CN114753663A

CN114753663A - Lifting device and brick laying robot

Info

Publication number: CN114753663A
Application number: CN202210473478.0A
Authority: CN
Inventors: 陈翀; 阳跃武; 何文操; 谢军
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2022-07-15

Abstract

The application provides a lifting device and a brick laying robot, and belongs to the technical field of construction machinery. The lifting device comprises a first mounting seat, a lifting seat, a first driving piece, a mechanical arm, a picking mechanism and a height compensation mechanism; the lifting seat is movably arranged on the first mounting seat along the up-down direction; the first driving piece is arranged on the front surface of the lifting seat and used for driving the lifting seat to move in the up-down direction; one end of the mechanical arm is arranged on the front surface and is positioned below the first driving piece, and the mechanical arm is configured to swing left and right; the picking mechanism is connected to the other end of the mechanical arm and used for picking bricks; wherein, be connected with height compensation mechanism between arm and the mechanism of picking up, height compensation mechanism can adjust the position of picking up the mechanism to make the mechanism of picking up can be higher than the upper surface of arm. The lifting device with the structure has wide coverage range for operation at the same station and high masonry efficiency.

Description

Lifting device and brick laying robot

Technical Field

The invention relates to the technical field of construction machinery, in particular to a lifting device and a brick laying robot.

Background

In the building construction process, a brick laying robot is usually adopted to replace manpower for laying bricks so as to improve the brick laying efficiency and shorten the construction period. The brick laying robot is provided with a lifting device, and an execution end of the brick laying robot is lifted through the lifting device, so that bricks are laid on walls of different heights, and different operation environments and construction convenience are met. In the process of building a wall body, bricks need to be built upwards to a ceiling or a beam along a guide wall, however, the building range of the existing robot at the same site is small, the existing robot cannot cover the building of bottom and top bricks at one time or the large-scale building in the left and right directions, the robot needs to be transferred for many times in the construction process, the construction time is long, the site is switched for many times, the position or the direction of the robot for building operation is easy to deviate, the building quality cannot be guaranteed, the working efficiency and the working quality of the robot are reduced, the adaptability of the robot is reduced, and the popularization and the operation of the brick-building robot are not facilitated.

Disclosure of Invention

The utility model provides a purpose is to above-mentioned problem, provides a elevating gear and brick laying robot to improve the problem that needs of current brick laying robot are changeed many times, work efficiency is low.

The application is realized by the following technical scheme:

in a first aspect, the application provides a lifting device, which comprises a first mounting seat, a lifting seat, a first driving part, a mechanical arm, a picking mechanism and a height compensation mechanism; the lifting seat is movably arranged on the first mounting seat along the up-down direction; the first driving piece is arranged on the front surface of the lifting seat and used for driving the lifting seat to move in the up-and-down direction; one end of the mechanical arm is arranged on the front surface and is positioned below the first driving piece, and the mechanical arm is configured to swing left and right; the picking mechanism is connected to the other end of the mechanical arm and is used for picking bricks; and a height compensation mechanism is connected between the mechanical arm and the picking mechanism, and the height compensation mechanism can adjust the position of the picking mechanism so that the picking mechanism can be higher than the upper surface of the mechanical arm.

In the technical scheme, elevating gear is provided with the lift seat, lift seat front surface is provided with first driving piece and arm, first driving piece drive lift seat is removed along upper and lower direction along first mount pad, wherein, the arm is configured to can the horizontal hunting, the mounted position of arm is located first driving piece below, the arm can avoid being blockked by first driving piece at the swing in-process, the swing range of increase arm, and then the increase has this elevating gear's the robot of laying bricks and builds the ascending coverage in the left and right sides of operation at same website, let the robot of laying bricks avoid frequently changing the station position, promote the work efficiency of the robot of laying bricks. In addition, compare in prior art, the hookup location of arm and lift seat removes to lift seat lower part from lift seat middle part, and the height of arm reduces to some extent, and along with the reduction of arm height, the bricklaying robot that has this kind of elevating gear can build by laying bricks or stones the wall body of the lower department in position. The height adjusting mechanism is connected between the mechanical arm and the picking mechanism, the height of the picking mechanism can be adjusted by the height compensating device, the picking mechanism can be higher than the upper surface of the mechanical arm, the rising height of the picking mechanism can compensate the height loss caused by downward movement of the mechanical arm and the connecting position of the lifting seat in the up-down direction, and the brick laying robot with the lifting device can meet the masonry requirements of building a brick to a ceiling or a beam, and is convenient to popularize and operate.

In addition, the lifting device provided by the embodiment of the application also has the following additional technical characteristics:

according to some embodiments of the application, the lifting device further comprises a base, the base is mounted on the front surface of the lifting seat and located below the first driving part, and one end of the mechanical arm is mounted on the base.

In the technical scheme, the base is fixedly arranged on the front surface of the lifting seat and located below the first driving part, one end of the mechanical arm is rotatably installed on the base, the first driving part drives the lifting seat to move along the first installation seat, the vibration generated by the motor can be prevented from interfering the grabbing of the brick blocks by the picking mechanism by adopting the structure, and meanwhile, the mechanical arm is connected to the base and can also enable the mechanical arm to be detached and replaced more conveniently. After the first driving piece is installed above the mechanical arm, the area for installing the base on the lifting seat is larger, the size can be larger, and the base with higher rigidity can be used for installing the lifting arm on the lifting seat, so that the rigidity of the connecting structure of the mechanical arm and the lifting seat is increased, and the mechanical arm is not prone to shaking reversely and positively in the brick clamping process.

According to some embodiments of the application, the height compensation mechanism is capable of adjusting the position of the picking mechanism such that the picking mechanism is capable of rising above the upper surface of the first drive member.

In above-mentioned technical scheme, height compensation mechanism can adjust the height of picking up the mechanism, and height compensation mechanism makes the mechanism of picking up be higher than first driving piece upper surface, and elevating gear can order about the mechanism of picking up and transport the fragment of brick to the position that exceeds first driving piece upper surface and carry out the wall body and build the operation by laying bricks or stones, and the wall body height that lets the pick device build by laying bricks or stones need not be limited to the upper surface height of arm.

According to some embodiments of the application, the height compensation mechanism is capable of adjusting a position of the pick mechanism to bring the pick mechanism below a lower surface of the robotic arm.

In the technical scheme, the height compensation mechanism can adjust the height of the picking mechanism, the height compensation mechanism enables the picking mechanism to be lower than the lower surface of the first driving part, the lifting device can drive the picking mechanism to convey bricks to the position lower than the lower surface of the mechanical arm to perform wall masonry operation, the height of the wall masonry performed by the picking mechanism is not limited by the height of the lower surface of the mechanical arm, and the operation coverage range of the mechanical arm in the vertical direction is expanded.

According to some embodiments of the application, the height compensation mechanism is a three-axis rotation module.

In above-mentioned technical scheme, height compensation mechanism is the triaxial rotation module, and the triaxial rotation module lets the clamping jaw overturn along XYZ three direction, and the three-dimensional upset lets pickup attachment press from both sides the fragment of brick through modes such as horizontal centre gripping fragment of brick side or hold up to satisfy the operation demand of building by laying bricks or stones to the wall body of co-altitude and position, convenient to use and popularization.

According to some embodiments of the application, the lifting device further comprises:

the first rack is arranged on the first mounting seat and extends along the vertical direction;

the first gear is meshed with the first rack, and the first driving piece is used for driving the first gear to rotate.

In the technical scheme, the first rack is installed on the first installation seat, the first gear is installed at the output end of the first driving piece, the first driving piece drives the first gear to rotate, the first gear is meshed with the first rack, and the first driving piece drives the first gear to rotate and can drive the lifting seat to move along the vertical direction of the first installation seat.

According to some embodiments of the application, the first driving element is arranged in a left-right direction.

In above-mentioned technical scheme, first driving piece lets the top profile of self edge laminating lift seat front surface through the form that sets up along left right direction, lets the area increase that lift seat front surface is used for installing the arm, promotes the connection structure intensity between arm and the lift seat, promotes the holistic stability of elevating gear.

According to some embodiments of the application, the lifting device further comprises a second mounting base, and the first mounting base is movably mounted on the second mounting base along the up-down direction.

In the technical scheme, the first lifting seat is movably arranged on the second mounting seat along the vertical direction, and the coverage range of the mechanical arm for masonry operation in the vertical direction is enlarged.

According to some embodiments of the present application, the lifting device further comprises a third mounting base and a drag chain assembly, the second mounting base is movably mounted to the third mounting base along an up-down direction; and one end of the drag chain assembly is connected to the third mounting seat, the other end of the drag chain assembly is installed on the lifting seat, and an external circuit of the first driving piece is driven to penetrate through the drag chain assembly and the first driving piece to be electrically connected.

In the technical scheme, the second lifting seat is movably arranged on the third lifting seat along the vertical direction, and the coverage area of the mechanical arm for masonry operation in the vertical direction is further enlarged; the tow chain assembly both ends are installed respectively on third mount pad and lift seat, and the outside electric wire of drive first driving piece passes the first driving piece electric connection of tow chain assembly, and the route that sets up of outside electric wire is restricted by the tow chain assembly, has avoided outside electric wire to take place winding possibility, and the frame of tow chain assembly also can be separated electric wire and other structures simultaneously, prevents the electric wire wearing and tearing.

In a second aspect, an embodiment of the present application further provides a brick laying robot, where the brick laying robot is used to lay a plurality of bricks into a wall, and the brick laying robot includes the lifting device and a mobile chassis; the lifting device is installed on the movable chassis.

In the technical scheme, the operation coverage range of the mechanical arm of the brick laying robot with the lifting device in the left and right directions is larger, so that the frequency of position transition of the brick laying robot for laying a wall body can be reduced, the work efficiency of the brick laying robot is improved, the mechanical arm installation position of the brick laying robot with the structure moves downwards, the picking mechanism can descend to a lower position to lay the wall body, the picking mechanism of the brick laying robot can ascend to the upper surface of the mechanical arm, the distance of downward movement of the mechanical arm installation position is compensated, the operation coverage range of the brick laying robot with the lifting device in the up and down directions is enlarged, the operation requirements of different heights are met, and the brick laying robot is convenient to use.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed 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 those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a brick laying robot provided in an embodiment of the present application;

fig. 2 is a schematic structural view of a lifting seat, a first mounting seat, a second mounting seat and a third mounting seat of the brick laying robot shown in fig. 1;

FIG. 3 is a schematic view of the front surface structure of the lifting base shown in FIG. 1;

fig. 4 is a schematic view of the brick laying robot of fig. 1 (when the picking mechanism is gripping a brick for a laying operation);

fig. 5 is a left side view of the brick laying robot shown in fig. 1;

fig. 6 is a schematic structural view illustrating that the arm section of the robot arm shown in fig. 1, which is connected with the lifting base, is rotated to the maximum angle to the left and the right, respectively.

An icon: the automatic brick laying machine comprises a mechanical arm 1, a height compensation mechanism 2, a picking mechanism 3, a brick laying robot 100, a lifting seat 401, a first mounting seat 402, a second mounting seat 403, a third mounting seat 404, a first driving piece 410, a speed reducer 411, a mounting rack 412, a first gear 420, a first rack 421, a bottom plate 430, a drag chain assembly 440, a moving chassis 5, an electric cabinet 6, a transverse moving mechanism 7, a wall 8, an X-left-right direction, a Y-up-down direction and a z-front-back direction.

Detailed Description

Embodiments of the present application will be described in further detail 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, but 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 is 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.

The embodiment of the application provides a brick laying robot 100, it can improve that present brick laying robot 100's arm 1 horizontal hunting scope is limited, make brick laying robot 100 need frequently turn round and change the website at 8 in-process building wall bodies, machining efficiency is low, and because change the deviation that the website in-process leads to the robot to take place position or operation direction easily, lead to building wall bodies 8 to take place ascending skew easily, thereby limited brick laying robot 100's operational environment, brick laying robot 100's adaptability has been reduced, and then be unfavorable for brick laying robot 100's popularization and operation problem. The specific structure of the brick laying robot 100 will be described in detail below with reference to the accompanying drawings.

Combine shown in fig. 1, the robot of laying bricks 100 is used for building a plurality of fragment of brick into wall body 8, the robot of laying bricks 100 is including removing chassis 5, sideslip mechanism 7, electric cabinet 6 and elevating gear, electric cabinet 6 and sideslip mechanism 7 are installed on removing chassis 5, 6 upper surfaces of electric cabinet are used for placing the fragment of brick of waiting to build by laying bricks or stones, elevating gear installs in sideslip mechanism 7, sideslip mechanism 7 is used for driving elevating gear and removes along left right direction X on removing chassis 5, but the coverage that the robot of laying bricks 100 carries out the operation of laying bricks or stones at same website can increase.

The transverse moving mechanism 7 and the electric cabinet 6 are arranged on the movable chassis 5 at intervals along the left-right direction, and the transverse moving mechanism 7 is closer to a wall 8 in masonry than the electric cabinet 6.

Optionally, the movable chassis 5 is provided with an automatic navigation system, and the brick laying robot 100 can automatically move to a specified operation position through the movable chassis 5, so that brick laying work is facilitated.

Illustratively, the traversing mechanism 7 is a guide rail extending in the left-right direction X, and the lifting device is slidably engaged with the guide rail constituting the traversing mechanism 7 to slide the lifting device on the moving chassis 5 in the left-right direction.

As shown in fig. 1, the lifting device includes a lifting seat 401, a first driving member 410, a robot arm 1 and a picking mechanism 3, one end of the robot arm 1 is mounted on the front surface of the lifting seat 401, the robot arm 1 is configured to swing left and right, the first driving member 410 is mounted on the front surface of the lifting seat 401, the lifting seat 401 is driven by the first driving member 410 to drive the robot arm 1 to move in the up-down direction Y, the picking mechanism 3 is mounted on the other end of the robot arm 1, and the picking mechanism 3 is configured to pick bricks stacked on the top surface of the electric cabinet 6 and stack the bricks on the wall 8.

Optionally, what pick up mechanism 3 is claw type fixture, and brick laying robot 100 can carry out nimble snatching and building into wall body 8 through picking up mechanism 3 to the fragment of brick of different sizes and appearance of stacking on electric cabinet 6.

Further, the first driving member 410 is installed above the robot arm 1, and the installation height of the first driving member 410 is not overlapped with the installation height of the robot arm 1 on the lifting base 401, so as to swing the robot arm 1 in the horizontal direction.

Further, as shown in fig. 6, the position of the arm joint of the mechanical arm 1 connected with the lifting seat 401, which is perpendicular to the surface of the lifting seat 401, is taken as the initial position, when the mechanical arm 1 rotates to the position a, the included angle between the mechanical arm 1 and the initial position is 110 °, when the mechanical arm rotates to the position B in the other direction, the included angle between the mechanical arm 1 and the initial position is 88 °, and the rotatable range of the mechanical arm 1 in the left-right direction is effectively increased compared with the prior art.

Illustratively, the mechanical arm 1 is a SCARA arm, and the SCARA arm is a robot arm for assembly work, and the specific structure of the SCARA arm can be referred to in the related documents, and will not be described herein again. The tail end of the SCARA arm is connected with a pickup mechanism 3 for grasping bricks so as to grab the bricks stacked on the electric cabinet 6 and lay the bricks on a wall body 8.

As shown in fig. 1, 4 and 5, a height compensation mechanism 2 is connected between the mechanical arm 1 and the picking mechanism 3, the height compensation mechanism 2 is used for adjusting the height of the picking mechanism 3, the installation position of the mechanical arm 1 on the lifting seat 401 is lowered compared with the prior art, and the height compensation mechanism 2 can adjust the height of the picking mechanism 3 to make up for the loss caused by the operation coverage range of the brick laying robot 100 in the vertical direction due to the downward movement of the installation position of the mechanical arm 1.

As shown in fig. 4 and 5, the height compensation mechanism 2 can adjust the position of the pickup mechanism 3, so that the pickup mechanism 3 can be higher than the upper surface of the first driving member 410, the brick laying robot 100 can drive the pickup mechanism 3 to pick bricks piled on the electric cabinet 6 and convey the bricks to the position higher than the upper surface of the first driving member 410 for masonry of the wall 8, the height of the wall 8 built by the pickup mechanism 3 is not limited by the height of the upper surface of the mechanical arm 1, and the coverage range of the masonry operation of the wall 8 of the brick laying robot 100 in the upward direction is expanded.

As shown in fig. 1, the height of the picking mechanism 3 can be adjusted by the height compensation mechanism 2, the height compensation mechanism 2 enables the picking mechanism 3 to be lower than the lower surface of the first driving piece 410, the brick laying robot 100 can drive the picking mechanism 3 to grab bricks piled on the electric cabinet 6 and convey the bricks to a position lower than the lower surface of the mechanical arm 1 to perform wall 8 laying operation, the height of the wall 8 laid by the picking mechanism 3 is not limited by the height of the lower surface of the mechanical arm 1, and the coverage range of the brick laying robot 100 in the vertical direction for performing wall 8 laying operation is enlarged.

Exemplarily, height compensation mechanism 2 is the triaxial rotation module, pick up the one end that mechanism 3 connects at height compensation mechanism 2, arm 1 connects the other end at the triaxial rotation module, the triaxial rotation module lets pick up mechanism 3 and can follow the fore-and-aft direction, the upper and lower direction overturns with the left and right sides direction, and then can follow different angles and carry out the centre gripping to the brick piece of piling up on electric cabinet 6 to satisfy that pick up mechanism 3 presss from both sides to get and stacks the brick piece of piling up at electric cabinet 6 top surface and carry out the operation demand of building by laying bricks or stones to the wall body 8 of different height and position.

In some embodiments, as shown in fig. 3 and 4, the lifting device further includes a first mounting seat 402, a second mounting seat 403, and a third mounting seat 404, the lifting seat 401 is movably mounted on the first mounting seat 402 in the up-down direction, the first mounting seat 402 is movably mounted on the second mounting seat 403 in the up-down direction, the second mounting seat 403 is movably mounted on the third mounting seat 404, the third mounting seat 404 is in sliding fit with the traversing mechanism 7, the combination of the first mounting seat 402, the second mounting seat 403, and the third mounting seat 404 extends the movable range of the robot arm 1 of the brick laying robot 100 in the up-down direction, the moving distance of the lifting seat 401 on the first mounting seat 402, the moving distance of the first mounting seat 402 on the second mounting seat, and the moving distance of the second mounting seat 403 on the third mounting seat 404 are superposed, the lifting stroke of the robot arm 1 of the brick laying robot 100 in the up-down direction is extended, the working coverage of the brick laying robot 100 in the up-down direction is enlarged, and the overall height of the lifting device is not increased, so that the brick laying robot 100 can be moved and carried conveniently.

Optionally, one side of the first mounting seat 402 facing the lifting seat 401 is provided with a set of sliding grooves, the sliding grooves on the first mounting seat 402 extend in the up-down direction, a protruding portion adapted to the sliding grooves of the first mounting seat 402 is disposed at an edge of the lifting seat 401 facing the first mounting seat 402, and the lifting seat 401 is movably disposed on the first mounting seat 402 through the protruding portion of the lifting seat itself.

The number of chutes may be selected according to the specific use of the brick laying robot 100, such as one, two, four, five, etc. chutes.

Wherein, combine fig. 1, it is shown in fig. 4 and fig. 5, first driving piece 410 sets up in the seat 401 that goes up and down towards the front surface of wall body 8, let go up and down seat 401 and first mount pad 402 and can press close to and set up, reduce the whole thickness of brick laying robot 100, reduce the area of brick laying robot 100, let brick laying robot 100 can adapt to narrow and small processing environment, furthermore, first driving piece 410 is placed and can be seen and confirm operating condition by direct in seat 401 front surface that goes up and down, the control means is succinct quick more.

The lifting device further includes a first transmission assembly, and the first driving member 410 is in transmission connection with the first mounting base 402 through the first transmission assembly.

Exemplarily, as shown in fig. 2, the first transmission assembly includes a first gear 420 and a first rack 421, the first rack 421 is installed on the first installation seat 402 and extends in the up-down direction, the first gear 420 is installed at the output end of the first driving member 410, the first driving member 410 drives the first gear 420 to rotate, the first gear 420 is engaged with the first rack 421, and the first driving member 410 rotates and drives the first gear 420 to drive the lifting seat 401 to move along the first installation seat 402 in the up-down direction.

Further, the first rack 421 is disposed on the front surface of the first mounting seat 402 facing the wall 8, the axis direction of the first gear 420 is disposed along the left-right direction, and the linear distance between the first gear 420 and the first mounting seat 402 is smaller than the linear distance between the rear surface of the lifting seat 401 and the first mounting seat 402.

Optionally, the first transmission assembly includes a first friction wheel and a first friction strip, coarse friction particles are disposed on surfaces of the first friction wheel and the first friction strip, the friction wheel is installed at an output end of the first driving element 410, the first friction strip is installed on the first installation base 402 and extends in an up-and-down direction, the first driving element 410 drives the first friction wheel to rotate, the first friction wheel is pressed on a surface of the first friction strip, the first friction wheel is in transmission contact with the first friction strip, and the first driving element 410 drives the first friction wheel to rotate to drive the lifting base 401 to move in the up-and-down direction on the surface of the first installation base 402.

The lifting device further comprises a second transmission assembly and a second driving piece, the first installation seat 402 is in transmission connection with the second installation seat 403 through the second transmission assembly, the second driving piece is installed on the second installation seat 403, and the second driving piece drives the first installation seat 402 to move on the second installation seat 403 along the vertical direction.

Illustratively, a movable groove is formed on a surface of the first mounting seat 402 facing the second mounting seat 403, and the second mounting seat 403 is slidably disposed in a groove of the second mounting seat 403.

Exemplarily, the second transmission assembly includes a screw rod, the screw rod is rotatably disposed on the second mounting seat 403, the screw rod is connected to an output end of the second driving element, a protrusion with a threaded hole is disposed on a surface of the first mounting seat 402 away from the wall 8, the protrusion of the first mounting seat 402 is in threaded connection with the screw rod, the second driving element drives the screw rod to rotate to drive the first mounting seat 402 to move along the second mounting seat 403 in the up-down direction, the screw rod is disposed in a groove of the first mounting seat 402 facing the second mounting seat 403, when a top end of the first mounting seat 402 is flush with a top end of the second mounting seat 403, the screw rod is completely covered by a cavity defined by the groove of the first mounting seat 402 and the second mounting seat 403, the screw rod is separated from the outside, an influence on the screw rod caused by an external environment continuously is avoided, and a service life of the screw rod is prolonged.

Wherein when first mounting block 402 is at the lowermost end on second mounting block 403 while second mounting block 403 is at the lowermost end on third mounting block 404, the top surfaces of first mounting block 402, second mounting block 403 and third mounting block 404 are flush.

Optionally, the second transmission assembly includes a worm and a worm wheel, the worm wheel is rotatably disposed on the second mounting seat 403, the worm wheel is connected to an output end of the second driving element, an axis direction of the worm wheel extends along the left-right direction, the worm is rotatably disposed on the first mounting seat 402, the worm is disposed along the up-down direction, the worm wheel is meshed with the worm, the second driving element drives the worm wheel to rotate to drive the first mounting seat 402 to move along the second mounting seat 403 in the up-down direction, the worm and the worm are completely covered by a groove of the first mounting seat 402 and a cavity defined by the second mounting seat 403, the worm and the worm wheel can be separated from the outside, the influence on the screw rod caused by the continuous external environment is avoided, and the service life of the screw rod is prolonged.

The lifting device further comprises a third transmission assembly and a third driving piece, the second mounting seat 403 is in transmission connection with the third mounting seat 404 through the third transmission assembly, the third driving piece is mounted on the third mounting seat 404, and the third driving piece drives the second mounting seat 403 to move on the third mounting seat 404 in the up-and-down direction.

The surface of the second mounting seat 403 facing the third mounting seat 404 is provided with a groove, the surface of the third mounting seat 404 facing the second mounting seat 403 is also provided with a groove, the groove of the second mounting seat 403 and the groove of the third mounting seat 404 can be spliced to form an accommodating cavity with an open top surface, the third transmission assembly is positioned in the accommodating cavity spliced by the second mounting seat 403 and the third mounting seat 404, when the top surface of the second mounting seat 403 is flush with the top surface of the third mounting seat 404, the accommodating cavity spliced by the second mounting seat 403 and the third mounting seat 404 can separate the third transmission assembly from the outside, and the third transmission assembly is prevented from being continuously influenced by the external environment.

Illustratively, the third transmission assembly includes a second gear and a second rack, the second gear is connected to an output end of the third driving element, the second rack is mounted on the second mounting seat 403 along the up-down direction, the second gear is engaged with the second rack, and the third driving element drives the second gear to rotate so as to drive the second mounting seat 403 to move on the third mounting seat 404 along the up-down direction.

The second gear axis direction extends along the front-back direction, and the third driving member is disposed on the surface of the third mounting seat 404 opposite to the wall 8, so that the first mounting seat 402 is disposed. The gap between the second mount 403 and the third mount 404 can be reduced to allow the first mount 402. The movable connection effect between the second mounting seat 403 and the third mounting seat 404 is tighter, the rigidity is higher, and the lifting device is ensured to be more stable in the lifting process.

Optionally, the third transmission assembly includes a reel and a traction chain, the reel is of a hollow reel structure, the reel is connected to an output end of the third driving element, the traction chain is sleeved on the reel, one end of the traction chain is connected to the second mounting seat 403, and the third driving element rotates to drive the reel to rotate and pull the second mounting seat 403 to move on the third mounting seat 404 in the up-and-down direction.

The bottom of the third mounting seat 404 is further provided with a bottom plate 430, the bottom plate 430 is in contact with the upper surface of the mobile chassis 5, the bottom plate 430 is arranged on the traversing mechanism 7 in a sliding manner, and when the top surfaces of the first mounting seat 402, the second mounting seat 403 and the third mounting seat 404 are highly flush, the bottom surface of the first mounting seat 402, the bottom surface of the second mounting seat 403 and the bottom surface of the third mounting seat 404 are all in contact with the top surface of the bottom plate 430.

The third mounting seat 404 is further provided with a reinforcing plate, the reinforcing plate is a triangular template, one side of the reinforcing plate is connected to the third mounting seat 404, the other side of the reinforcing plate is vertically installed on the bottom plate 430, and the connecting position of the reinforcing plate and the third mounting seat 404 is located on one side, back to the wall 8, of the third mounting seat 404.

The lifting device further comprises a drag chain assembly 440, one end of the drag chain assembly 440 is connected to the third mounting seat 404, the other end of the drag chain assembly 440 is mounted on the lifting seat 401, an external electric wire driving the first driving part 410 penetrates through the drag chain assembly 440 to be electrically connected with the first driving part 410, a setting path of the external electric wire is limited by the drag chain assembly 440, possibility of winding of the external electric wire is avoided, and meanwhile, the electric wire can be separated from other structures by a framework of the drag chain assembly 440, so that abrasion of the electric wire is prevented.

In some embodiments, as shown in fig. 3, the lifting device further includes a speed reducer 411 and a mounting frame 412, the speed reducer 411 is disposed on the front surface of the lifting base 401, the first driving member 410 is connected to the first gear 420 through the speed reducer 411, the mounting frame 412 is a U-shaped frame structure, two ends of the mounting frame 412 are connected to the front surface of the lifting base 401 through screws, and the mounting frame 412 fastens the speed reducer motor to the lifting base 401.

Wherein, first driving piece 410 sets up along left right direction, let the top profile of self edge laminating lift seat 401 front surface, compare the mode that sets up that occupies the most area of lift seat 401 front surface among the prior art, the mode that first driving piece 410 laminating lift seat 401 front surface top profile just set up along left right direction can effectively reduce the installation space that first driving piece 410 occupied, let lift seat 401 front surface be used for the area increase and more complete of installation arm 1, promote the connection structure intensity between arm 1 and the lift seat 401, thereby promote the holistic stability of elevating gear, avoid bricklaying robot 100 to take place to vibrate in the operation of building by laying bricks or stones the in-process.

Wherein, elevating gear still includes the base, the base sets firmly in lift seat 401 front surface and the base is located first driving piece 410 below, 1 one end of arm is rotated and is installed in the base, first driving piece 410 is at drive lift seat 401 along first mount pad 402 removal in-process, adopt this kind of structure can will avoid the vibration that motor work produced to cause the interference to picking up grabbing of mechanism 3 to the fragment of brick, promote the stability of brick laying robot 100 in the operation in-process of building by laying bricks or stones, and simultaneously, arm 1 connects and also can let self dismantle and change more portably in the base.

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 rather to cover all embodiments falling within the scope of the appended claims.

Claims

1. A lifting device, comprising:

a first mounting seat;

the lifting seat is movably arranged on the first mounting seat along the vertical direction;

the first driving piece is arranged on the front surface of the lifting seat and used for driving the lifting seat to move in the up-and-down direction;

a robot arm having one end mounted to the front surface and located below the first driving member, the robot arm being configured to be capable of swinging left and right;

the picking mechanism is connected to the other end of the mechanical arm and is used for picking bricks;

and a height compensation mechanism is connected between the mechanical arm and the picking mechanism, and the height compensation mechanism can adjust the position of the picking mechanism so that the picking mechanism can be higher than the upper surface of the mechanical arm.

2. The lift device of claim 1, further comprising:

the base is installed on the front surface of the lifting seat and located below the first driving piece, and one end of the mechanical arm is installed on the base.

3. The lift device as recited in claim 1 wherein the height compensation mechanism is configured to adjust the position of the pickup mechanism such that the pickup mechanism is elevated above the upper surface of the first drive member.

4. The lift mechanism of claim 1, wherein the height compensation mechanism is capable of adjusting the position of the pick mechanism such that the pick mechanism is below a lower surface of the robotic arm.

5. The lift device recited in claim 1 wherein said height compensation mechanism is a three axis rotation module.

6. The lift device of claim 1, further comprising:

7. The lifting device as claimed in claim 1, wherein the first driving member is disposed in a left-right direction.

8. The lifting device as recited in claim 1, further comprising:

and the first mounting seat is movably mounted on the second mounting seat along the vertical direction.

9. The lift device of claim 8, further comprising:

the second mounting seat is movably mounted on the third mounting seat along the vertical direction;

and one end of the drag chain assembly is connected to the third mounting seat, the other end of the drag chain assembly is mounted to the lifting seat, and an external circuit of the first driving piece is driven to penetrate through the drag chain assembly and the first driving piece to be electrically connected.

10. A brick laying robot for laying a plurality of bricks into a wall, characterized in that the brick laying robot comprises:

moving the chassis;

a lifting device as claimed in any one of claims 1 to 9, which is mounted on the mobile chassis.