CN116025183A - Integrated automatic wall building robot - Google Patents
Integrated automatic wall building robot Download PDFInfo
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- CN116025183A CN116025183A CN202211736824.6A CN202211736824A CN116025183A CN 116025183 A CN116025183 A CN 116025183A CN 202211736824 A CN202211736824 A CN 202211736824A CN 116025183 A CN116025183 A CN 116025183A
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- wall building
- lifting platform
- building robot
- automatic wall
- integrated automatic
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Abstract
The invention relates to the technical field of wall building robots, in particular to an integrated automatic wall building robot, which solves the defects that the wall building robot is not suitable for high-efficiency requirements of field operation and simple operation of workers are required in the prior art, and comprises a crawler chassis, a lifting platform, a conveying line, a grouting system, a control cabinet and an operation screen assembly, wherein the lifting platform is arranged on the crawler chassis, and a grabbing assembly is arranged at the top end of the mechanical arm; the conveying line is arranged on one side of the lifting platform and comprises a long conveying belt and a short conveying belt which are arranged in a staggered manner; the utility model discloses a through the track chassis of being convenient for remove, set up the automatic turn-over conveying mechanism of fragment of brick on the track chassis and the arm that the top has the elevating platform, set up at the plastering machine in the middle of conveying mechanism, arm construct, realized fragment of brick and built automatically, stability is good, and the use height is unrestricted, and the cooperation is convenient, and equipment selection type is wide, long service life.
Description
Technical Field
The invention relates to the technical field of wall building robots, in particular to an integrated automatic wall building robot.
Background
The wall building robot is a robot applied to a construction site to replace manual wall building and brick building. Use the robot of building a wall to replace artifical wall, not only can reduce the probability of occurrence of accident, can also improve work efficiency.
The existing automatic wall building robot is complex in integral structure, needs various auxiliary facilities to cooperate, and is not uniform enough in plastering due to a grouting mode, wall building effects are affected, and the wall building robot is of a fixed structure and cannot move, can only be constructed at a fixed position and is limited by the operation radius, so that the construction is smoothly completed, the volume of the wall building robot is increased to improve the operation radius, or the wall building robot needs to be detached and installed for many times to adapt to different construction positions, and is not suitable for high-efficiency requirements of field operation and operation simplicity requirements of workers due to any mode.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an integrated automatic wall building robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the integrated automatic wall building robot comprises a crawler chassis, a lifting platform, a conveying line, a grouting system, a control cabinet and an operation screen assembly, wherein the lifting platform, the conveying line, the grouting system, the control cabinet and the operation screen assembly are arranged on the crawler chassis, a mechanical arm is arranged on the lifting platform, and a grabbing assembly is arranged at the top end of the mechanical arm;
the grabbing assembly comprises a mounting frame and a servo motor fixed on the mounting frame, two clamping jaws parallel to each other are slidably mounted at the bottom end of the mounting frame, racks are fixed at one ends, close to the mounting frame, of the clamping jaws at two sides, gears are mounted at the output end of the servo motor, the gears are located between the two racks, and the gears are meshed with the racks at two sides;
the conveying line is arranged on one side of the lifting platform, the conveying line comprises a long conveying belt and a short conveying belt which are arranged in a staggered manner, bricks are vertically arranged on the long conveying belt through the two conveying belts with the height difference, when the bricks are conveyed to the height difference, the long conveying belt stops conveying after being vertically turned to be in a horizontal state, the bricks are turned over by utilizing the action of gravity, an additional turning mechanism is not required, the upper part and the lower part of the conveying line are matched, the structure is simple and practical, the bricks are added in a stable state of the long conveying belt, the stacking of the bricks is tidy and stable, and the labor is saved;
the grouting system comprises a grouting machine fixed on the crawler chassis, a pressure-resistant hose is arranged at the output end of the grouting machine, a nozzle is fixed at the outer end of the pressure-resistant hose, and the nozzle is arranged on the lifting platform.
As a preferable technical scheme of the invention, the crawler chassis comprises a plurality of lower supporting wheels which are close to each other and do not interfere with each other, a supporting plate arranged at the middle section, an upper supporting wheel, driving wheels and tensioning wheels at two ends, and crawler belts are sleeved on the outer sides of the lower supporting wheel and the upper supporting wheel.
As a preferable technical scheme of the invention, the upper supporting wheel and the lower supporting wheel both adopt I-shaped structures formed by double wheels.
As a preferable technical scheme of the invention, limiting blocks are arranged on two sides of the bottom of the mounting frame, and are positioned on the outer sides of the clamping jaws, and the limiting blocks are arranged to limit the travel of the clamping jaws so as to prevent the clamping jaws from being separated from the mounting frame.
As a preferable technical scheme of the invention, the conveying line comprises two supporting plates which are arranged in parallel, the long conveying belt and the short conveying belt are both arranged between the two supporting plates, and the two sides of the long conveying belt are both provided with flanges.
As a preferable technical scheme of the invention, the bottom ends of the long conveying belt and the short conveying belt are respectively provided with a supporting bottom plate, the supporting bottom plates are fixed at the bottoms of the two supporting plates, the two ends of the supporting bottom plates are respectively fixed with a connecting plate, and the long conveying belt and the short conveying belt are fixed on the crawler chassis through the connecting plates.
As a preferable technical scheme of the invention, one side of the short conveyer belt is provided with the photoelectric sensor, the other side of the short conveyer belt is provided with the receiver matched with the photoelectric sensor, the photoelectric sensor monitors the position of the brick, and when the brick falls onto the short conveyer belt, the short conveyer belt stops running and waits for the grabbing component to grab the brick.
As a preferable technical scheme of the invention, the nozzle is provided with the fixing seat, the fixing seat is slidably arranged on the lifting platform through the electric push rod, the height of the nozzle is adjusted through the lifting platform, so that plastering operations with different heights are realized, and the front-back distance of the nozzle can be adjusted through the electric push rod.
As a preferable technical scheme of the invention, the invention further comprises a protective cover vertically arranged on the crawler chassis, wherein an operation window for grouting is arranged on the protective cover, and the protective cover is used for protecting the two sides of the device, so that the approach of personnel during the operation of building a wall is reduced, and the safety performance is improved.
As a preferable technical scheme of the invention, the operation screen assembly comprises a movable support and an operation screen, wherein the operation screen is electrically connected with the crawler chassis, the lifting platform, the conveying line, the grouting system, the control cabinet and the mechanical arm, and the whole instrument is controlled through the operation screen so as to realize an automatic wall building function.
The beneficial effects of the invention are as follows:
1. through two conveyer belts with height difference, the brick is vertically placed on a high-level conveyer belt, when the brick is conveyed to the height difference, the high-level conveyer belt stops conveying after the brick is vertically overturned to be in a horizontal state, and the brick is overturned by utilizing the action of gravity, so that an additional overturning mechanism is not required, the structure is simple and practical, the brick is added in a stable state of the high-level conveyer belt, the brick stacking is tidy and stable, and the labor is saved;
2. according to the automatic gripping device, the servo motor drives the gear to rotate, so that racks integrated with gripping jaws at two sides are driven to rotate, the central opening and closing of the gripping mechanism is achieved, the center of gravity is stable, the gripping strength is high, and the safety is good;
to sum up, this application is through integrating the track chassis of editable stroke, set up the automatic turnover conveying mechanism of fragment of brick on the track chassis, go up high controllable high load modularization elevating system, the arm of modularization, set up in conveying mechanism, the plastering machine in the middle of the arm and stabilize efficient fragment of brick and snatch mechanism, realized automatic transport, automatic plastering and the controllable automatic building of fragment of brick through the joint control of software, vision and optical sensor. The stability of building a wall and the uniformity of brick building are good. The equipment integrates the lifting mechanism and the caterpillar chassis, and meets the height requirements of most indoor and outdoor wall surfaces while the use field is not limited. The equipment adopts modularized design, and the whole cooperation is convenient, and equipment selection type is wide, long service life. The whole wall building process of single equipment is truly realized.
Drawings
FIG. 1 is a schematic structural view of an integrated automatic wall building robot according to the present invention;
fig. 2 is a schematic structural diagram of a conveyor line in the integrated automatic wall-building robot according to the present invention;
fig. 3 is a schematic structural diagram of a front view of a conveying line in the integrated automatic wall building robot;
fig. 4 is a schematic structural view of a grabbing component in the integrated automatic wall building robot according to the present invention;
fig. 5 is a schematic bottom view of a grabbing component in the integrated automatic wall building robot according to the present invention;
FIG. 6 is a schematic structural view of a grouting system in an integrated automatic wall-building robot according to the present invention;
fig. 7 is a schematic structural diagram of a lifting platform in the integrated automatic wall-building robot.
In the figure: 1. a crawler chassis; 2. a lifting platform; 3. a conveying line; 31. a support plate; 32. a long conveyor belt; 33. a short conveyor belt; 34. a flange; 35. a support base plate; 36. a connecting plate; 4. a grouting system; 41. a grouting machine; 42. a pressure-resistant hose; 43. a nozzle; 44. a fixing seat; 5. a protective cover; 6. a grabbing component; 61. a mounting frame; 62. a servo motor; 63. a gear; 64. a clamping jaw; 65. a rack; 7. a mechanical arm; 8. an operation panel assembly; 9. and a control cabinet.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1-7, the integrated automatic wall building robot comprises a crawler chassis 1, a lifting platform 2, a conveying line 3, a grouting system 4, a control cabinet 9 and an operation screen assembly 8 which are arranged on the crawler chassis 1, wherein the operation screen assembly 8 comprises a movable support and an operation screen, the operation screen is electrically connected with the crawler chassis 1, the lifting platform 2, the conveying line 3, the grouting system 4, the control cabinet 9 and a mechanical arm 7, the crawler chassis 1 comprises a plurality of lower supporting wheels which are close to and not interfered with each other, supporting plates arranged in the middle section, an upper supporting wheel, driving wheels and tensioning wheels at two ends, the outer sides of the lower supporting wheels and the upper supporting wheels are sleeved with tracks, the upper supporting wheels and the lower supporting wheels are of an I-shaped structure formed by double wheels, the mechanical arm 7 is arranged on the lifting platform 2, and the top end of the mechanical arm 7 is provided with a grabbing assembly 6;
the grabbing assembly 6 comprises a mounting frame 61 and a servo motor 62 fixed on the mounting frame 61, the mounting frame 61 is fixed at the top end of the mechanical arm 7, two clamping jaws 64 which are parallel to each other are slidably arranged at the bottom end of the mounting frame 61, racks 65 are fixed at one ends of the two clamping jaws 64 close to the mounting frame 61, a gear 63 is arranged at the output end of the servo motor 62, the gear 63 is positioned between the two racks 65, the gear 63 is meshed with the racks 65 at the two sides, meanwhile, limiting blocks are arranged at the two sides of the bottom of the mounting frame 61 and are positioned at the outer sides of the clamping jaws 64, and the stroke of the clamping jaws 64 is limited by the limiting blocks, so that the clamping jaws 64 are prevented from being separated from the mounting frame 61;
the gear 63 is driven to rotate by the servo motor 62, so that the rack 65 integrated with the clamping jaws 64 at two sides is driven to rotate, the center of the grabbing mechanism is unchanged, the center of gravity is stable, the grabbing strength is high, and the safety is good;
the conveying line 3 is arranged on one side of the lifting platform 2, and the conveying line 3 comprises a long conveying belt 32 and a short conveying belt 33 which are arranged in a staggered manner;
it should be noted that:
the conveying line 3 comprises two supporting plates 31 which are arranged in parallel, a long conveying belt 32 and a short conveying belt 33 are arranged between the two supporting plates 31, two sides of the long conveying belt 32 are provided with blocking edges 34, the bottom ends of the long conveying belt 32 and the short conveying belt 33 are provided with supporting bottom plates 35, the supporting bottom plates 35 are fixed at the bottoms of the two supporting plates 31, and two ends of the supporting bottom plates 35 are fixed with connecting plates 36;
through two conveyer belts with height difference, the brick is vertically placed on a high-level conveyer belt, when the brick is conveyed to the height difference, the high-level conveyer belt stops conveying after the brick is vertically overturned to be in a horizontal state, and the brick is overturned by utilizing the action of gravity, so that an additional overturning mechanism is not required, the structure is simple and practical, the brick is added in a stable state of the high-level conveyer belt, the brick stacking is tidy and stable, and the labor is saved;
the grouting system 4 comprises a grouting machine 41 fixed on the crawler chassis 1, a pressure-resistant hose 42 is installed at the output end of the grouting machine 41, a nozzle 43 is fixed at the outer end of the pressure-resistant hose 42, the nozzle 43 is installed on the lifting platform 2, a fixing seat 44 is arranged on the nozzle 43, the fixing seat 44 is slidably installed on the lifting platform 2 through an electric push rod, the height of the nozzle 43 is adjusted through the lifting platform 2, plastering operation at different heights is achieved, and the front-back distance of the nozzle 43 can be adjusted through the electric push rod.
It should be noted that;
1. one side of the short conveyer belt 33 is provided with a photoelectric sensor, the other side of the short conveyer belt 33 is provided with a receiver matched with the photoelectric sensor, the position of the brick is monitored by the photoelectric sensor, and when the brick falls onto the short conveyer belt 33, the short conveyer belt 33 stops running and waits for the grabbing component 6 to grab the brick.
2. Still include the vertical protection casing 5 that sets up on caterpillar chassis 1, set up the operating window who is used for the grout on the protection casing 5, protect the both sides of this device by protection casing 5, reduce personnel's when the operation of building a wall and be close to raise the security performance.
In this embodiment: programming through the operation screen assembly 8, inputting wall building data, pouring cement into the grouting machine 41, and smearing the cement to a wall building site through the grouting machine 41;
the brick is stacked on the long conveying belt 32, the brick is conveyed by the long conveying belt 32, when the brick is conveyed to a height difference, the conveying belt at a high position stops conveying after the brick is turned to a horizontal state by vertical turning, the brick is turned by utilizing gravity, after the brick is turned, the grabbing component 6 is controlled by the mechanical arm 7 to grab and lay a wall, the brick is automatically turned over by the crawler chassis 1 convenient to move, the mechanical arm 7 with a lifting table arranged on the crawler chassis 1 and the grouting system 4 arranged in the middle of the conveying line 3 and the mechanical arm 7, the automatic stacking of the brick is realized, the stability is good, the use height is not limited, the equipment is convenient to cooperate, the equipment is wide in type selection, and the service life is long.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. The integrated automatic wall building robot comprises a crawler chassis (1), a lifting platform (2), a conveying line (3), a grouting system (4), a control cabinet (9) and an operation screen assembly (8), wherein the lifting platform (2) is arranged on the crawler chassis (1), and the automatic wall building robot is characterized in that a mechanical arm (7) is arranged on the lifting platform (2), and a grabbing assembly (6) is arranged at the top end of the mechanical arm (7);
the grabbing assembly (6) comprises a mounting frame (61) and a servo motor (62) fixed on the mounting frame (61), two clamping jaws (64) which are parallel to each other are slidably mounted at the bottom end of the mounting frame (61), racks (65) are fixed at one ends, close to the mounting frame (61), of the clamping jaws (64), gears (63) are mounted at the output ends of the servo motor (62), the gears (63) are located between the two racks (65), and the gears (63) are meshed with the racks (65) at the two sides;
the conveying line (3) is arranged on one side of the lifting platform (2), and the conveying line (3) comprises a long conveying belt (32) and a short conveying belt (33) which are arranged in a staggered manner;
the grouting system (4) comprises a grouting machine (41) fixed on the crawler chassis (1), a pressure-resistant hose (42) is arranged at the output end of the grouting machine (41), a nozzle (43) is fixed at the outer end of the pressure-resistant hose (42), and the nozzle (43) is arranged on the lifting platform (2).
2. The integrated automatic wall building robot according to claim 1, wherein the crawler chassis (1) comprises a plurality of lower supporting wheels which are close to each other and do not interfere with each other, a supporting plate arranged at the middle section, an upper supporting wheel, driving wheels and tensioning wheels at two ends, and a crawler is sleeved on the outer sides of the lower supporting wheel and the upper supporting wheel.
3. The integrated automatic wall building robot according to claim 2, wherein the upper supporting wheel and the lower supporting wheel are both in an I-shaped structure formed by two wheels.
4. The integrated automatic wall building robot according to claim 1, wherein limiting blocks are arranged on two sides of the bottom of the mounting frame (61), and the limiting blocks are located on the outer sides of the clamping jaws (64).
5. The integrated automatic wall building robot according to claim 1, wherein the conveying line (3) comprises two support plates (31) which are arranged in parallel, the long conveying belt (32) and the short conveying belt (33) are both arranged between the two support plates (31), and both sides of the long conveying belt (32) are both provided with retaining edges (34).
6. The integrated automatic wall building robot according to claim 5, wherein the bottom ends of the long conveying belt (32) and the short conveying belt (33) are respectively provided with a supporting bottom plate (35), the supporting bottom plates (35) are fixed at the bottoms of the two supporting plates (31), and connecting plates (36) are respectively fixed at two ends of the supporting bottom plates (35).
7. The integrated automatic wall building robot according to claim 6, wherein one side of the short conveyer belt (33) is provided with a photoelectric sensor, and the other side of the short conveyer belt (33) is provided with a receiver adapted to the photoelectric sensor.
8. The integrated automatic wall building robot according to claim 1, wherein a fixed seat (44) is arranged on the nozzle (43), and the fixed seat (44) is slidably mounted on the lifting platform (2) through an electric push rod.
9. The integrated automatic wall building robot according to claim 1, further comprising a protective cover (5) vertically arranged on the crawler chassis (1), wherein an operation window for grouting is formed in the protective cover (5).
10. The integrated automatic wall building robot according to claim 1, wherein the operation panel assembly (8) comprises a movable support and an operation panel, and the operation panel is electrically connected with the crawler chassis (1), the lifting platform (2), the conveying line (3), the grouting system (4), the control cabinet (9) and the mechanical arm (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211736824.6A CN116025183A (en) | 2022-12-31 | 2022-12-31 | Integrated automatic wall building robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211736824.6A CN116025183A (en) | 2022-12-31 | 2022-12-31 | Integrated automatic wall building robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116025183A true CN116025183A (en) | 2023-04-28 |
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ID=86070416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211736824.6A Pending CN116025183A (en) | 2022-12-31 | 2022-12-31 | Integrated automatic wall building robot |
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| Country | Link |
|---|---|
| CN (1) | CN116025183A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117536462A (en) * | 2024-01-08 | 2024-02-09 | 山西冶金岩土工程勘察有限公司 | Wall building device and wall building method for automatic mortar pouring |
-
2022
- 2022-12-31 CN CN202211736824.6A patent/CN116025183A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117536462A (en) * | 2024-01-08 | 2024-02-09 | 山西冶金岩土工程勘察有限公司 | Wall building device and wall building method for automatic mortar pouring |
| CN117536462B (en) * | 2024-01-08 | 2024-04-19 | 山西冶金岩土工程勘察有限公司 | Wall building device and wall building method for automatic mortar pouring |
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Inventor after: Zhu Liucun Inventor after: Chiyomoto yoshitoshi Inventor before: Zhu Liucun |