CN205894721U - Wall building robot - Google Patents
Wall building robot Download PDFInfo
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- CN205894721U CN205894721U CN201620504905.7U CN201620504905U CN205894721U CN 205894721 U CN205894721 U CN 205894721U CN 201620504905 U CN201620504905 U CN 201620504905U CN 205894721 U CN205894721 U CN 205894721U
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- axis guide
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Abstract
The utility model discloses a wall building robot, including working table body, be provided with the brick car on it and move a year mechanism, two four -axis linkage control system, automatic claying ware, hydraulic pressure clip ware, press from both sides brick tray, lift, translation mechanism, the brick car moves and carries that a mechanism passes through the first guide rail of stage body support and stage body support second guide rail is in the up -and -down motion carries out on the workstation, two four -axis linkage control system carry out the space orientation to getting the brick manipulator, move and carry, automatic claying ware and the parallel double -layered brick tray setting of just spaning of each other of hydraulic pressure clip ware, automatic claying ware is provided with hopper, impeller and driving motor, hydraulic pressure clip ware is provided with the blade support, go up and down, translation mechanism set up in cavity position among the working table body between stage body base and the table surface support frame. This robot can the substitute carry out get brick, claying, clip, action such as build a wall, degree of automation is high, efficient, convenient to use.
Description
Technical field
This utility model relates to robot that building masonry wall builds by laying bricks or stones and in particular to a kind of wall-building robot.
Background technology
At present, with the development of industrial technology, especially in building trade, need substantial amounts of work of building a wall, most
Working environment of building a wall is poor, and workman mostly is middle-aged and elderly people, physical very limited, manual work's not only high labor intensive, and efficiency is low,
And easily because longevity of service, lead to dog-tired, cause miswork, in building operation environment, also there is workman
Personal safety hidden danger, therefore, manpower operation can not meet the needs of growing industrial development, common operation of building a wall
The cooperation at least needing more than 2 people just can complete, and work efficiency is extremely low.
Utility model content
In order to overcome the shortcomings of above-mentioned technology, this utility model provides a kind of wall-building robot, can be automatically performed take brick,
Claying, clip, action of building a wall, high working efficiency, easy to operate, its technical scheme is as follows:
A kind of wall-building robot, including work stage body, described work stage body includes work top, stage body base, workbench
Face bracing frame, stage body support first guide rail, stage body support second guide rail are it is characterised in that be provided with shifting on described work stage body
Carry the brick car transfer mechanism of brick car, described brick car transfer mechanism passes through stage body support first guide rail and stage body support second guide rail exists
Moved up and down on described workbench, the hollow part being constituted with described stage body base in described work top bracing frame is set
It is equipped with execution aerated blocks to build a wall the lifting of action, translation mechanism, described work top is provided with sky is carried out to aerated blocks
Between the double four-axle linked control system of coordinate setting, the automatic claying device to the automatic claying of aerated blocks, automatically excise unnecessary aerating
The hydraulic pressure brick cutter of block, carry aerated blocks the brick folding pallet to aerated blocks positioning, wherein, described automatic claying device and described liquid
Pressure brick cutter is parallel to each other and all arranges across described brick folding pallet, and described double four-axle linked set-up of control systems are described automatic
Claying device, the side of described hydraulic pressure brick cutter, the top of described brick folding pallet and described work stage body.
Preferably, described double four-axle linked control system includes the first x-axis guide rail and is arranged on described first x-axis guide rail
An x servomotor and the first x-axis slide block, the second x-axis guide rail and the second x-axis being arranged on described second x-axis guide rail
Servomotor and the second x-axis slide block, y-axis guide rail and the y-axis servomotor being arranged on described y-axis guide rail and y-axis slide block, z
Axle telescopic arm and the brick picking manipulators being arranged on described z-axis telescopic arm, described first x-axis guide rail is by being arranged on described first
Described first x-axis slide block in x-axis guide rail is connected with described y-axis slide ground, and described second x-axis guide rail is by being arranged on
It is connected with stating described second x-axis slide block in the second x-axis guide rail and described y-axis slide, described first x-axis guide rail, described y
Axis rail passes through the first x-axis guide rail supporting frame with described workbench body phase even, and described second x-axis guide rail, y-axis guide rail pass through second
X-axis guide rail supporting frame with described workbench body phase even, led with described y-axis by y-axis slide block via installing plate by described z-axis telescopic arm
Rail is slidably connected.
Preferably, brick picking manipulators by with the brick picking manipulators installing plate being arranged on described z-axis telescopic arm and taking
Brick mechanical hand hydraulic cylinder is connected with described z-axis telescopic arm, and described brick picking manipulators include gripping aerated blocks and parallel relatively
First jaw of setting and the second jaw.
Preferably, described brick folding pallet is arranged in tray rail and includes the first pallet gear edge and described first pallet
Gear is along the second pallet gear edge being oppositely arranged in parallel, described first pallet of connection keeps off edge and described second pallet keeps off the tray bottom on edge
Portion, be arranged at described tray bottom and be connected with roller bearing screw mandrel the first tray rail, the first tray rail slide block, the second pallet
Guide rail and the second tray rail slide block and the pallet servomotor driving described roller bearing screw mandrel movement.
Preferably, described automatic claying device is provided with the hopper carrying mud, the impeller being arranged in described hopper and drive
The impeller drive motor of dynamic described impeller rotation.
Preferably, described hydraulic pressure brick cutter is provided with and is oppositely arranged in parallel with described first gripper shoe by the first gripper shoe
The second gripper shoe, connect the gripper shoe crossbeam of described first gripper shoe and described second gripper shoe, be arranged on described first
Fixing blade on fagging, the blade hydraulic cylinder being arranged in described second gripper shoe, it is arranged on described blade hydraulic cylinder
The moving blade of end, described blade hydraulic cylinder is crossed described second gripper shoe and arranges and installed by blade hydraulic cylinder
Plate is arranged in described second gripper shoe.
Preferably, described lifting, translation mechanism include transverse axis mechanical arm, longitudinal axis mechanical arm, manipulator for laying brick, described transverse axis
Mechanical arm, longitudinal axis mechanical arm pass through transverse axis mechanical arm support base and connect, and described longitudinal axis mechanical arm and described manipulator for laying brick pass through
Manipulator for laying brick installing plate connects.
Preferably, described transverse axis mechanical arm is mechanical arm and the interior setting of described transverse axis mechanical arm that can carry out way moving
There are transverse axis mechanical arm servomotor and steel wire rope.
Preferably, described manipulator for laying brick includes being connected with described manipulator for laying brick installing plate installing arm, hinge, regulation
The manipulator for laying brick hydraulic cylinder of described hinge length be connected with installing arm with described hinged 3rd jaw the 4th
Jaw.
Preferably, described brick car transfer mechanism is arranged through and is arranged on the first brick car in described stage body support first guide rail
Transfer slide block and the second brick car transfer slide block being arranged in described stage body support second guide rail are led with described stage body support first
The rectangle profile structure that rail and described stage body support second guide rail match, is provided with semicircle above described brick car transfer mechanism
Parallel a pair of the relative sheet material of shape, constitutes the draw-in groove buckling brick car between the pair of sheet material.
This utility model has the advantages that:
1st, by realizing the space orientation of brick picking manipulators using double four-axle linked control systems, brick picking manipulators are determined
Space coordinatess, registration, error is little.
2nd, brick picking manipulators carry out automatization's crawl aerated blocks, and it can carry out 90 ° of rotations, accurate positioning, and crawl is flexible,
High degree of automation is it is easy to operate.
3rd, realize the position horizontally and vertically of manipulator for laying brick using lifting, translation mechanism, can determine
Manipulator for laying brick coordinate position in space, manipulator for laying brick can adjust the distance between jaw as needed, and then can
Crawl different length, different size of aerated blocks, with strong applicability.
4th, manipulator for laying brick is capable of building a wall of the automatization of overall process, no dead angle, also can freely build a wall around the corner,
High degree of automation, rationally, method is easily operated, mechanical gripper conveniently moving, efficiency high for topology layout.
5th, lifting, translation mechanism adopt way moving guide rail, can achieve lifting, translation mechanism two-way shifting in the horizontal direction
Dynamic, motion direction is various, can move freely in space plane.
Brief description
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or in description of the prior art the accompanying drawing of required use be briefly described it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of axonometric chart of wall-building robot of this utility model；
Fig. 2 is a kind of partial enlarged drawing of this utility model wall-building robot manipulator for laying brick；
Fig. 3 is an a kind of structural perspective of this utility model wall-building robot hydraulic pressure brick cutter；
Fig. 4 is a kind of this utility model wall-building robot another structural perspective of hydraulic pressure brick cutter；
Fig. 5 is a kind of structural perspective of the automatic claying device of wall-building robot of this utility model；
In figure:
1- work stage body, 2- lifting, translation mechanism, 3- brick car transfer mechanism, the double four-axle linked control system of 4-, 5- are automatic
Claying device, 6- hydraulic pressure brick cutter, 7- brick folding pallet
101- work top, 102- stage body base, 103- work top bracing frame, 104- stage body support the first guide rail,
105- stage body support the second guide rail
201- longitudinal axis mechanical arm, 202- longitudinal axis mechanical arm set, 203- manipulator for laying brick installing plate, 204- manipulator for laying brick,
205- transverse axis mechanical arm support base, 206- transverse axis mechanical arm, 207- transverse axis mechanical arm set
2041- installing arm, 2042- manipulator for laying brick hydraulic cylinder, 2043- hinge, 2044- the 3rd jaw, 2045- the 4th
Jaw
301- draw-in groove
401- the first x-axis guide rail, 402- the second x-axis guide rail, 403-y axis rail, 404-z axle telescopic arm, 405-y axle are slided
Block, 406- installing plate, 407- brick picking manipulators installing plate, 408- brick picking manipulators, 409- brick picking manipulators hydraulic cylinder, 410-
First x-axis guide rail supporting frame, 411- the second x-axis guide rail supporting frame
4081- first jaw, 4082- second jaw
501- hopper, 502- impeller, hopper support plate 503, fixing hole 504
601- blade support, 602- fix blade, 603- moving blade, 604- insert adapter, 605- blade hydraulic air
Cylinder 606- blade hydraulic cylinder installing plate
6011- first gripper shoe, 6012- second gripper shoe
701- brick folding pallet servomotor, 702- roller bearing screw mandrel, 703- tray rail, 704- first pallet gear edge, 705-
Second pallet gear edge, 706- tray bottom.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely description is it is clear that described embodiment is only a part of embodiment of this utility model rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of making creative work
The every other embodiment being obtained, broadly falls into the scope of this utility model protection.
Shown in Fig. 1-Fig. 5, a kind of wall-building robot, including work stage body 1, the stage body 1 that works include work top 101,
Stage body base 102, work top bracing frame 103, stage body support the first guide rail 104, stage body support the second guide rail 105, its feature
It is, work stage body 1 is provided with the brick car transfer mechanism 3 of transfer brick car, and brick car transfer mechanism 3 passes through stage body support first
Guide rail 104 and stage body support the second guide rail 105 1 are moved up and down, on the table in work top bracing frame 103 and stage body
The hollow part that base 104 is constituted is provided with execution aerated blocks and builds a wall the lifting of action, translation mechanism 2, in work top 101
On be provided with aerated blocks carried out with the double four-axle linked control system 4 of space coordinatess positioning, automatic to the automatic claying of aerated blocks
Claying device 5, the hydraulic pressure brick cutter 6 automatically excising unnecessary aerated blocks, carrying aerated blocks the brick folding pallet 7 to aerated blocks positioning,
Wherein, automatic claying device 5 is parallel to each other with hydraulic pressure brick cutter 6 and all arranges across brick folding pallet 7, double four-axle linked control systems
4 are arranged on automatic claying device 5, the side of hydraulic pressure brick cutter 6, the top of brick folding pallet 7 and work stage body 1.It is being embodied as
In example, it is placed around carrying the brick car of aerated blocks in brick car transfer mechanism 3, the brick car carrying aerated blocks is manually placed draw-in groove
On 301, under the driving of servomotor, brick car is moved upwards by brick car transfer mechanism 3 along work stage body 1, so that brick car is moved
To near brick folding pallet 7, it is placed into the claying that next step is carried out on brick folding pallet 7 by brick picking manipulators 408 and clip moves
Make.
In the particular embodiment, brick car can arrange the interlayer of 3 layers of placement aerated blocks, and each interlayer can place 7 pieces of aeratings
Block.
In a particular embodiment, as shown in figure 1, double four-axle linked control system 4 includes the first x-axis guide rail 401 and setting
An x servomotor on the first x-axis guide rail 401 and the first x-axis slide block, the second x-axis guide rail 402 and be arranged on the 2nd x
The second x-axis servomotor on axis rail 402 and the second x-axis slide block, y-axis guide rail 403 and the y being arranged on y-axis guide rail 403
Axle servomotor and y-axis slide block 405, z-axis telescopic arm 404 and the brick picking manipulators 408 being arranged on z-axis telescopic arm 404, first
X-axis guide rail 401 is slidably connected with y-axis guide rail 403 by the first x-axis slide block being arranged in the first x-axis guide rail 401, the 2nd x
Axis rail 402 is slidably connected with stating y-axis guide rail 403 by the second x-axis slide block being arranged in the second x-axis guide rail 402, and first
X-axis guide rail 401, y-axis guide rail 403 are passed through the first x-axis guide rail supporting frame 410 and are connected with work stage body 1, the second x-axis guide rail 402, y
Axis rail 403 is passed through the second x-axis guide rail supporting frame 411 and is connected with work stage body 1, and z-axis telescopic arm 404 leads to via installing plate 406
Cross y-axis slide block 405 to be slidably connected with y-axis guide rail 404.
In a particular embodiment, brick picking manipulators 408 are by pacifying with the brick picking manipulators being arranged on z-axis telescopic arm 404
Dress plate 407 and brick picking manipulators hydraulic cylinder 409 are connected with z-axis telescopic arm 404, and brick picking manipulators 408 include gripping and add
Air parcel and the first jaw 4081 of being oppositely arranged in parallel and the second jaw 4082.In a particular embodiment, the first jaw 4081 He
Second jaw 4082 passes through the driving of brick picking manipulators hydraulic cylinder 409, can perform and takes brick to operate.
As shown in Figure 3 and Figure 4, brick folding pallet 7 is arranged in tray rail 703 and includes the first pallet gear along 704 and the
One pallet gear along 704 the second pallet gears being oppositely arranged in parallel along 705, connect the first pallet gear along 704 and the second pallet gear edge
705 tray bottom 706, be arranged at tray bottom 706 and be connected with roller bearing screw mandrel 702 the first tray rail, the first pallet
Guide rail slide block, the second tray rail and the second tray rail slide block and the pallet servomotor driving roller bearing screw mandrel 702 movement
701.
As shown in Figure 3 and Figure 4, hydraulic pressure brick cutter 6 be provided with parallel with the first gripper shoe 6011 by the first gripper shoe 6011
The second gripper shoe 6012 of being oppositely arranged, connect the first gripper shoe 6011 and the second gripper shoe 6012 gripper shoe crossbeam 6013,
The fixing blade 602 being arranged in the first gripper shoe 6011, the blade hydraulic cylinder 605 being arranged in the second gripper shoe 6012,
It is arranged on the moving blade 603 of blade hydraulic cylinder 605 end, blade hydraulic cylinder 605 crosses the second gripper shoe 6012 and sets
Put and the second gripper shoe 6012 is arranged on by blade hydraulic cylinder installing plate 606.In a particular embodiment, in blade hydraulic air
Under the driving of cylinder 605, insert adapter 604 drives the unnecessary aerated blocks of mobile knife excision.Preferably, fixing blade 602 and shifting
Cutting blade 603 is all using 65 steel manganese materials.
In a particular embodiment, as shown in figure 1, lifting, translation mechanism 2 include transverse axis mechanical arm 206, longitudinal axis mechanical arm
201st, manipulator for laying brick 204, transverse axis mechanical arm 206, longitudinal axis mechanical arm 201 are connected by transverse axis mechanical arm support base 205, the longitudinal axis
Mechanical arm 201 is connected by manipulator for laying brick installing plate 203 with manipulator for laying brick 204.Preferably, on longitudinal axis mechanical arm 201 also
It is provided with longitudinal axis mechanical arm set 202, transverse axis mechanical arm 206 is provided with transverse axis mechanical arm set 207, it is conducive to longitudinal axis mechanical arm
201st, transverse axis mechanical arm 206 the moving it is not easy to make mechanical arm wander off of vertical and horizontal in concrete operations, also has resistance to simultaneously
The characteristic of mill.
In being embodied as, transverse axis mechanical arm 206 is can to carry out in mechanical arm and the transverse axis mechanical arm 206 of way moving
It is provided with transverse axis mechanical arm servomotor and steel wire rope.
In a particular embodiment, as shown in Fig. 2 what manipulator for laying brick 206 included being connected with manipulator for laying brick installing plate 203
Installing arm 2041, hinge 2043, the manipulator for laying brick hydraulic cylinder 2043 and the hinged 3rd of regulation hinge 2043 length
The 4th jaw 2045 that jaw 2044 is connected with installing arm 2041.In a particular embodiment, manipulator for laying brick hydraulic cylinder 2042
Hinge 2043 can be driven, the distance between the 3rd jaw 2044 and the 4th jaw 2045 are adjusted by the stretching of hinge 2043.
In a particular embodiment, as shown in figure 1, brick car transfer mechanism 3 is arranged through and is arranged on stage body support first and leads
The first brick car transfer slide block in rail 104 and the second brick car transfer slide block being arranged in stage body support the second guide rail 105 and platform
The rectangle profile structure that body support frame the first guide rail 104 and stage body support the second guide rail 105 match, on brick car transfer mechanism 3
Side is provided with semicircle parallel a pair of relative sheet material, constitutes the draw-in groove 301 buckling brick car between the pair of sheet material.
As shown in figure 5, the hopper 501 carrying sposh is arranged across brick folding pallet 7, the impeller 502 of setting in hopper 501
Connect with the impeller motor driving impeller 502 rotation, impeller 502 is fixed by impeller silk axle, impeller motor is with described silk axle even
Connect, described hopper 501 is fixed on described work top 101 via bolt by fixing hole 504 by 2 hopper support plates 503
On.Hopper 501 lower section setting is rectangular, and 501 mouthfuls of hopper is arranged to bell mouth shape, and hopper 501 gripper shoe is provided with 3 parallel phases
Between triangular support floor and be provided with the gripper shoe substrate 506 of bolt hole 504, triangular support floor adjacent one another are it
Between be hollow, this version contributes to the hopper 501 of support bearing mud.
Working method of the present utility model is: when brick car moves to work stage body 1, aerated blocks entrucking piled up neatly,
So that brick car is placed on brick car transfer mechanism 3, brick car card jail, brick car transfer machine are made by the draw-in groove 301 on brick car transfer mechanism 3
Structure 3 is driven by transfer mechanism servomotor in stage body support the first guide rail 104 and stage body support the second guide rail 105, makes brick
Car moves upwards along work stage body 1, and brick picking manipulators 408 move to brick car transfer mechanism 3 to brick car on y-axis guide rail 403
Aerated blocks on transfer mechanism 3 are positioned, and capture aerated blocks, be allowed to put in the presence of brick picking manipulators hydraulic cylinder 409
Put on brick folding pallet 7, brick folding pallet 7 positions to aerated blocks, under the control of brick folding pallet servomotor 701, pass through
The movement of the roller bearing screw mandrel 702 on brick folding tray bottom 706, brick folding pallet 7 is delivered to automatic claying device 5, in automatic claying device 5
Equipped with mud in hopper 501, motor controls impeller 502 to rotate, and so that the mud in hopper 501 is applied on aerated blocks, leads to
Cross plc control assembly accurately to be calculated the length of aerated blocks and need the length built a wall, hydraulic pressure brick cutter 6 passes through to arrange thereon
Fixing blade 602 and moving blade 603 in the presence of, the part unnecessary to aerated blocks is excised, after excision, lifting, flat
It is provided with motor and steel wire rope, in the presence of motor, steel wire rope is strained in transverse axis mechanical arm 206 in telephone-moving structure 2,
Transverse axis mechanical arm 206 is made to move in the horizontal direction, meanwhile, longitudinal axis mechanical arm 201 controls block under the driving of longitudinal axis servomotor
Brick mechanical hand 204, and then adjust in the position of manipulator for laying brick 204 y direction, by determining manipulator for laying brick 204 in level
Direction and the position of vertical direction, and then space orientation is carried out to manipulator for laying brick 204.Manipulator for laying brick 204 passes through hinge
2043 adjustment the distance between the 3rd jaws 2044 and the 4th jaw 2045 are positioned to the aerated blocks capturing, and control group by plc
Part drives manipulator for laying brick hydraulic cylinder 2042, captures aerated blocks, is then put the aerated blocks of crawl by manipulator for laying brick 204
Put position to be built a wall, complete action of building a wall.
Although the foregoing describing specific embodiment of the present utility model, it will be appreciated by those of skill in the art that
These specific embodiments are merely illustrative of, and those skilled in the art is without departing from principle of the present utility model and essence
In the case of, various omissions, substitutions and changes can be carried out to the details of said method and system.For example, merge said method step
Suddenly, thus then belonging to this practicality newly according to the substantially identical function of substantially identical method execution to realize substantially identical result
The scope of type.Therefore, scope of the present utility model is only limited by the claims that follow.
Claims (9)
1. a kind of wall-building robot, including work stage body (1), described work stage body (1) includes work top (101), stage body bottom
Seat (102), work top bracing frame (103), stage body support first guide rail (104), stage body support second guide rail (105), it is special
Levy and be, described work stage body (1) is provided with brick car transfer mechanism (3) of transfer brick car, described brick car transfer mechanism (3) is led to
Cross stage body support first guide rail (104) and stage body support second guide rail (105) (1) on described workbench moved up and down,
The hollow part being constituted in described work top bracing frame (103) and described stage body base (104) is provided with execution aerated blocks
Build a wall the lifting of action, translation mechanism (2), described work top (101) is provided with space coordinatess are carried out to aerated blocks
The double four-axle linked control system (4) of positioning, the automatic claying device (5) to the automatic claying of aerated blocks, the automatically unnecessary aerating of excision
The hydraulic pressure brick cutter (6) of block, carrying aerated blocks the brick folding pallet (7) to aerated blocks positioning, wherein, described automatic claying device
(5) parallel to each other with described hydraulic pressure brick cutter (6) and all arrange across described brick folding pallet (7), described pair four-axle linked controls
System (4) is arranged on described automatic claying device (5), described hydraulic pressure brick cutter (6), the top of described brick folding pallet (7) and institute
State the side of work stage body (1), wherein said double four-axle linked control systems (4) include the first x-axis guide rail (401) and are arranged on
An x servomotor on described first x-axis guide rail (401) and the first x-axis slide block, the second x-axis guide rail (402) and be arranged on
The second x-axis servomotor on described second x-axis guide rail (402) and the second x-axis slide block, y-axis guide rail (403) and be arranged on institute
State y-axis servomotor on y-axis guide rail (403) and y-axis slide block (405), z-axis telescopic arm (404) and to be arranged on described z-axis flexible
Brick picking manipulators (408) on arm (404), described first x-axis guide rail (401) is by being arranged on described first x-axis guide rail (401)
Interior described first x-axis slide block and described y-axis guide rail (403) are slidably connected, and described second x-axis guide rail (402) passes through setting
Described second x-axis slide block in described second x-axis guide rail (402) and described y-axis guide rail (403) are slidably connected, and described
One x-axis guide rail (401), described y-axis guide rail (403) pass through the first x-axis guide rail supporting frame (410) and described work stage body (1) phase
Even, described second x-axis guide rail (402), y-axis guide rail (403) pass through the second x-axis guide rail supporting frame (411) and described work stage body
(1) it is connected, it is sliding with described y-axis guide rail (404) that described z-axis telescopic arm (404) passes through y-axis slide block (405) via installing plate (406)
Connect dynamicly.
2. a kind of wall-building robot according to claim 1 it is characterised in that described brick picking manipulators (408) by with
It is arranged on the brick picking manipulators installing plate (407) on described z-axis telescopic arm (404) and brick picking manipulators hydraulic cylinder (409)
It is connected with described z-axis telescopic arm (404), and described brick picking manipulators (408) include gripping aerated blocks and are oppositely arranged in parallel
First jaw (4081) and the second jaw (4082).
3. a kind of wall-building robot according to claim 1 is it is characterised in that described brick folding pallet (7) is arranged on pallet
In guide rail (703) and include first pallet gear along (704) and described first pallet gear along (704) be oppositely arranged in parallel second
Pallet gear is along (705), the described first pallet gear of connection along (704) and described second pallet gear along the tray bottom of (705)
(706), be arranged at described tray bottom (706) and be connected with roller bearing screw mandrel (702) the first tray rail, the first tray rail
Slide block, the second tray rail and the second tray rail slide block and the pallet servo electricity driving the movement of described roller bearing screw mandrel (702)
Machine (701).
4. a kind of wall-building robot according to claim 1 is it is characterised in that described automatic claying device (5) is provided with and holds
The leaf that the hopper (501) carrying mud, the impeller (502) being arranged in described hopper (501) and the described impeller of driving (502) rotate
Wheel drive motor (not shown).
5. a kind of wall-building robot according to claim 1 it is characterised in that described hydraulic pressure brick cutter (6) be provided with by
The second gripper shoe (6012) that first gripper shoe (6011) is oppositely arranged in parallel with described first gripper shoe (6011), it is connected institute
State the first gripper shoe 6011) and described second gripper shoe (6012) gripper shoe crossbeam (6013), be arranged on described first support
Fixing blade (602) on plate (6011), the blade hydraulic cylinder (605) being arranged on described second gripper shoe (6012), set
Put the moving blade (603) in described blade hydraulic cylinder (605) end, described blade hydraulic cylinder (605) crosses described
Two gripper shoes (6012) and arrange and described second gripper shoe (6012) is arranged on by blade hydraulic cylinder installing plate (606)
On.
6. a kind of wall-building robot according to claim 1 is it is characterised in that described lifting, translation mechanism (2) include horizontal stroke
Shaft mechanical arm (206), longitudinal axis mechanical arm (201), manipulator for laying brick (204), described transverse axis mechanical arm (206), longitudinal axis mechanical arm
(201) pass through transverse axis mechanical arm support base (205) to connect, described longitudinal axis mechanical arm (201) is led to described manipulator for laying brick (204)
Cross manipulator for laying brick installing plate (203) to connect.
7. a kind of wall-building robot according to claim 6 is it is characterised in that described transverse axis mechanical arm (206) is can
Carry out being provided with transverse axis mechanical arm servomotor and steel wire rope in the mechanical arm of way moving and described transverse axis mechanical arm (206).
8. a kind of wall-building robot according to claim 6 or 7 is it is characterised in that described manipulator for laying brick (206) includes
The installing arm (2041) that is connected with described manipulator for laying brick installing plate (203), hinge (2043), to adjust described hinge (2043) long
The manipulator for laying brick hydraulic cylinder (2043) of degree and described hinged 3rd jaw (2044) and described installing arm
(2041) the 4th jaw (2045) connecting.
9. a kind of wall-building robot according to claim 1 is it is characterised in that described brick car transfer mechanism (3) is arranged to
By being arranged in described stage body support first guide rail (104) the first brick car transfer slide block and being arranged on described stage body support second
The second brick car transfer slide block in guide rail (105) is led with described stage body support first guide rail (104) and described stage body support second
The rectangle profile structure that rail (105) matches, is provided with semicircle parallel relative one above described brick car transfer mechanism (3)
To sheet material, between the pair of sheet material, constitute the draw-in groove (301) buckling brick car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620504905.7U CN205894721U (en) | 2016-05-30 | 2016-05-30 | Wall building robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620504905.7U CN205894721U (en) | 2016-05-30 | 2016-05-30 | Wall building robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205894721U true CN205894721U (en) | 2017-01-18 |
Family
ID=57766572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620504905.7U Expired - Fee Related CN205894721U (en) | 2016-05-30 | 2016-05-30 | Wall building robot |
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| CN (1) | CN205894721U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865140A (en) * | 2017-04-18 | 2017-06-20 | 东莞市鹏翼自动化科技有限公司 | A kind of automation conveying equipment |
| CN107542276A (en) * | 2017-09-21 | 2018-01-05 | 曹丽美 | A kind of intelligent wall-building machine |
| CN107558747A (en) * | 2017-09-10 | 2018-01-09 | 孟庆仕 | A kind of intelligent wall-building robot |
| CN107700858A (en) * | 2017-09-21 | 2018-02-16 | 曹丽美 | A kind of wall-building machine with automatic charging function |
| CN110593587A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Automatic wall building system |
| CN111051013A (en) * | 2016-07-15 | 2020-04-21 | 快砖知识产权私人有限公司 | Path correction for end effector control |
| CN112482797A (en) * | 2020-11-15 | 2021-03-12 | 黄健辉 | Automatic brick laying system for building construction |
-
2016
- 2016-05-30 CN CN201620504905.7U patent/CN205894721U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111051013A (en) * | 2016-07-15 | 2020-04-21 | 快砖知识产权私人有限公司 | Path correction for end effector control |
| CN111051013B (en) * | 2016-07-15 | 2024-03-12 | 快砖知识产权私人有限公司 | Path correction for end effector control |
| CN106865140A (en) * | 2017-04-18 | 2017-06-20 | 东莞市鹏翼自动化科技有限公司 | A kind of automation conveying equipment |
| CN107558747A (en) * | 2017-09-10 | 2018-01-09 | 孟庆仕 | A kind of intelligent wall-building robot |
| CN107542276A (en) * | 2017-09-21 | 2018-01-05 | 曹丽美 | A kind of intelligent wall-building machine |
| CN107700858A (en) * | 2017-09-21 | 2018-02-16 | 曹丽美 | A kind of wall-building machine with automatic charging function |
| CN110593587A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Automatic wall building system |
| CN112482797A (en) * | 2020-11-15 | 2021-03-12 | 黄健辉 | Automatic brick laying system for building construction |
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