CN209837736U - Deviation rectifying system is built by laying bricks or stones to wall building robot - Google Patents
Deviation rectifying system is built by laying bricks or stones to wall building robot Download PDFInfo
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- CN209837736U CN209837736U CN201920404840.2U CN201920404840U CN209837736U CN 209837736 U CN209837736 U CN 209837736U CN 201920404840 U CN201920404840 U CN 201920404840U CN 209837736 U CN209837736 U CN 209837736U
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Abstract
The utility model discloses a masonry rectification system of a wall building robot, which comprises a controller, a wall building robot body, an mechanical arm arranged on the wall building robot body, a clamp arranged on the mechanical arm and a Peeskin pole positioned at two sides of the wall building robot body, wherein the Peeskin pole is provided with a laser and a reflector, the clamp is provided with a PSD position sensor and a laser range finder, the laser sends out a light beam to irradiate the PSD position sensor, the PSD position sensor is in signal connection with the controller, and the laser range finder measures the distance between the laser range finder and the reflector on the Peeskin pole and feeds the distance back to the controller; the controller controls the mechanical arm and the clamp to move. The utility model discloses a build the process by laying bricks or stones and provide accurate reference, the robot of building a wall of being convenient for carries out the automation and rectifies, very big improvement the precision of building a wall.
Description
Technical Field
The utility model belongs to the technical field of construction machinery and specifically relates to a machine people builds by laying bricks or stones system of rectifying of building a wall.
Background
The patent application of publication number CN106592991B discloses a light and movable brick laying robot, wherein a top brick laying module uses a lifting module as a shaft to realize circular motion through a rotary supporting disc. When the brick laying robot is used for laying bricks, the wall is easy to lay askew through self program calculation due to system deviation, as shown in figure 1. In the process of building, the building position of each layer of brick body is easy to deviate, so that the brick bodies at two ends of the wall body are uneven, as shown in figure 2.
Disclosure of Invention
An object of the utility model is to provide a deviation correcting system is built by laying bricks or stones to the robot of building a wall, for building a wall the process provides accurate reference, the robot of building a wall of being convenient for carries out automatic deviation rectification to improve the precision of building a wall. In order to achieve the above purpose, the utility model adopts the following technical scheme:
a masonry deviation correcting system of a wall building robot comprises a controller, a wall building robot body, a mechanical arm arranged on the wall building robot body, a clamp arranged on the mechanical arm and a Peter number rod positioned on two sides of the wall building robot body, wherein a laser and a reflector are arranged on the Peter number rod; the controller controls the movement of the mechanical arm and the clamp.
Further, the picot pole include vertical slip table, vertical control motor, slider, horizontal slip table, horizontal control motor and installation pedestal, vertical slip table be connected with vertical control motor, the slider install on vertical slip table, vertical control motor control slider reciprocate on vertical slip table and go up and down to link with the arm, horizontal slip table level fix on the slider, horizontal control motor be connected with horizontal slip table, the activity of installation pedestal locate on horizontal slip table, horizontal control motor control installation pedestal remove along the horizontal direction on horizontal slip table, laser instrument and reflector panel setting on the installation pedestal.
Preferably, the pith pole still include vertical push rod and be used for with building ceiling or building floor looks butt's first cushion, vertical push rod one end and the end connection of vertical slip table, the other end is connected with first cushion.
Preferably, the pith rod further comprises a sleeve, a screw rod and a second cushion block used for being abutted to a building floor slab or a building ceiling, the sleeve is located at the other end portion, away from the vertical push rod, of the vertical sliding table, one end of the screw rod is sleeved in the sleeve and can rotate and move along the sleeve to adjust the height, and the other end of the screw rod is connected with the second cushion block.
Preferably, the front of the PSD position sensor is additionally provided with a filter and a convex lens, and the convex lens is positioned on the outermost surface.
Wherein, the pole is installed in the position department outside 20mm apart from waiting to build a wall to the skin number pole.
Furthermore, perpendicularity detectors are mounted on two sides of the pole.
Due to the adoption of the structure, the utility model discloses following beneficial effect has:
1. the utility model discloses install the light beam that PSD position sensor received the pole liquid optical device of skin number and sent as the reference on building by laying bricks or stones the in-process through anchor clamps to establish the coordinate, with obtaining anchor clamps deviation distance and angle, feed back the offset to the controller, through the controller again control arm motion elimination deviation, thereby ensure that the brick body is on same perpendicular. The distance between the clamp and the leather counting rod is measured through the laser range finder and is sent to the control center, so that when each layer of brick body is built by the control mechanical arm, each brick is ensured to be located at a preset position, the position deviation is eliminated, and the building accuracy is greatly improved.
2. The utility model discloses a pole is counted to skin includes vertical slip table and horizontal slip table for the adjustment of vertical direction and horizontal direction can be realized to laser instrument and reflector panel, can cooperate the wall building robot to realize that the not wall body of co-altitude is built by laying bricks or stones, and it is convenient to adjust.
3. Through setting up vertical push rod and first cushion, make the pole of skin number and floor ceiling butt, can guarantee the vertical state of pole of skin number. Through setting up sleeve, lead screw and second cushion, can make the skin number pole under crooked condition, can realize the fine setting to guarantee that the skin number pole is in vertical state.
4. The front of the PSD position sensor is additionally provided with the optical filter and the convex lens, so that the external light wave interference can be reduced, and the light source detection range is enlarged.
Drawings
Fig. 1 is a schematic diagram of a wall body in a distorted building condition in the background art.
Fig. 2 is a schematic diagram of the positional deviation of each layer of brick masonry in the background art.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is a front view of fig. 3.
Fig. 5 is a schematic left side view of fig. 4.
Fig. 6 is a schematic view showing a state of use when the upper wall body of fig. 5 is laid.
Fig. 7 is an enlarged schematic view at E of fig. 3.
Fig. 8 is an enlarged schematic view at F of fig. 3.
Description of the main component symbols:
1: wall building robot body, 2: mechanical arm, 3: a clamp, 4: pole for skin number, 5: laser, 6: reflector, 7: PSD position sensor, 8: laser range finder, 9: vertical sliding table, 10: vertical control motor, 11: slider, 12: horizontal sliding table, 13: horizontal control motor, 14: installation pedestal, 15: vertical push rod, 16: first block, 17: sleeve, 18: screw rod, 19: and a second cushion block.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 3, the utility model discloses a deviation rectifying system is built by laying bricks or stones to wall building robot, including controller (not shown in the figure), wall building robot body 1, arm 2, anchor clamps 3, picot pole 4, laser instrument 5, reflector panel 6, PSD position sensor 7 and laser range finder 8. Arm 2 sets up on the robot body 1 of building a wall, and anchor clamps 3 are installed on arm 2. The pole 4 is located 1 both sides of the robot body of building a wall. As shown in fig. 4 and 5, A is a building wall column, B is a building ceiling, C is a building floor, D is a wall body to be built, and the piconumber rod 4 is arranged at a position which is away from the wall surface to be built by a distance S which is more than or equal to 20 mm.
A PSD position sensor 7 and a laser range finder 8 are mounted on the jig 3. And an optical filter and a convex lens are additionally arranged in front of the PSD position sensor 7, and the convex lens is positioned on the outermost surface. The optical filter can reduce external light interference, and the convex lens can enlarge the detection range of laser. Referring to fig. 6, a laser 5 and a reflector 6 are mounted on the pitot rod 4. The laser 5 emits light beams to irradiate the PSD position sensor 7, the PSD position sensor 7 is in signal connection with the controller, the laser range finder 8 measures the distance between the laser range finder and the reflector 6 on the pick-up rod 4 and feeds the distance back to the controller, the controller controls the mechanical arm 2 and the clamp 3 to move, and the PSD position sensor 7 and the laser range finder 8 on the clamp 3 move along with the mechanical arm 2.
Referring to fig. 3, 7 and 8, the pitot rod 4 includes a vertical sliding table 9, a vertical control motor 10, a sliding block 11, a horizontal sliding table 12, a horizontal control motor 13, a mounting base 14, a vertical push rod 15, a first cushion block 16, a sleeve 17, a lead screw 18 and a second cushion block 19. The vertical sliding table 9 is connected with a vertical control motor 10, the sliding block 11 is installed on the vertical sliding table 9, and the vertical control motor 10 controls the sliding block 11 to move up and down on the vertical sliding table 9 and to be linked with the mechanical arm 2 in a lifting mode. Horizontal slip table 12 level is fixed on slider 11, and horizontal control motor 13 is connected with horizontal slip table 12, and installation pedestal 14 activity is located on horizontal slip table 12, and horizontal control motor 13 control installation pedestal 14 moves along the horizontal direction on horizontal slip table 12. The laser 5 and the reflector 6 are mounted on the mounting base 14. One end of the vertical push rod 15 is connected with the end part of the vertical sliding table 9, and the other end of the vertical push rod is connected with the first cushion block 16. The sleeve 17 is located at the other end of the vertical sliding table 9 far away from the vertical push rod 15, one end of the screw rod 18 is sleeved in the sleeve 17 and can rotate and move along the sleeve 17 to adjust the height, and the other end of the screw rod 18 is connected with the second cushion block 19. Perpendicularity detectors (not shown in the figure) are mounted on two sides of each pole 4 so as to detect whether the pole 4 is vertically mounted with the ground or not.
As shown in fig. 4 and 5, when the robot is used, two rod with the number of skin 4 are installed on the same vertical surface at the position of a wall to be built, and the two rods with the number of skin 4 are respectively positioned at two sides of the robot body 1 to be built and are away from the wall to be built by a distance S. When the device is installed, the first cushion block 16 of the pitot rod 4 is abutted to the building ceiling B, the length of the vertical push rod 15 is adjusted, the height of the pitot rod 4 is approximately consistent with the height of a floor, and then the pitot rod 4 is accommodated in the distance of the sleeve 17 and the position of the second cushion block 19 through the fine adjustment screw rod 18, so that the verticality detector displays that the pitot rod 4 is perpendicular to the ground, and the second cushion block 19 is just abutted to the building floor C. When a wall body at the lower part is built, the adjusting slide block 11 is positioned at the bottom end of the vertical sliding table 9, the position of the mounting base 14 on the horizontal sliding table 12 is adjusted, light beams emitted by the laser 5 just irradiate on the PSD position sensor 7 of the clamp, the PSD position sensor 7 learns the distance of the light spots deviating from the zero point of the scale, the deviation distance and the angle of the clamp 3 can be obtained through the bidirectional PSD position sensor 7, deviation is sent to the controller, the controller commands the mechanical arm 2 to move to eliminate deviation, and each brick is ensured to be on the same vertical plane. When the wall is built to the upper part, the position of the adjusting slide block 11 on the vertical sliding table 9 moves upwards along with the mechanical arm 2, so that the laser 5 and the PSD position sensor 7 on the clamp 3 are positioned at the same height. When the wall body is built above the vertical sliding table 9, as shown in fig. 6, the pole 4 with the number of piles is inverted, so that the vertical push rod 15 is positioned at the bottom end, the first cushion block 16 is abutted against the building floor slab C, the corresponding second cushion block 19 is abutted against the building ceiling B, and the correction of the building of the upper wall body can be realized.
In-process of building a wall, when anchor clamps 3 sent the brick to the assigned position, the distance between anchor clamps 3 and reflector panel 6 was measured to laser range finder 8 on anchor clamps 3, and the information transmission that will gather to the controller, when the distance had the deviation, the controller was given an instruction and is eliminated the deviation for arm 2, ensured that every brick is located preset position, guaranteed the side of wall body corner, realized that the tip of every layer of brick is level and smooth.
To sum up, the utility model discloses can correct because the wall body surface unevenness and the unsafe problem in position of mechanical precision and brickwork specification error production, the practicality is good.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.
Claims (7)
1. The utility model provides a deviation correcting system is built by laying bricks or stones to wall building robot which characterized in that: comprises a controller, a wall building robot body, a mechanical arm arranged on the wall building robot body, a clamp arranged on the mechanical arm and a leather number rod positioned at two sides of the wall building robot body, wherein the leather number rod is provided with a laser and a reflecting plate, the clamp is provided with a PSD position sensor and a laser range finder,
the laser emits light beams to irradiate the PSD position sensor, the PSD position sensor is in signal connection with the controller, and the laser range finder measures the distance between the laser range finder and the reflector on the pitot rod and feeds the distance back to the controller; the controller controls the movement of the mechanical arm and the clamp.
2. A masonry deviation correcting system of a walling robot according to claim 1, wherein: the pitot pole include vertical slip table, vertical control motor, slider, horizontal slip table, horizontal control motor and installation pedestal, vertical slip table be connected with vertical control motor, the slider install on vertical slip table, vertical control motor control slider reciprocate on vertical slip table and go up and down to link with the arm, horizontal slip table level fix on the slider, horizontal control motor be connected with horizontal slip table, the activity of installation pedestal locate on the horizontal slip table, horizontal control motor control installation pedestal remove along the horizontal direction on horizontal slip table, laser instrument and reflector panel setting on the installation pedestal.
3. A masonry deviation correcting system of a walling robot according to claim 2, wherein: the rubber counting rod further comprises a vertical push rod and a first cushion block used for being abutted to a building ceiling or a building floor slab, one end of the vertical push rod is connected with the end portion of the vertical sliding table, and the other end of the vertical push rod is connected with the first cushion block.
4. A masonry deviation correcting system of a walling robot according to claim 3, wherein: the rubber counting rod further comprises a sleeve, a screw rod and a second cushion block used for being abutted to a building floor slab or a building ceiling, the sleeve is located at the other end, away from the vertical push rod, of the vertical sliding table, one end of the screw rod is sleeved in the sleeve and can rotate and move along the sleeve to adjust the height, and the other end of the screw rod is connected with the second cushion block.
5. A masonry deviation correcting system of a walling robot according to claim 1, wherein: and the front of the PSD position sensor is additionally provided with an optical filter and a convex lens, and the convex lens is positioned on the outermost surface.
6. A masonry deviation correcting system of a walling robot according to claim 1, wherein: the leather number rod is arranged at a position 20mm away from the wall surface to be built.
7. A masonry deviation correcting system of a walling robot according to claim 1, wherein: and perpendicularity detectors are arranged on two sides of the pole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920404840.2U CN209837736U (en) | 2019-03-28 | 2019-03-28 | Deviation rectifying system is built by laying bricks or stones to wall building robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920404840.2U CN209837736U (en) | 2019-03-28 | 2019-03-28 | Deviation rectifying system is built by laying bricks or stones to wall building robot |
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| CN209837736U true CN209837736U (en) | 2019-12-24 |
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| CN201920404840.2U Active CN209837736U (en) | 2019-03-28 | 2019-03-28 | Deviation rectifying system is built by laying bricks or stones to wall building robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112177365A (en) * | 2020-11-11 | 2021-01-05 | 李维全 | Automatic wall building equipment of environment-friendly composite building blocks |
| CN112711005A (en) * | 2020-12-29 | 2021-04-27 | 深圳市利拓光电有限公司 | Distance measuring device based on laser and control method |
| CN113137077A (en) * | 2020-01-17 | 2021-07-20 | 厦门华蔚物联网科技有限公司 | Wall brick plane automatic deviation rectifying system and method based on depth camera |
-
2019
- 2019-03-28 CN CN201920404840.2U patent/CN209837736U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113137077A (en) * | 2020-01-17 | 2021-07-20 | 厦门华蔚物联网科技有限公司 | Wall brick plane automatic deviation rectifying system and method based on depth camera |
| CN112177365A (en) * | 2020-11-11 | 2021-01-05 | 李维全 | Automatic wall building equipment of environment-friendly composite building blocks |
| CN112711005A (en) * | 2020-12-29 | 2021-04-27 | 深圳市利拓光电有限公司 | Distance measuring device based on laser and control method |
| CN112711005B (en) * | 2020-12-29 | 2024-05-17 | 深圳市利拓光电有限公司 | Distance measuring device based on laser and control method |
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