CN209227839U - A kind of equipment for building keel partition wall - Google Patents
A kind of equipment for building keel partition wall Download PDFInfo
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- CN209227839U CN209227839U CN201821528387.8U CN201821528387U CN209227839U CN 209227839 U CN209227839 U CN 209227839U CN 201821528387 U CN201821528387 U CN 201821528387U CN 209227839 U CN209227839 U CN 209227839U
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- 238000005192 partition Methods 0.000 title claims abstract description 43
- 238000010276 construction Methods 0.000 claims abstract description 91
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 56
- 239000010959 steel Substances 0.000 claims abstract description 56
- 239000003463 adsorbent Substances 0.000 claims abstract description 29
- 239000002131 composite material Substances 0.000 claims abstract description 24
- 238000010521 absorption reaction Methods 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 8
- 210000002683 foot Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000000354 decomposition reaction Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000011265 semifinished product Substances 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 241000565675 Oncomelania Species 0.000 description 1
- 230000002745 absorbent Effects 0.000 description 1
- 239000002250 absorbent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000006071 cream Substances 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The utility model provides a kind of equipment for building keel partition wall, the equipment includes control system, construction robot and composite tool, clamp device and adsorbent equipment are integrated on the composite tool, construction robot, which is controlled, by control system executes corresponding order, so that construction robot cooperation clamp device clamps lightgage steel joist jointly, and lightgage steel joist is placed into specified station；Meanwhile the construction robot can also cooperate the adsorbent equipment adsorb jointly crawl plasterboard, so that lightgage steel joist and plasterboard are mutually aligned, secured the two together later so that plasterboard is placed on specified station.The equipment realizes the automatic installation of light steel keel partition by matched composite tool based on construction robot under control of the control system, compared with artificial, improves construction efficiency, while construction quality is more unified；In addition, requirement of the equipment to environment is lower, can continue to construct under high temperature or low temperature environment.
Description
Technical field
The utility model belongs to the realm of building construction more particularly to a kind of equipment for building keel partition wall.
Background technique
With the cumulative year after year of value of construction output, while it is consistent to be faced with Frequent Accidents, lack of labor, construction reference again
Poor, the ever-increasing pressure of labor cost of property.At the same time, robot technology has significant progress, with robot technology
It is more and more for the various equipments of core, in the new direction that various industries lead technology to develop.
Robot technology is introduced into construction industry, forms the construction robot with professional building function, is to solve building
One of the effective way of industry problems.Although the industrial application of robot is in manufacturing industry, relative maturity, building are set
Meter, production, the industrial grade robotic people of construction stage application are still in blank stage.Currently, domestic light steel keel partition is mainly answered
Used in places such as hotel, terminal, passenger station, station, old building remodelings, building course is all by being accomplished manually.Lightgage steel joist
Partition wall have it is light-weight, intensity is high, fire resistance is good, versatile and simple to install characteristic, have shockproof, dust-proof, sound insulation, suction
Sound, constant temperature and other effects.However, installation procedure is complex, the part category being related to is more, moreover, not applying still at present
The precedent of robot construction light steel keel partition.
Construction robot in the world includes Robot, wall-building robot, prefabricated board robot, Work machine at present
People, girder steel welding robot, concrete ejection machine people, cleaning robot, tunnelling machine people, robot for disassembling work etc., very
More construction robots are the pre-stage test stage, and the construction robot type of large-scale application is few.
Currently, the construction of light steel keel partition is primarily present following shortcoming: the first, installing mainly by being accomplished manually
The cost of labor of personnel is higher；The second, process flow is complicated, and it is longer to expend the time；Exist between third, the technology of installation personnel
Difference leads to the construction quality disunity of partition wall；4th, installation personnel is higher to environmental requirement, leads to high-temperature temperature or other
It is not suitable for not can be carried out continuous construction in the environment of operation.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of equipment for building keel partition wall, it is intended to solve existing
Some light steel keel partition construction efficiency are lower, and construction quality is irregular, to the higher problem of environmental requirement.
In order to solve the above technical problems, the utility model is realized in this way, a kind of equipment for building keel partition wall, packet
It includes:
Control system；
Construction robot, the construction robot are electrically connected with the control system, and the control system is to the building
Robot sends control instruction, and the construction robot receives the control instruction and executes corresponding movement；
Composite tool, the composite tool are removably mounted on the mechanical arm of the construction robot, described compound
Tool includes main frame, is equipped with clamp device and adsorbent equipment on the main frame；The clamp device and adsorbent equipment are equal
It is electrically connected with the control system, the control system controls the mechanical arm of the construction robot and the clamp device is total to
With clamping lightgage steel joist, and it is placed on specified station；The control system controls mechanical arm and the institute of the construction robot
It states adsorbent equipment and adsorbs crawl plasterboard jointly, and be placed on the specified station, and by the stone in the specified station
Cream plate is connected on the lightgage steel joist.
Further, the composite tool further includes automatic screw-driving device, and the automatic screw-driving device is mounted on institute
It states on main frame, and the automatic screw-driving device is electrically connected with the control system, the control system controls the building
The mechanical arm of robot drives the automatic screw-driving device to be successively moved to each the turn of the screw station, when the automatically stubborn spiral shell
After silk device is moved to the turn of the screw station, the control system controls the automatic screw-driving device automatic screw-driving, with
The plasterboard is fixed on the lightgage steel joist.
Further, the main frame includes bottom plate, vertically extends several mounting plates, institute towards the same side on the bottom plate
It states adsorbent equipment and clamp device is detachably mounted on the mounting plate, and the absorption end edge of the adsorbent equipment and peace
The parallel direction reciprocable of the extending direction of loading board, to adjust between the absorption end of the adsorbent equipment and the bottom plate
Distance；The clamping end edge of the clamp device direction perpendicular with the extending direction of mounting plate is retractable to be moved, to clamp
Or unclamp the lightgage steel joist.
Further, the clamp device includes at least two gripper assemblies, each gripper assembly includes that guide rail is sliding
The parallel finger cylinder of platform and two clamping plates, the parallel finger cylinder of the guide rail slide unit has the first guide rail and two sliding blocks, described
Two sliding blocks are mounted on first guide rail in which can be movable relatively, and the two clamping plates are removably mounted on described two respectively
On a sliding block；The parallel finger cylinder of the guide rail slide unit is electrically connected with the control system, is led described in the control system control
The parallel finger cylinder of rail slide unit drives two sliding blocks close to each other or is located remotely from each other, the two clamping plates it is correspondingly close to each other or
It is located remotely from each other, with lightgage steel joist described in clamp or release.
Further, the adsorbent equipment includes at least two Suction cup assemblies, each Suction cup assembly includes sucker, takes out
Vacuum plant and the first flexible power source；The first flexible power source is mounted on the mounting plate, the sucker installation
In the power output end of the described first flexible power source, the vacuum evacuation device is connect with the sucker by pipeline, and described
Vacuum evacuation device and the first flexible power source are electrically connected with the control system, and the control system control described first is flexible
Power source drives the sucker to move back and forth along the direction parallel with the extending direction of mounting plate, and the control system controls
The vacuum evacuation device is vacuumized, and plasterboard crawl is adsorbed on the sucker.
Further, the automatic screw-driving device is stretched including the first fixed plate, the second fixed plate, the second guide rail, second
The flexible power source of contracting power source, third, automatic screw-driving rifle and nails introducer；
First fixed plate is mounted on the bottom plate, and second guide rail is mounted in first fixed plate, and
Second guide rail is parallel with the extending direction of the mounting plate, and second fixed plate is mounted on described with being reciprocally moveable
On second guide rail, the second flexible power source is mounted in first fixed plate, and the second flexible power source is dynamic
Power output end is connect with second fixed plate；
The flexible power source of the third and automatic screw-driving rifle are installed in second fixed plate, and the nails introducer
It is connect with the automatic screw-driving rifle, screw is sent into automatic screw-driving rifle；The power output of the flexible power source of the third
End is protruded into inside the automatic screw-driving rifle, and is moved back and forth along the direction parallel with the extending direction of mounting plate, when described
After screw is sent into automatic screw-driving rifle by nails introducer, the power output end of the flexible power source of the third is along the extension side of mounting plate
To stretching, to support the screw that the nails introducer is sent into automatic screw-driving rifle, after the screw is tightened, the third is stretched
The power output end of contracting power source retracts to original position；
The second flexible power source, third stretch power source, automatic screw-driving rifle and nails introducer with the control
System electrical connection.
Further, the equipment further includes mobile chassis, and the mobile chassis includes platform and driving device, described flat
Platform is placed on above the driving device, and the control system, construction robot are both placed on the platform.
Further, the mobile chassis further includes several support foots, and one end of the support foot is fixed on the platform, institute
The other end for stating support foot is scalable along the vertical direction, and is respectively supported on ground or mutually separates with ground.
Compared with prior art, beneficial effect is the utility model: a kind of construction keel partition wall of the utility model
Equipment comprising control system, construction robot and composite tool are integrated with clamp device and absorption on the composite tool
Device controls construction robot by control system and executes corresponding order, so that construction robot cooperation clamp device is common
Lightgage steel joist is clamped, and lightgage steel joist is placed into specified station；Meanwhile the construction robot can also cooperate the absorption to fill
Common absorption crawl plasterboard is set, so that plasterboard is placed on specified station, so that lightgage steel joist and plasterboard are mutually aligned,
It secures the two together later.The equipment is based on construction robot, by matched composite tool in control system
The automatic installation that light steel keel partition is realized under the control of system improves construction efficiency, while construction quality compared with artificial
It is more unified；In addition, requirement of the equipment to environment is lower, can continue to construct under high temperature or low temperature environment.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the equipment of construction keel partition wall of the utility model first embodiment；
Fig. 2 is the structural schematic diagram of composite tool in Fig. 1；
Fig. 3 is the decomposition texture schematic diagram of Fig. 2；
Fig. 4 is the decomposition texture schematic diagram of gripper assembly in Fig. 3；
Fig. 5 is the decomposition texture schematic diagram of absorbent module in Fig. 3；
Fig. 6 is the structural schematic diagram of automatic screw-driving device in Fig. 3；
Fig. 7 is a kind of structural schematic diagram of the equipment of construction keel partition wall of the utility model second embodiment；
Fig. 8 is a kind of flow chart of method for building keel partition wall provided by the embodiment of the utility model.
In the accompanying drawings, each appended drawing reference indicates:
100, the equipment of keel partition wall is built；10, control system；20, construction robot；30, composite tool；21, mechanical
Arm；31, main frame；32, clamp device；33, adsorbent equipment；34, automatic screw-driving device；311, bottom plate；312, mounting plate；
321, the parallel finger cylinder of guide rail slide unit；322, clamping plate；3211, the first guide rail；3212, sliding block；331, sucker；332, first stretches
Contracting power source；341, the first fixed plate；342, the second fixed plate；343, the second guide rail；344, the second flexible power source；345,
Three flexible power sources；346, automatic screw-driving rifle；40, mobile chassis；41, platform；42, driving device；43, support foot.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present application, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Embodiment one:
Fig. 1 is please referred to, for a kind of equipment 100 for building keel partition wall provided by the embodiment of the utility model comprising control
System 10, construction robot 20 and composite tool 30 processed.Control system 10 in the present embodiment is PLC (Programmable
Logic Controller, programmable logic controller (PLC)), for sending control to the construction robot 20 and composite tool 30
System instruction carries out cooperative motion to control the construction robot 20 and composite tool 30, but is not limited to the control system
The type of system 10.
Specifically, the construction robot 20 is electrically connected with the control system 10, the control system 10 is built to described
It builds robot 20 and sends control instruction, the construction robot 20 receives the control instruction and executes corresponding movement.At this
In embodiment, the construction robot 20 is existing industrial robot-ABB IRB2600-1.65/20, when the building machine
Device people 20 transports to after construction site, writes program according to the construction process of light steel keel partition in advance, then carries out scene
Operation, the personnel for being responsible for the operation of robot are not only responsible for operation robot, and are also responsible for the place of robot in special circumstances
Science and engineering is made.
Referring to Fig. 2 and Fig. 3, the composite tool 30 is removably mounted on the mechanical arm 21 of the construction robot 20
On, the composite tool 30 includes main frame 31, is equipped with clamp device 32 and adsorbent equipment 33 on the main frame 31.Specifically
, the main frame 31 includes bottom plate 311, vertically extends several mounting plates 312 towards the same side on the bottom plate 311, described
Clamp device 32 and adsorbent equipment 33 are detachably mounted on the mounting plate 312.The clamping end of the clamp device 32
The edge direction perpendicular with the extending direction of mounting plate 312 is retractable to be moved, with clamp or release lightgage steel joist；Meanwhile it is described
The absorption end of adsorbent equipment 33 is along the direction reciprocable parallel with the extending direction of mounting plate 312, to adjust the suction
The distance between the absorption end of adsorption device 33 and the bottom plate 311, so that it is dry to avoid adsorbent equipment 33 and clamp device 32 from generating
It relates to.
The clamp device 32 and adsorbent equipment 33 are electrically connected with the control system 10, and the control system 10 controls
Clamping lightgage steel joist (not shown) jointly of the mechanical arm 21 and the clamp device 32 of the construction robot 20, and be placed on
Specified station.Meanwhile the control system controls the mechanical arm 21 of the construction robot 20 and the adsorbent equipment 33 is total to
With absorption crawl plasterboard (not shown), and it is placed on specified station, so that the plasterboard and the lightgage steel joist are mutually right
Together, it is then secured the two together by screw.
To further increase the construction efficiency of light steel keel partition and realizing the diversification of 20 function of construction robot,
In the present embodiment, the equipment 100 for building keel partition wall also has some auxiliary equipment, such as: in the construction robot
A tool rack (not shown) is arranged in 20 side, is placed with several Quick Release tools, on the tool rack so that robot is fast
Speed installs other tools and carries out other operations.Meanwhile the other side of the construction robot 20 is equipped with a tooling platform and (does not scheme
Show), the accessory of several lightgage steel joists is placed on the tooling platform, before construction, by the construction robot 20 described
The accessory of several lightgage steel joists is assembled on tooling platform, forms the lightgage steel joist of completion, so as to subsequent processing use.
In the above-described embodiments, the clamp device 32 includes at least two gripper assemblies, referring to Fig. 4, each clamping
Component includes the parallel finger cylinder 321 of guide rail slide unit and two clamping plates 322, and the parallel finger cylinder 321 of the guide rail slide unit has
There are the first guide rail 3211 and two sliding blocks 3212, described two sliding blocks 3212 are mounted on first guide rail in which can be movable relatively
On 3211, the two clamping plates 322 are removably mounted on respectively on described two sliding blocks 3212, and the guide rail slide unit is parallel
Finger cylinder 321 is electrically connected with the control system 10.In the present embodiment, the parallel finger cylinder 321 of the guide rail slide unit passes through
In the market directly obtained by purchase.
When specifically used, the construction robot 20 is controlled by the control system 10 and is moved, so that construction robot
20 mechanical arm 21 drives the clamp device 32 to be moved at assembled lightgage steel joist；Then, the control system 10 is controlled
Making the parallel finger cylinder 321 of the guide rail slide unit drives two sliding blocks 3212 close to each other, and then drives the two clamping plates 322
It is correspondingly close to each other, so that lightgage steel joist be clamped；Subsequently, the control system 10 controls the construction robot 20
Mechanical arm drives clamping to have the clamp device 32 of lightgage steel joist to be moved to specified station；Finally, the control system 10 controls institute
Stating the parallel finger cylinder 321 of guide rail slide unit drives two sliding blocks 3212 to be located remotely from each other, and then drives the two clamping plates 322 corresponding
Ground is located remotely from each other, so that lightgage steel joist is placed on specified station.
It should be noted that the structure type of the gripper assembly is only a kind of preferable embodiment in the present embodiment, but
It is not limited to such structure.Such as: one piece of clamping plate mobile with output shaft is connected on the output shaft of common cylinder, is then existed
One piece of fixed clamping plate is set on cylinder, the function of clamp or release lightgage steel joist also may be implemented；Alternatively, being cooperated by motor
Screw rod, nut form realize stretching motion, and clamping plate is set in place, enables two clamping plates open and close movements
?.
The adsorbent equipment 33 includes at least two Suction cup assemblies, and referring to Fig. 5, each Suction cup assembly includes sucker
331, vacuum evacuation device (not shown) and the first flexible power source 332.The first flexible power source 332 is mounted on the peace
In loading board 312, the sucker 331 is mounted on the power output end of the described first flexible power source 332, the vacuum evacuation device with
The sucker 331 by pipeline connect, and the vacuum evacuation device and the first flexible power source 332 with the control system 10
Electrical connection.
When specifically used, construction robot 20 is controlled by the control system 10 and is moved, so that construction robot 20
Mechanical arm 21 drives the adsorbent equipment 33 to be moved at plasterboard；Then, it is flexible to control described first for the control system 10
Power source 332 drives the sucker 331 to stretch out preset distance along the direction parallel with the extending direction of mounting plate 312, and makes
It obtains the sucker 331 to be in contact with plasterboard, to avoid adsorbent equipment 33 when absorption grabs plasterboard, be filled with the clamping
Set 32 generations interference；Subsequently, the control system 10 controls the vacuum evacuation device and carries out vacuum pumping, so that the suction
The absorption of disk 331 grabs the plasterboard；Finally, the mechanical arm 21 that the control system 10 controls the construction robot 20 drives
The adsorbent equipment 33 is moved to specified station, and controls the vacuum evacuation device stopping and vacuumize, so that the plasterboard pastes
It closes in the side of the lightgage steel joist, and the plasterboard is mutually aligned with the lightgage steel joist.
For the fixed efficiency for improving plasterboard and lightgage steel joist, in the present embodiment, the composite tool 30 further includes certainly
Dynamic screwing device 34, the automatic screw-driving device 34 is mounted on the main frame 31, and the automatic screw-driving device
34 are electrically connected with the control system 10, and the mechanical arm 21 that the control system 10 controls the construction robot 20 drives described
Automatic screw-driving device 34 is successively moved to each the turn of the screw station, when the automatic screw-driving device 34 is moved to described twist
After screw station, the control system 10 controls 34 automatic screw-driving of automatic screw-driving device, and the plasterboard is consolidated
It is scheduled on the lightgage steel joist, to improve the efficiency of the turn of the screw, has saved cost of labor.
Specifically, referring to Fig. 6, the automatic screw-driving device 34 includes the first fixed plate 341, the second fixed plate 342, the
The flexible power source 345 of two guide rails 343, the second flexible power source 344, third, automatic screw-driving rifle 346 and nails introducer (are not schemed
Show).
First fixed plate 341 is mounted on the bottom plate 311, and it is solid that second guide rail 343 is mounted on described first
On fixed board 341, and second guide rail 343 is parallel with the extending direction of the mounting plate 312.Second fixed plate 342
It is mounted on being reciprocally moveable on second guide rail 343, the second flexible power source 344 is mounted on first fixed plate
On 341, and the power output end of the second flexible power source 344 is connect with second fixed plate 342, so that described
Second flexible power source 344 is able to drive second fixed plate 342 and moves back and forth on second guide rail 343.
The flexible power source 345 of the third and automatic screw-driving rifle 346 are installed in second fixed plate 342, and
The nails introducer is connect with the automatic screw-driving rifle 346, by screw feeding automatic screw-driving rifle 346 (not shown)；At this
In embodiment, the nails introducer is directly to buy gained on the market.The power output end of the flexible power source 345 of the third protrudes into
It inside the automatic screw-driving rifle 346, and is moved back and forth along the direction parallel with the extending direction of mounting plate 312, when described
After screw is sent into automatic screw-driving rifle 346 by nails introducer, the power output end of the flexible power source 345 of the third is along mounting plate
312 extending direction stretches out, to support the screw that the nails introducer is sent into automatic screw-driving rifle 346；When the screw is screwed
Next, the power output end of the flexible power source 345 of the third retracts to original position, prepares to support screw next time.
The second flexible power source 344, third stretch power source 345, automatic screw-driving rifle 346 and nails introducer with
The control system 10 is electrically connected.When specific works, moved firstly, the control system 10 controls the construction robot 20,
So that the mechanical arm 21 of construction robot 20 drives the automatic screw-driving device 34 to be moved at corresponding the turn of the screw station；So
Afterwards, the power output end that the control system 10 controls the described second flexible power source 344 stretches out preset distance, to drive institute
It states the second fixed plate 342 and stretches out preset distance on second guide rail 343, it is described automatic to avoid during oncomelania silk
Screwing device 34 and clamp device 32 or adsorbent equipment 33 generate interference；Subsequently, the control system 10 controls described send
It follows closely device screw is sent into automatic screw-driving rifle 346；Subsequently, the control system 10 controls the flexible power source of the third
345 power output end stretches out, to support the screw that the nails introducer is sent into automatic screw-driving rifle 346, by described automatic
Screw is screwed into corresponding position by the turn of the screw rifle 346；Finally, each component return to primitive age station, is moved in circles with this, until by institute
Until thering is the turn of the screw station to screw on screw.
It should be noted that the equipment 100 of the construction keel partition wall in the present embodiment is mainly used in construction lightgage steel joist
Partition wall, but be used not only for building light steel keel partition.Since the composite tool 30 is detachable, when the construction robot 20
Mechanical arm 21 on change the outfit different front end tools when, which can also be applied to other fields of construction, such as lay bricks, wall
The installation etc. of face ceramic tile.
The equipment 100 of the construction keel partition wall of the utility model embodiment, based on construction robot 20, by matching
The composite tool 30 of set realizes the automatic installation of light steel keel partition under the control of control system 10, compared with artificial, mentions
High construction efficiency, while construction quality is more unified；In addition, requirement of the equipment to environment is lower, it can be in high temperature or low temperature
Continue to construct under environment.
Embodiment two:
Fig. 7 is please referred to, for another equipment 100 for building keel partition wall provided by the embodiment of the utility model comprising
Control system 10, construction robot 20 and composite tool 30.The present embodiment and embodiment one the difference is that, this implementation
The equipment 100 of the construction keel partition wall of example further includes mobile chassis 40, and the entirety of equipment can be realized by the mobile chassis 40
It is mobile.
Specifically, the mobile chassis 40 includes platform 41 and driving device 42, the platform 41 is placed on the driving
42 top of device, the control system 10, construction robot 20 are both placed on the platform 41.Pass through the driving device 42
Control system 10 and construction robot 20 on the platform 41 can be driven to be moved to any position, to improve construction just
Benefit.
Meanwhile the mobile chassis 40 further includes several support foots 43, one end of the support foot 43 is fixed on the platform 41
On, the other end of the support foot 43 is scalable along the vertical direction, and is respectively supported on ground or mutually separates with ground.It utilizes
Several support foots 43 can fix the relative position of the mobile chassis 40, to improve the stability of equipment entirety.
In addition to the foregoing structure, remaining structure and embodiment one are all the same, and details are not described herein for the present embodiment.
Referring to Fig. 8, for a kind of equipment construction using the construction keel partition wall provided by the embodiment of the utility model
The method of keel partition wall, specifically includes the following steps:
Clamping is light jointly for S10, the mechanical arm 21 that construction robot 20 is controlled by control system 10 and clamp device 32
Then the lightgage steel joist is placed into specified station by steel joist；
Absorption is grabbed jointly for S20, the mechanical arm 21 that construction robot 20 is controlled by control system 10 and adsorbent equipment 33
Plasterboard is taken, then the plasterboard is placed on to the side of the lightgage steel joist, so that the plasterboard and the light steel dragon
The side of bone is bonded to each other and is mutually aligned；
S30, the plasterboard and the lightgage steel joist are fixed together by screw, form the light steel of hollow semi-finished product
Keel partition wall；
S40, sound control glass cotton (not shown) is placed on inside the semi-finished product light steel keel partition；
S50, it adsorbs grab again by the mechanical arm 21 and adsorbent equipment 33 of the control construction robot 20 of control system 10
Plasterboard is taken, then the plasterboard is placed on to the other side of the lightgage steel joist, so that the plasterboard and the light steel
The other side of keel is bonded to each other and is mutually aligned；
S60, the plasterboard and the lightgage steel joist are fixed together by screw, complete one piece of lightgage steel joist every
Wall；
S70, step S10-S60 is repeated, is completed until all keel partition walls are built.
In above-mentioned work progress, in the step S30 or step S60, it can also pass through machine by artificial the turn of the screw
Device the turn of the screw.In the present embodiment, automatic screw-driving device 34 is controlled by control system 10 and is started, so that the plasterboard be consolidated
It is scheduled on the lightgage steel joist, to improve the efficiency of the turn of the screw.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (8)
1. a kind of equipment for building keel partition wall characterized by comprising
Control system；
Construction robot, the construction robot are electrically connected with the control system, and the control system is to the construction machine
Human hair send control instruction, and the construction robot receives the control instruction and executes corresponding movement；
Composite tool, the composite tool are removably mounted on the mechanical arm of the construction robot, the composite tool
Including main frame, clamp device and adsorbent equipment are installed on the main frame；The clamp device and adsorbent equipment are and institute
Control system electrical connection is stated, the control system controls the mechanical arm of the construction robot and the clamp device presss from both sides jointly
Lightgage steel joist is taken, and is placed on specified station；The control system control the construction robot mechanical arm and the suction
Adsorption device adsorbs crawl plasterboard jointly, and is placed on the specified station, and by the plasterboard in the specified station
It is connected on the lightgage steel joist.
2. building the equipment of keel partition wall as described in claim 1, which is characterized in that the composite tool further includes automatic twists
Screw device, the automatic screw-driving device are mounted on the main frame, and the automatic screw-driving device and the control
System electrical connection, the mechanical arm that the control system controls the construction robot drive the automatic screw-driving device successively to move
It moves to each the turn of the screw station, after the automatic screw-driving device is moved to the turn of the screw station, the control system
The automatic screw-driving device automatic screw-driving is controlled, the plasterboard is fixed on the lightgage steel joist.
3. building the equipment of keel partition wall as claimed in claim 2, which is characterized in that the main frame includes bottom plate, described
Several mounting plates are vertically extended towards the same side on bottom plate, the adsorbent equipment and clamp device are detachably mounted on described
On mounting plate, and the absorption end edge direction reciprocable parallel with the extending direction of mounting plate of the adsorbent equipment, with
Adjust absorption end and the distance between the bottom plate of the adsorbent equipment；Clamping end edge and the mounting plate of the clamp device
The retractable movement in the perpendicular direction of extending direction, with lightgage steel joist described in clamp or release.
4. building the equipment of keel partition wall as claimed any one in claims 1 to 3, which is characterized in that the clamp device
Including at least two gripper assemblies, each gripper assembly includes the parallel finger cylinder of guide rail slide unit and two clamping plates, described
The parallel finger cylinder of guide rail slide unit has the first guide rail and two sliding blocks, and described two sliding blocks are mounted on described in which can be movable relatively
On first guide rail, the two clamping plates are removably mounted on respectively on described two sliding blocks；The parallel finger of the guide rail slide unit
Cylinder is electrically connected with the control system, and the control system controls the parallel finger cylinder of the guide rail slide unit and drives two sliding blocks
Close to each other or be located remotely from each other, the two clamping plates are correspondingly close to each other or are located remotely from each other, with light steel described in clamp or release
Keel.
5. building the equipment of keel partition wall as claimed in claim 3, which is characterized in that the adsorbent equipment includes at least two
Suction cup assembly, each Suction cup assembly include sucker, vacuum evacuation device and the first flexible power source；Described first is flexible dynamic
Power source is mounted on the mounting plate, and the sucker is mounted on the power output end of the described first flexible power source, described to take out very
Empty device is connect with the sucker by pipeline, and the vacuum evacuation device and the first flexible power source with the control system
Electrical connection, the control system control the described first flexible power source and drive the sucker along equal with the extending direction of mounting plate
Capable direction moves back and forth, and the control system controls the vacuum evacuation device and vacuumized, and the plasterboard is grabbed
It takes and is adsorbed on the sucker.
6. building the equipment of keel partition wall as claimed in claim 3, which is characterized in that the automatic screw-driving device includes the
One fixed plate, the second fixed plate, the second guide rail, the second flexible power source, third, which are stretched, power source, automatic screw-driving rifle and to be sent
Follow closely device；
First fixed plate is mounted on the bottom plate, and second guide rail is mounted in first fixed plate, and described
Second guide rail is parallel with the extending direction of the mounting plate, and second fixed plate is mounted on described second with being reciprocally moveable
On guide rail, the second flexible power source is mounted in first fixed plate, and the power of the second flexible power source is defeated
Outlet is connect with second fixed plate；
The flexible power source of the third and automatic screw-driving rifle are installed in second fixed plate, and the nails introducer and institute
The connection of automatic screw-driving rifle is stated, screw is sent into automatic screw-driving rifle；The power output end of the flexible power source of the third is stretched
Enter inside the automatic screw-driving rifle, and moved back and forth along the direction parallel with the extending direction of mounting plate, send nail when described
After screw is sent into automatic screw-driving rifle by device, the power output end of the flexible power source of the third is stretched along the extending direction of mounting plate
Out, to support the screw that the nails introducer is sent into automatic screw-driving rifle, after the screw is tightened, the third is flexible dynamic
The power output end in power source retracts to original position；
The second flexible power source, third stretch power source, automatic screw-driving rifle and nails introducer with the control system
Electrical connection.
7. building the equipment of keel partition wall as described in claim 1, which is characterized in that the equipment further includes mobile chassis,
The mobile chassis includes platform and driving device, and the platform is placed on above the driving device, and the control system is built
Robot is built to be both placed on the platform.
8. building the equipment of keel partition wall as claimed in claim 7, which is characterized in that the mobile chassis further includes several supports
Foot, one end of the support foot is fixed on the platform, and the other end of the support foot is scalable along the vertical direction, and corresponding twelve Earthly Branches
Support mutually separates on the ground or with ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821528387.8U CN209227839U (en) | 2018-09-18 | 2018-09-18 | A kind of equipment for building keel partition wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821528387.8U CN209227839U (en) | 2018-09-18 | 2018-09-18 | A kind of equipment for building keel partition wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209227839U true CN209227839U (en) | 2019-08-09 |
Family
ID=67498856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821528387.8U Expired - Fee Related CN209227839U (en) | 2018-09-18 | 2018-09-18 | A kind of equipment for building keel partition wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209227839U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109162384A (en) * | 2018-09-18 | 2019-01-08 | 中建科技有限公司深圳分公司 | A kind of equipment and method of construction for building keel partition wall |
| CN110594836A (en) * | 2019-09-18 | 2019-12-20 | 浙江发恩集成房屋有限公司 | Prefabricated plate material injection and nail insertion integrated equipment |
-
2018
- 2018-09-18 CN CN201821528387.8U patent/CN209227839U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109162384A (en) * | 2018-09-18 | 2019-01-08 | 中建科技有限公司深圳分公司 | A kind of equipment and method of construction for building keel partition wall |
| CN109162384B (en) * | 2018-09-18 | 2024-01-09 | 中建科技有限公司深圳分公司 | Equipment and method for building keel partition wall |
| CN110594836A (en) * | 2019-09-18 | 2019-12-20 | 浙江发恩集成房屋有限公司 | Prefabricated plate material injection and nail insertion integrated equipment |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200602 Address after: 221000 west side of West jingsan Road, Xuzhou Industrial Park, Xuzhou City, Jiangsu Province Patentee after: China Construction Technology Xuzhou Co.,Ltd. Address before: 518000 Huatai Road Training Building, Nanshan District, Shenzhen City, Guangdong Province, 3rd Floor Patentee before: CHINA CONSTRUCTION SCIENCE & TECHNOLOGY GROUPCO Ltd. SHENZHEN BRANCH |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190809 |