CN209211612U - A kind of building element, robot and building element installation system - Google Patents
A kind of building element, robot and building element installation system Download PDFInfo
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- CN209211612U CN209211612U CN201821756355.3U CN201821756355U CN209211612U CN 209211612 U CN209211612 U CN 209211612U CN 201821756355 U CN201821756355 U CN 201821756355U CN 209211612 U CN209211612 U CN 209211612U
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- building element
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- locating piece
- controller
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Abstract
Robot and building element installation system the utility model discloses a kind of building element, for installing the building element.The building element includes building element ontology, and the building element ontology is column, and the side of the building element ontology is equipped with locating piece, and the locating piece is made of feeromagnetic metal；The robot includes chassis, elevating mechanism, the first controller and electromagnet adsorbent equipment equipped with movement mechanism；The building element installation system includes tower crane and the robot, the tower crane and robot communication.The utility model is being arranged the locating piece made of ferromagnetic material in building element side, then locating piece is sucked by the robot for being equipped with electromagnet adsorbent equipment, to guide building element to correct installation site, the utility model replacement's work is operated, and has ensured the safety of worker.The utility model can be widely applied to Building technology.
Description
Technical field
The utility model relates to Building technology, especially a kind of building element, robot and building element installation system.
Background technique
Now with the development of Building technology, much newly-built building is all applied with modular building element
Work allows the construction of building simple as playing with building blocks.Building building element used is built, is produced in the factory
It transports after coming to construction site and is installed.
It, generally can be in the reserved peace in building element bottom in order to guarantee to be able to carry out connection between building element and building element
Dress hole, and the reserved steel bar at the top of building element.In this way, mounting hole and reinforcement installation can be passed through between two building elements
Together, then construction personnel can from the glue orifice of building element side toward the junction encapsulating water of two building elements or
The substances such as cement are fixedly connected with two building elements.
In building element installation, building element is hung above scheduled installation site generally by loop wheel machine, due to
The visual field of loop wheel machine driver receives limitation and loop wheel machine precision is limited, can only hang building element above rough position, so
Finely tune the position and direction of building element by three or four workers again afterwards.By manually being operated, if there is event in loop wheel machine
Barrier, building element is easy to pound worker, dangerous.Therefore we need a kind of building element that can be convenient for mechanical erection, with
And the equipment or system of this building element of installation.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is that: providing one kind can building by mechanical erection
Build component, robot and building element installation system for installing the building element.
The first technical solution that the utility model is taken is:
A kind of building element, including building element ontology, the building element ontology are column, the building element ontology
Bottom be equipped with several mounting holes, the top of the building element ontology is equipped with several exposed reinforcing bars, the building structure
The side of part ontology is equipped at least one locating piece, and the locating piece is made of feeromagnetic metal.
Further, the locating piece includes first part and second part, and the first part is embedded in building element ontology
Inside, the second part is exposed external in building element sheet, and the second part is equipped with Y-shaped or criss-cross protrusion.
Further, the sunk area for arranging the locating piece, the positioning are additionally provided on the building element ontology
The height of the second part of part is no more than the depth of the sunk area.
Second of technical solution that the utility model is taken is:
It is a kind of for installing the robot of the building element, including being equipped with the chassis of movement mechanism, elevating mechanism and the
One controller, one end of the elevating mechanism are mounted on the chassis, and the other end of the elevating mechanism is inhaled equipped with electromagnet
Adsorption device, the output end of first controller are adsorbed with the input terminal of elevating mechanism, the input terminal on chassis and electromagnet respectively
The input terminal of device connects.
Further, the electromagnet adsorbent equipment is equipped with Y-shaped or criss-cross groove.
Further, the first wireless communication module is also connected on first controller.
It further, further include camera, the output end of the camera is connect with the input terminal of the first controller.
Further, be also equipped with range sensor on the magnetic iron absorption device, the output end of the range sensor with
The input terminal of first controller connects.
The third technical solution that the utility model is taken is:
A kind of building element installation system, including tower crane and the robot, the tower crane include second controller and
Two wireless communication modules, the second controller are connect with the second wireless communication module, second wireless communication module and
One wireless communication module is wirelessly connected.
The beneficial effects of the utility model are: the utility model is made by being arranged in building element side of ferromagnetic material
Locating piece, while chassis, elevating mechanism and the electromagnet adsorbent equipment that can move are equipped in robot, so that construction personnel
It can control robot and building element be sucked, building element is then directed to correct installation site, and cooperate loop wheel machine that will build
It builds component correctly to install, the utility model can substitute manual work, so that construction personnel is safer.
Detailed description of the invention
Fig. 1 is a kind of the schematic diagram of the section structure of the building element of specific embodiment of the utility model；
Fig. 2 is a kind of structural schematic diagram of the locating piece with cross protrusion of specific embodiment of the utility model；
Fig. 3 is a kind of structural schematic diagram of the locating piece with Y-shaped protrusion of specific embodiment of the utility model；
Fig. 4 is a kind of structural schematic diagram of the robot of specific embodiment of the utility model；
Fig. 5 is a kind of module frame chart of the robot of specific embodiment of the utility model；
Fig. 6 is that a kind of structure of the electromagnet adsorbent equipment with cross groove of specific embodiment of the utility model is shown
It is intended to；
Fig. 7 is a kind of module frame chart of the building element installation system of specific embodiment of the utility model.
Specific embodiment
The utility model is further detailed with specific embodiment with reference to the accompanying drawings of the specification.
Referring to Fig.1, a kind of building element, including building element ontology 100, the building element ontology 100 are column, such as
The bottom of cuboid, triangular prism or cylinder etc., the building element ontology 100 is equipped with several mounting holes 101, the building
The top of member bodies 100 is equipped with several exposed reinforcing bars 102, and the side of the building element ontology 100 is equipped at least one
A locating piece 200, the locating piece 200 are made of feeromagnetic metal, such as iron, cobalt, nickel or with this three conjunction as main component
Gold.
Referring to Fig.1, as preferred embodiment, the locating piece 200 includes first part 200a and second part 200b,
Inside the first part 200a insertion building element ontology 100, the second part 200b is exposed in building element ontology 100
Outside, the second part 200b is equipped with Y-shaped or criss-cross raised 201.As shown in Fig. 2, described raised 201 can be ten
Font.As shown in figure 3, described raised 201 are also possible to Y-shaped.Wherein, the protrusion 201 in Fig. 1 is in lateral plan, Fig. 2 and
Protrusion 201 shown in Fig. 3 is in front view.
Referring to Fig.1, as preferred embodiment, in order to facilitate the transport of building element, on the building element ontology 100
It is additionally provided with the sunk area 103 for arranging the locating piece 200, the height of the second part 200b of the locating piece 200 is not
More than the depth of the sunk area 103.The second part 200b of the i.e. described locating piece 200 does not protrude building element ontology 100
Side.Building element heap can be allowed to transport in this way.
It is a kind of for installing the robot of the building element referring to Fig. 4, including being equipped with the chassis 301 of movement mechanism, rising
Descending mechanism 302 and the first controller, one end of the elevating mechanism 302 are mounted on the chassis 301, the elevating mechanism
302 other end is equipped with electromagnet adsorbent equipment 303.The elevating mechanism 302 can be realized using screw structure, can also be adopted
It is realized with hydraulic structure.The movement mechanism can be by crawler belt and motor form, can also by motor and steering wheel group at.Institute
The movements such as robot completes forward-reverse, left and right translates, turns and rotate in place can be driven by stating movement mechanism.Certainly, we
Can also be between electromagnet adsorbent equipment and elevating mechanism, increasing several can be with rotary joint, in order to robot fine tuning
The position of building element and angle.
Before robot work, building element has been hung the top of rough installation site by tower crane.At this point, robot
It moves near building element, and by adjusting the height of electromagnet adsorbent equipment and the posture of adjustment robot, makes electromagnetism
The locating piece of building element is sucked in iron adsorbent equipment, then by adjusting the posture of robot again, to guide building element to arrive
Up to the top of accurate location, then robot passes through elevating mechanism decline synchronous with tower crane.In operation process, robot is only
Play the role of positioning, does not need the weight for undertaking building element substantially.It, can also be by building in practice
The opposite locating piece in multiple 2 positions is set in component, and then by the simultaneously operating of Liang Ge robot, locating effect is more preferable.
The pose adjustment of the robot can pass through artificial remotely controlling.
Referring to Fig. 5, the output end of first controller input terminal and electricity with the input terminal of elevating mechanism, chassis respectively
The input terminal of magnetic iron absorption device connects.The controller rises for controlling bobbin movement, electromagnet adsorbent equipment and control
Descending mechanism lifting.The controller can realize that the control process of controller is not related to software using such as ARM embedded chip
Improvement in method.
As preferred embodiment, locating piece is sucked for the ease of robot, and building element is adjusted by locating piece
Position and angle, the electromagnet adsorbent equipment be equipped with Y-shaped or criss-cross groove.As shown in fig. 6, electromagnet is inhaled
Adsorption device 303 is equipped with criss-cross groove 304.
Referring to Fig. 5, for the ease of remotely controlling, first is also connected on first controller as preferred embodiment
Wireless communication module.
As preferred embodiment, for the ease of remotely controlling, further include camera referring to Fig. 5, the camera it is defeated
Outlet is connect with the input terminal of the first controller.Through this embodiment, construction personnel can be remotely operated by camera.
Referring to Fig. 5, as preferred embodiment, in order to confirm whether electromagnet adsorbent equipment has adsorbed positioning
Part, is also equipped with range sensor on the magnetic iron absorption device, the output end of the range sensor and the first controller
Input terminal connection.The present embodiment can detecte the distance between electromagnet adsorbent equipment and locating piece by range sensor,
Thus it is confirmed that whether the two has been sucked.
Referring to Fig. 7, a kind of building element installation system, including tower crane and the robot, the tower crane include the second control
Device processed and the second wireless communication module, the second controller are connect with the second wireless communication module, second wireless communication
Module and the first wireless communication module are wirelessly connected.
In the present embodiment, tower crane can be synchronous with robot through wireless communication, so that the two control building
The speed sync of component decline, is mounted building element more accurately.
It is to be illustrated to the preferable implementation of the utility model, but the utility model is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
Shape or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (9)
1. a kind of building element, it is characterised in that: including building element ontology, the building element ontology is column, described to build
The bottom for building member bodies is equipped with several mounting holes, and the top of the building element ontology is equipped with several exposed reinforcing bars,
The side of the building element ontology is equipped at least one locating piece, and the locating piece is made of feeromagnetic metal.
2. a kind of building element according to claim 1, it is characterised in that: the locating piece includes first part and second
Part, the first part are embedded in building element body interior, and the second part is exposed external in building element sheet, and described the
Two parts are equipped with Y-shaped or criss-cross protrusion.
3. a kind of building element according to claim 2, it is characterised in that: be additionally provided with and be used on the building element ontology
Arrange the sunk area of the locating piece, the height of the second part of the locating piece is no more than the depth of the sunk area.
4. a kind of for installing the robot of building element as described in claim 1, it is characterised in that: including being equipped with fitness machine
Chassis, elevating mechanism and the first controller of structure, one end of the elevating mechanism are mounted on the chassis, the elevating mechanism
The other end be equipped with electromagnet adsorbent equipment, the output end of first controller respectively with the input terminal of elevating mechanism, chassis
Input terminal connected with the input terminal of electromagnet adsorbent equipment.
5. a kind of robot according to claim 4, it is characterised in that: the electromagnet adsorbent equipment is equipped with Y-shaped
Or criss-cross groove.
6. a kind of robot according to claim 4, it is characterised in that: it is wireless to be also connected with first on first controller
Communication module.
7. a kind of robot according to claim 4, it is characterised in that: it further include camera, the output of the camera
End is connect with the input terminal of the first controller.
8. a kind of robot according to claim 4, it is characterised in that: be also equipped with distance on the magnetic iron absorption device
Sensor, the output end of the range sensor are connect with the input terminal of the first controller.
9. a kind of building element installation system, it is characterised in that: described including tower crane and robot as claimed in claim 6
Tower crane includes second controller and the second wireless communication module, and the second controller is connect with the second wireless communication module, institute
It states the second wireless communication module and the first wireless communication module is wirelessly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821756355.3U CN209211612U (en) | 2018-10-26 | 2018-10-26 | A kind of building element, robot and building element installation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821756355.3U CN209211612U (en) | 2018-10-26 | 2018-10-26 | A kind of building element, robot and building element installation system |
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| Publication Number | Publication Date |
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| CN209211612U true CN209211612U (en) | 2019-08-06 |
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| CN201821756355.3U Active CN209211612U (en) | 2018-10-26 | 2018-10-26 | A kind of building element, robot and building element installation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113914591A (en) * | 2021-10-27 | 2022-01-11 | 易建网科技有限公司 | Modularization intelligent movement scaffold frame |
| CN114220219A (en) * | 2021-12-15 | 2022-03-22 | 北京云迹科技股份有限公司 | Split type vending robot and system |
| CN114241661A (en) * | 2021-12-15 | 2022-03-25 | 北京云迹科技股份有限公司 | Split type vending robot |
-
2018
- 2018-10-26 CN CN201821756355.3U patent/CN209211612U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113914591A (en) * | 2021-10-27 | 2022-01-11 | 易建网科技有限公司 | Modularization intelligent movement scaffold frame |
| CN114220219A (en) * | 2021-12-15 | 2022-03-22 | 北京云迹科技股份有限公司 | Split type vending robot and system |
| CN114241661A (en) * | 2021-12-15 | 2022-03-25 | 北京云迹科技股份有限公司 | Split type vending robot |
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