.
The width of the reserved groove is slightly larger than that of the wall brick (the width meets the requirement of no slurry leakage in grouting). The depth of the reserved groove is designed according to the requirements of building structures.
When the wall is built, the mechanical claw of the robot grabs the wall brick, and one end of the wall brick is inserted into the reserved groove, so that the wall building operation is completed.
Furthermore, the wall brick connected with the frame beam on the top layer of the wall is a special wall brick, and the external shape structure of the wall brick is the same as that of the wall brick. The special wall brick is characterized in that one or more mechanical claw grabbing holes are formed in the side face (the long side face) of the special wall brick. The grabbing holes are round, rectangular, triangular or polygonal, or irregular and the like. The overall dimension of the grabbing hole is reserved, and the operation requirement of the mechanical claw is met.
The length of the rectangular preformed hole is greater than that of the special wall brick; the height of the rectangular preformed hole is greater than the sum of the height of the special wall brick and the height of the frame beam preformed groove. The rectangular preformed hole is of a non-penetrating structure (namely the rectangular preformed hole is arranged at the bottommost part of a frame beam when facing the robot to work, and concrete or steel structures on the back of the rectangular preformed hole are reserved). When designing the rectangular preformed hole, the rectangular preformed hole is arranged at the position of the last wall brick according to the staggered joint requirement of the wall bricks.
The rectangular preformed hole is communicated with the preformed groove.
The width of the rectangular reserved groove is slightly larger than the width of the wall brick (the width meets the requirement of no slurry leakage during grouting). The height of the reserved groove is designed according to the requirements of building structures.
When the robot builds a wall, the robot inserts the gripper into the grabbing hole of the special wall brick, and grabs the special wall brick from the side surface. The mechanical claw firstly inserts the special wall bricks into the rectangular preformed holes of the frame beams, then moves the special wall bricks leftwards or rightwards in the preformed grooves, and places the special wall bricks at the designed positions in the preformed grooves at the bottoms of the frame beams.
The robot of building a wall snatchs special wall body brick, uses and snatchs the gripper different of ordinary wall body brick.
The grouting material for bonding the wall bricks on the top layer of the wall body and the frame beam is a specially-made grouting material. A grouting nozzle of the wall building robot is designed into a special grouting nozzle (such as a grouting nozzle with a telescopic grouting pipe). According to different mixing proportions of grouting materials, the wall building robot may need to use different grouting nozzles.
The rectangular preformed hole and the gripper grabbing hole which are not filled with grouting materials by the wall building robot are filled when a wall body is plastered.
Furthermore, when the frame columns and the frame beams are provided with the grooves and the rectangular reserved holes and the building structure is designed, reinforcing steel bars are additionally arranged so as to meet the requirement on the overall strength of the frame columns and the frame beams.
Furthermore, the last layer of the top layer of the wall body connected with the frame beam uses the same wall body bricks as other parts of the wall body, and is not provided with grabbing holes. The wall building robot can also use the adsorption type mechanical claw to grab wall bricks from the long side surface, and the wall building operation is completed.
The invention has the following beneficial effects:
1. the technical scheme of the invention is feasible.
2. Under the condition of no manual cooperation, the wall building robot can independently and automatically complete wall building.
3. The invention can greatly improve the practicability of the wall building robot, achieve the aims of reducing the construction cost and solving the contradiction of labor shortage in the construction industry, and has obvious social benefit and economic benefit.
4. The invention has no environmental protection hazard.
Detailed Description
Example 1
Connection mode of wall and frame column (concrete frame column as an example)
When the frame column reinforcing steel bars are bound, the reinforcing steel bars are installed at the reserved grooves according to civil engineering design. And a reserved groove template is additionally arranged on the side surface of the frame column connected with the wall body according to civil engineering design.
And after the concrete is poured, removing the reserved groove template after the concrete is cured.
When the wall building robot works, the mechanical claws grab wall bricks, and one end of the wall brick is inserted into the reserved groove, so that the wall building operation of connecting the wall and the frame column is completed.
Example 2
Connection mode of wall and frame beam (taking concrete frame beam as an example)
When binding the frame beam reinforcing steel bars, installing reinforcing steel bars at the rectangular reserved holes according to civil engineering design. And (4) installing a rectangular preformed hole template at the rectangular preformed hole according to civil engineering design.
When binding frame roof beam reinforcing bar, according to the civil engineering design, at the bottom of the roof beam reserve groove department installation reinforcing bar. And a reserved groove template is additionally arranged at the joint of the beam bottom and the wall body according to civil engineering design.
And after the concrete is poured, removing the rectangular preformed hole and the preformed groove template after the concrete is cured.
When the wall building robot works, the wall is built layer by layer from bottom to top according to the design requirement and is grouted to the last layer connected with the frame beam.
The wall building robot changes the mechanical claw; and replacing the grouting nozzle by the wall building robot, wherein the grouting nozzle is connected with the specially-made grouting material.
The wall building robot inserts the gripper into the grabbing hole of the special wall brick, and grabs the special wall brick from the side surface. The mechanical claw firstly inserts the special wall bricks into the rectangular preformed holes of the frame beams, then moves the special wall bricks leftwards or rightwards in the preformed grooves, and places the special wall bricks at the designed positions in the preformed grooves at the bottoms of the frame beams.
The sequence of the robot for building the special wall bricks is as follows: two ends are built first, and the position of the last wall brick at the rectangular reserved hole is reserved. And the mechanical claw grabs the last special wall brick, and downwards inserts the last special wall brick between two adjacent special wall bricks from the upper part of the rectangular preformed hole to finally finish wall masonry.
After the wall is built, the grouting nozzle is stretched into a gap between the special wall brick and the frame beam reserved groove by the robot, and grouting operation is completed.
The rectangular preformed hole and the gripper grabbing hole which are not filled with grouting materials by the wall building robot are filled when the wall is plastered.
The foregoing describes the general principles and features of the present invention and, together with the general principles of the invention, further modifications and improvements thereto, may be made without departing from the spirit and scope of the invention as set forth in the appended claims.

Claims (3)

1. A method for connecting a wall body, a frame column and a frame beam suitable for a wall building robot is characterized in that a reserved groove is arranged on the connecting surface of the frame column and the wall body; a reserved groove is formed in the bottom of the frame beam, a rectangular reserved hole is formed in the frame beam, and the rectangular reserved hole of the frame beam is communicated with the reserved groove of the frame beam;
the width of the reserved groove of the frame column is larger than that of the wall brick; the depth of the reserved groove of the frame column is designed according to the requirements of building structures;
the last layer of wall brick connected with the frame beam on the top layer of the wall is a special wall brick, and special grouting material is used for bonding the special wall brick; one or more mechanical claw grabbing holes are formed in the long side face of the special wall brick, and the grabbing holes are circular, rectangular, polygonal or special-shaped; the external dimension of the grabbing hole is reserved to meet the operation requirement of the mechanical claw;
the length of the rectangular reserved hole of the frame beam is greater than that of the special wall brick; the height of the rectangular reserved hole is greater than the sum of the height of the special wall brick and the height of the reserved groove of the frame beam; the rectangular reserved hole is formed in the bottommost part of the frame beam facing the robot, and a frame beam structure on the back of the rectangular reserved hole is reserved; when the rectangular reserved hole is designed, the rectangular reserved hole is arranged at the position of the last wall brick according to the staggered joint requirement of the wall bricks; the width of the reserved groove is larger than that of the wall brick; the height of the reserved groove is designed according to the requirements of the building structure;
when the frame column reinforcing steel bars are bound, mounting reinforcing steel bars at the reserved grooves according to civil engineering design; a reserved groove template is additionally arranged on the connecting surface of the frame column and the wall body according to civil engineering design; after the concrete is poured, the reserved groove template is dismantled after the concrete is cured;
when frame beam reinforcing steel bars are bound, mounting reinforcing steel bars at the positions of the rectangular reserved holes and mounting the reinforcing steel bars at the positions of the reserved grooves at the bottom of the beam according to civil engineering design; installing a rectangular reserved hole template and a reserved groove template at the rectangular reserved hole and the reserved groove according to civil engineering design; after the concrete is poured, dismantling the rectangular reserved holes and the reserved groove templates when the concrete is cured;
the construction method for building the wall brick for connecting the wall and the frame column by the robot comprises the following steps: the mechanical claw grabs the wall brick, and one end of the wall brick is inserted into the reserved groove to complete the wall building operation of connecting the wall and the frame column;
the construction method for building the wall brick for connecting the wall and the frame beam by the robot comprises the following steps: when the robot is used for building a wall, building the wall layer by layer according to the design requirement from bottom to top and grouting, and finishing the wall building operation except the last layer of wall connected with the frame beam; the robot replaces a mechanical claw, the robot replaces a common grouting nozzle with a special grouting nozzle, and the special grouting nozzle is connected with a special grouting material supply system;
the robot inserts the mechanical claw into the grabbing hole of the special wall brick, and grabs the special wall brick from the side surface; the mechanical claw firstly inserts the special wall bricks into the rectangular reserved holes of the frame beams, then moves the special wall bricks leftwards or rightwards in the reserved grooves, and places the special wall bricks at the designed positions in the reserved grooves at the bottoms of the frame beams;
the sequence of the robot for building the special wall bricks is as follows: building two ends of the last layer of wall brick, and reserving the position of the last wall brick at the rectangular reserved hole; the mechanical claw grabs the last special wall brick, and the last special wall brick is downwards inserted between two adjacent special wall bricks from the highest position of the rectangular reserved hole, so that wall masonry is finally completed;
special grouting material is used for bonding the special wall bricks; when the last layer of special wall bricks on the top of the wall are grouted, the robot stretches the grouting nozzle into a gap between the special wall bricks and the groove reserved on the frame beam to complete grouting operation; the rectangular reserved hole and the gripper grabbing hole which are not filled with grouting materials by the wall building robot are filled when the wall is plastered.
2. The method according to claim 1, wherein the wall building robot uses suction type gripper to grab the special wall bricks from the long side of the special wall bricks, thereby completing the wall building operation of the last layer of wall connected to the frame beam.
3. The method for connecting the wall body with the frame column and the frame beam suitable for the wall building robot according to claim 1, wherein the frame column and the frame beam comprise concrete or steel structure frame column and frame beam.
CN202210477722.0A 2022-05-05 2022-05-05 Method for connecting wall body, frame column and frame beam suitable for wall building robot Pending CN114703992A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210477722.0A CN114703992A (en) 2022-05-05 2022-05-05 Method for connecting wall body, frame column and frame beam suitable for wall building robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210477722.0A CN114703992A (en) 2022-05-05 2022-05-05 Method for connecting wall body, frame column and frame beam suitable for wall building robot

Publications (1)

Publication Number Publication Date
CN114703992A true CN114703992A (en) 2022-07-05

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210477722.0A Pending CN114703992A (en) 2022-05-05 2022-05-05 Method for connecting wall body, frame column and frame beam suitable for wall building robot

Country Status (1)

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