CN210177989U - Wall building gripper - Google Patents
Wall building gripper Download PDFInfo
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- CN210177989U CN210177989U CN201920840000.0U CN201920840000U CN210177989U CN 210177989 U CN210177989 U CN 210177989U CN 201920840000 U CN201920840000 U CN 201920840000U CN 210177989 U CN210177989 U CN 210177989U
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Abstract
The utility model belongs to the technical field of construction machinery, a gripper for building walls is disclosed, including moving the base, the arm, brickwork grasping mechanism and mortar laying mechanism, the arm is installed on moving the base, brickwork grasping mechanism includes the grasping support of being connected with the arm, the bottom of grasping support is equipped with the mounting panel admittedly, install a plurality of basic clamping unit on the mounting panel side by side, all basic clamping unit all are connected with one and make every basic clamping unit around its self axle center rotatory rotary mechanism, and all basic clamping unit all are connected with a translation mechanism that makes every basic clamping unit translation; the mortar laying mechanism comprises a mortar hopper arranged on the movable base and a mortar laying head arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline. This gripper for building a wall can realize pressing from both sides laying and building the building block of getting building block, mortar, has liberated artifical heavy physical power, has improved the efficiency of building a wall.
Description
Technical Field
The utility model belongs to the technical field of construction machinery, concretely relates to gripper of building a wall.
Background
The construction industry is the prop industry of national economy and plays an important historical mission in comprehensively building the well-off society. With the development of building commercialization, the construction progress is accelerated, the engineering period is shortened, and the investment benefit is improved, which becomes a central link of building commercialization.
The masonry structure is a structural form which is large and wide in quantity in China, and is suitable for various civil buildings such as houses, schools, hospitals and the like. At present, the wall body of a house is built by red bricks or cement bricks through manual operation according to a certain building mode, the manual wall building efficiency is low, the labor intensity is high, and the working environment is severe. With the progress of science and technology, some automatic wall building machines gradually replace manual building work, but the existing automatic wall building machines generally build a single block, so that the efficiency is low; moreover, the building is carried out by adopting a machine, and plastering is manually assisted; or the integration degree of plastering equipment and mechanical claws is lower, the occupied space is larger, and the practical construction popularization and use have great limitation.
Therefore, a walling machine which replaces manual work and can overcome the defects of the existing walling machine is urgently needed at present, so that heavy physical force of workers is liberated, and walling efficiency is improved.
SUMMERY OF THE UTILITY MODEL
In order to solve the above-mentioned one or more problems that prior art exists, the utility model provides a gripper for building a wall.
In order to realize the purpose, the utility model discloses a technical scheme as follows:
a wall building gripper comprises a moving base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is mounted on the moving base, the masonry grasping mechanism comprises a grasping support connected with the mechanical arm, a mounting plate is fixedly mounted at the bottom of the grasping support, a plurality of basic clamping units are mounted on the mounting plate side by side, all the basic clamping units are connected with a rotating mechanism which enables each basic clamping unit to rotate around the axis of the basic clamping unit, and all the basic clamping units are connected with a translation mechanism which enables each basic clamping unit to translate; the mortar laying mechanism comprises a mortar hopper arranged on the movable base and a mortar laying head arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline.
Further, the basic clamping unit comprises a clamp holder base and a first screw rod sliding table arranged on one side of the clamp holder base, the bottom of the first screw rod sliding table is fixedly connected to the mounting plate, a sliding block is arranged in the middle of the first screw rod sliding table, and the sliding block is connected with the output end of the holding motor through a screw rod; a gear base is arranged at one end of the top of the holder base, a gear seat is arranged at the other end of the top of the holder base, a sliding plate gear is arranged on the gear base, and a front-end gear is arranged on the gear seat; a central shaft rod extending towards the direction of the sliding plate gear is arranged at the axis of the front end gear, a first track wheel and a second track wheel are sleeved on the central shaft rod at intervals, the first track wheel is meshed and connected with the sliding plate gear through a first rack plate, the second track wheel penetrates through the first track wheel through a second rack plate and is meshed and connected with the sliding plate gear, and the first rack plate and the second rack plate are positioned on two sides of the sliding plate gear; one end of the second rack plate, which is far away from the second track wheel, is connected with the sliding block in a clamping manner; a first clamping rod and a second clamping rod are symmetrically arranged on the front end gear on two sides of the central axis of the front end gear, and the front end gear is respectively connected with the first clamping rod and the second clamping rod in a sliding manner; one end of the first clamping rod bypasses the second track wheel to be connected with the first track wheel in a sliding manner, and the other end of the first clamping rod is fixedly provided with a first clamping plate; one end of the second clamping rod is connected with the second rail wheel in a sliding manner, and the other end of the second clamping rod is fixedly provided with a second clamping plate; the bottom of the holder base is provided with a holder base foot which is in sliding connection with a sliding rail fixedly arranged on the mounting plate.
Furthermore, the rotating mechanism comprises a rotating motor rack fixedly arranged on the mounting plate, a rotating motor is fixedly arranged on the rotating motor rack, and the output end of the rotating motor is respectively meshed and connected with the front end gear of each basic clamping unit through a transmission mechanism.
Furthermore, the translation mechanism comprises a translation transmission rod and a translation limiting rod which are arranged along the direction vertical to the axis of the basic clamping unit, two ends of the translation transmission rod are movably connected with the gripping bracket, and two ends of the translation limiting rod are fixedly connected with the gripping bracket; the translational transmission rod is connected with the output end of the translational motor through a second screw rod sliding table, the position, corresponding to each basic clamping unit, on the translational transmission rod is connected with the basic clamping units through a translational connecting piece, each translational connecting piece is connected with the translational limiting rod in a sleeved mode, and limiting sleeves are arranged on the translational limiting rod and positioned on two sides of each translational connecting piece respectively; all the translation connecting pieces are fixedly connected with the corresponding basic clamping units, one of the edges of all the translation connecting pieces is fixedly connected with the translation transmission rod, the rest of the translation connecting pieces are connected with the translation transmission rod in a sleeved mode, and a compression spring is arranged between every two adjacent translation connecting pieces on the translation transmission rod.
Furthermore, a grabbing mechanism translation table is arranged at one end, connected with the masonry grabbing mechanism, of the mechanical arm, a grabbing mechanism translation sliding rod is arranged on the grabbing mechanism translation table, and the grabbing bracket is connected with the grabbing mechanism translation sliding rod in a sliding mode; the gripping mechanism translation table is also provided with a gripping mechanism translation control motor, and the output end of the gripping mechanism translation control motor is connected with the gripping bracket.
Furthermore, a mortar laying head translation table is further arranged on the mounting plate, a mortar laying head translation sliding rod is arranged on the mortar laying head translation table, a mortar laying head support is sleeved on the mortar laying head translation sliding rod and connected with an output end of a mortar laying head translation motor which controls the mortar laying head translation sliding rod to slide, a lifting sliding rail is arranged on the mortar laying head support, the mortar laying head is connected with the lifting sliding rail in a sliding mode through an L-shaped sliding block, and the L-shaped sliding block is connected with an output end of a mortar laying head lifting control motor.
Furthermore, mortar laying baffles are arranged on two sides of the bottom of the mortar laying head.
Compared with the prior art, the utility model provides a technical scheme has following beneficial effect or advantage:
the wall building gripper provided by the utility model drives the masonry grasping mechanism to move up and down, back and forth, left and right through the mechanical arm, so that the building work of clamping and taking the building blocks and building blocks can be realized, and the building of a wall body is realized; in the process of building a wall body, the mortar laying mechanism lays horizontal mortar along the horizontal direction of the wall body firstly, and then when building a brick, the mortar laying mechanism lays vertical mortar for the side face of each brick, so that the connection between two adjacent bricks in the horizontal direction is stable, the laying of the mortar is realized, the heavy manual force is liberated, and the wall building efficiency is improved.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and the accompanying drawings, which specify the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the present invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural view of a masonry grasping mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a basic clamping unit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of the rotating mechanism and the translating mechanism in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that the indication of the position or the positional relationship is based on the position or the positional relationship shown in the drawings, or the position or the positional relationship that the utility model is usually placed when using, or the position or the positional relationship that the skilled person conventionally understands, or the position or the positional relationship that the utility model is usually placed when using, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or suggest that the indicated device or element must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as limiting the present invention. Furthermore, the terms "first" and "second" are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. For those skilled in the art, the drawings of the above terms in the embodiments with specific meanings in the present invention can be understood in specific situations, and the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
As shown in fig. 1 to 4, an embodiment of the present invention provides a gripper for building a wall, including a mobile base 100, a mechanical arm 200, a gripper 300 for building a wall, and a mortar application mechanism, where the mechanical arm 200 is installed on the mobile base 100, the gripper 300 for building a wall includes a gripping support 301 connected to the mechanical arm 200, a mounting plate 302 is fixedly installed at the bottom of the gripping support 301, a plurality of basic clamping units are installed on the mounting plate 302 side by side, all the basic clamping units are connected to a rotating mechanism that enables each basic clamping unit to rotate around its own axis, and all the basic clamping units are connected to a translation mechanism that enables each basic clamping unit to translate; the mortar laying mechanism comprises a mortar hopper 401 arranged on the movable base and a mortar laying head 403 arranged above the basic clamping unit, and the mortar hopper 401 is connected with the mortar laying head 403 through a conveying pipeline 402.
The basic clamping unit in the embodiment of the present invention includes a clamp holder base 303 and a first screw rod sliding table 304 disposed on one side of the clamp holder base 303, the bottom of the first screw rod sliding table 304 is fixedly connected to the mounting plate 302, a sliding block 305 is disposed in the middle of the first screw rod sliding table 304, and the sliding block 305 is connected to the output end of a holding motor 307 through a screw rod 306; a gear base 308 is arranged at one end of the top of the holder base 303, a gear seat 309 is arranged at the other end of the top of the holder base 303, a sliding plate gear 310 is arranged on the gear base 308, and a front end gear 311 is arranged on the gear seat 309; a central shaft rod 312 extending towards the direction of the sliding plate gear 310 is arranged at the axis of the front end gear 311, a first track wheel 313 and a second track wheel 314 are sleeved on the central shaft rod 312 at intervals, the first track wheel 313 is meshed with the sliding plate gear 310 through a first rack plate 315, the second track wheel 314 penetrates through the first track wheel 313 through a second rack plate 316 and is meshed with the sliding plate gear 310, and the first rack plate 315 and the second rack plate 316 are positioned at two sides of the sliding plate gear 310; one end of the second rack plate 316 far away from the second track wheel 314 is connected with the sliding block 305 in a clamping way; a first clamping rod 317 and a second clamping rod 318 are symmetrically arranged on the front end gear 311 at two sides of the central axis of the front end gear 311, and the front end gear 311 is simultaneously connected with the first clamping rod 317 and the second clamping rod 318 in a sliding manner; one end of the first clamping rod 317 surrounds the second rail wheel 314 to be slidably connected with the first rail wheel 313, and the other end of the first clamping rod 317 is fixedly provided with a first clamping plate 319; one end of the second clamping rod 318 is slidably connected with the second rail wheel 314, and the other end thereof is fixedly provided with a second clamping plate 320; the bottom of the holder base 303 is provided with a holder base 321, and the holder base 321 is slidably connected with a slide rail 322 fixedly arranged on the mounting plate 302.
The embodiment of the utility model provides an in rotary mechanism including adorning the rotating electrical machines frame 323 on mounting panel 302 admittedly, be equipped with rotating electrical machines 324 on the rotating electrical machines frame 323 admittedly, the output of rotating electrical machines 324 pass through drive mechanism respectively with every the front end gear 311 meshing of basic clamping unit is connected.
The translation mechanism in the embodiment of the present invention comprises a translation transmission rod 325 and a translation limiting rod 326 arranged along the direction perpendicular to the axial line of the basic clamping unit, wherein both ends of the translation transmission rod 325 are movably connected with the gripping bracket 301, and both ends of the translation limiting rod 326 are fixedly connected with the gripping bracket 301; the translational transmission rod 325 is connected with the output end of a translational motor 328 through a second screw rod sliding table 327, the position of the translational transmission rod 325 corresponding to each basic clamping unit is connected with the basic clamping unit through a translational connecting piece 329, each translational connecting piece 329 is connected with a translational limiting rod 326 in a sleeved mode, and limiting sleeves 330 are arranged on the translational limiting rods 326 on two sides of each translational connecting piece 329; all the translation connecting pieces 329 are fixedly connected with the corresponding basic clamping units, one translation connecting piece 329 at the outermost edge of all the translation connecting pieces 329 is fixedly connected with the translation transmission rod 325, the rest of the translation connecting pieces are connected with the translation transmission rod 325 in a sleeved mode, and a compression spring 331 is arranged between every two adjacent translation connecting pieces 329 on the translation transmission rod 325.
It should be noted that, the robot arm 200 in the embodiment of the present invention may adopt an existing six-axis robot arm, and may also adopt other robot arms, which is not limited herein. In addition, the embodiment of the present invention provides that the transmission mechanism adopts an existing transmission mechanism, such as a gear transmission mechanism, and other existing transmission mechanisms can be adopted, which is not limited herein.
The embodiment of the utility model provides an above-mentioned gripper of building a wall's basic operating principle as follows:
firstly, determining the running route of the gripper for building the wall and the relevant positions of all raw materials on the running route according to the position of the wall.
In a specific implementation process, the mobile base 100 in the embodiment of the present invention adopts a rail-type mobile base 100 (or other mobile bases 100 may be adopted), and lays two rails for the mobile base 100 to move in advance according to the position of the wall body, and then installs the mobile base 100 of the gripper for walling on the rail. And then, placing each raw material on one side of the rail far away from the wall to be built.
Then, when the wall body is built, the wall building mechanical claw firstly moves along the axis direction of the wall body, and meanwhile, the mortar laying mechanism is controlled to lay transverse mortar along the way.
In the process of laying horizontal mortar, in order not to leave the dead angle, in further embodiment, the embodiment of the utility model provides a still be provided with mortar on mounting panel 302 and lay first translation platform 332, mortar is provided with mortar on laying first translation platform 332 and lays first translation slide bar 333, mortar is laid first translation slide bar 333 and is gone up the cover and be equipped with mortar and lay first support 334, mortar is laid first support 334 and is connected with the output of controlling its gliding mortar on mortar is laid first translation slide bar 333 and is laid first translation motor 335, mortar is provided with lift slide rail 336 on laying first support 334, mortar is laid first 403 and is passed through L type slider 337 and lift slide rail 336 sliding connection, L type slider 337 is connected with the output of mortar is laid first lift control motor 338. Through setting up mortar and laying first translation platform 332 for mortar lays first 403 and can transversely move in the horizontal direction, ensures that the mortar lays and does not appear the dead angle, through setting up lift slide rail 336, can adjust mortar and lay first 403 and the vertical ascending distance in side of wall body, ensures that the mortar does not splash, avoids extravagant.
After the transverse mortar is laid, the building blocks are clamped, and the basic principle of clamping the building blocks is as follows:
the grasping motor 307 on the basic grasping unit drives the sliding block 305 to move towards the direction of the grasping motor 307, the sliding block 305 drives the second rack plate 316 to move, under the action of the sliding plate gear 310, the first rack plate 315 moves towards the direction far away from the grasping motor 307, the first rack plate 315 and the second rack plate 316 respectively drive the first track wheel 313 and the second track wheel 314 to move towards each other, the first track wheel 313 and the second track wheel 314 drive the first grasping rod 317 and the second grasping rod 318 to move towards each other, and the first grasping rod 317 and the second grasping rod 318 drive the first clamping plate 319 and the second clamping plate 320 at the ends thereof to move towards each other, so that the grasping of the building block is realized.
The embodiment of the utility model provides an in set up a plurality of basic centre gripping units, consequently can press from both sides simultaneously and get a plurality of building blocks. Because the building blocks of the wall body need to be arranged in a vertically staggered manner, non-whole-length building blocks exist, when the non-whole-length building blocks are grabbed, the mechanical gripper for building the wall in the embodiment of the utility model uses the most marginal basic clamping unit to clamp the non-whole-length building blocks according to the actual situation, for example, when the non-whole-length building blocks need to be arranged at the rightmost side of the wall body, the most marginal basic clamping unit at the right side is used to clamp the non-whole-length building blocks; when the non-full-length building blocks need to be arranged on the leftmost side of the wall body, the non-full-length building blocks are clamped by the basic clamping units on the leftmost edge of the left side, when the non-full-length building blocks are built, the building blocks are clamped by the basic clamping units on the left side or the right side, and the building blocks are not clamped by the rest basic clamping units.
It should be noted that, no matter the whole-length block or the non-whole-length block is clamped, after the block is clamped, the outer side of the non-whole-length block clamped by using the same basic clamping unit and the outer side of the clamped whole-length block are in the same plane. After the building blocks are clamped, the bottom surfaces of the building blocks are lower than the mounting plate, and the distances between the adjacent building blocks are the same.
After the building block is clamped, the movable base 100 is controlled to move to a specified position, the mechanical arm 200 is rotated, and the masonry grasping mechanism 300 is driven to rotate, so that the building block reaches the horizontal position above the position to be built; then, controlling a rotating motor 324 to drive a front-end gear 311 to rotate, so that the building block rotates by 90 degrees, the side face of the building block faces upwards, and then adjusting the position of a mortar laying head 403 to enable the lower edge of the mortar laying head 40 to reach a set distance with the upper edge of the building block; mortar is then applied one by one to the sides of each block.
In specific implementation, in order to avoid laying the mortar, the mortar drops from the building block, causes the mortar extravagant, in further embodiment, the embodiment of the utility model provides a bottom both sides that the head 403 was laid to the mortar are provided with mortar and lay baffle 404, lay baffle 404 through setting up the mortar, when can avoid laying the mortar, the mortar drops from the building block, practices thrift the mortar quantity effectively, has also practiced thrift the human cost of clearance mortar that drops simultaneously.
After the mortar is laid, build by laying bricks or stones, for the convenience of understanding, the embodiment of the utility model provides a with be equipped with threely basic clamping unit's gripper for building a wall, after whole long building block was by the centre gripping, the distance of adjacent building block was 2cm to come to carry out the detailed description to building by laying bricks or stones. Firstly, the mechanical arm 200 and the masonry grasping mechanism 300 are controlled to move downwards to reach the building position, the horizontal distance between the rightmost building block and the building position to be built is 2cm, the transverse mortar previously laid is then compressed, to a design thickness, for example 1cm, then the translational motor 328 drives the translational transmission rod 325 to move to the right (assuming that the wall is built from right to left) along the horizontal direction for a certain distance, for example, 3cm, the translational transmission rod 325 drives all the basic clamping units to slide to the right along the corresponding slide rails 322 through the translational connecting piece 329, at this time, the right basic clamping unit does not move any more after moving 1cm rightwards, the movement direction of the basic clamping unit is blocked by a corresponding limiting sleeve 330 on the translational limiting rod 326, the translational transmission rod 325 continues to move rightwards, at this time, the compression spring 331 between the right and middle basic grip units is compressed by 2 cm; the middle basic clamping unit does not move any more after moving for 2cm rightwards, the motion direction of the middle basic clamping unit is blocked by a corresponding limiting sleeve 330 on a translational limiting rod 326, the translational rod continues to move rightwards, and at the moment, a compression spring 331 between the middle basic clamping unit and the left basic clamping unit is compressed for 1 cm; the basic clamping unit on the left side moves 3cm to the right along with the translation rod. The basic clamping units move 1cm,2cm and 3cm from left to right in sequence, and finally the thickness of the vertical mortar is 1 cm. The clamped blocks are built. When the non-whole-length building blocks on the leftmost side or the rightmost side of the masonry wall are built, the building blocks are clamped only by using the basic clamping units on the leftmost side or the rightmost side, the rest basic clamping units do not clamp the building blocks, and the movement of the rest parts is completely consistent with the working mode of building the whole-length building blocks. It should be noted that the lengths 1cm,2cm and 3cm are not fixed dimensions, and are only used for illustrating the working principle, but not as a limitation to the present invention.
In a specific implementation process, a wall may have a position where the mobile base 100 cannot reach, and in order to build such a wall, in a further implementation scheme, in the embodiment of the present invention, a gripping mechanism translation stage 201 is disposed at one end of the mechanical arm 200, which is connected to the masonry gripping mechanism 300, a gripping mechanism translation slide bar 202 is disposed on the gripping mechanism translation stage 201, and the gripping support 301 is slidably connected to the gripping mechanism translation slide bar 202; the gripping mechanism translation table 201 is also provided with a gripping mechanism translation control motor 203, and the output end of the gripping mechanism translation control motor 203 is connected with the gripping bracket 301. By arranging the gripping mechanism translation table 201, the moving range of the masonry gripping mechanism 300 can be expanded, so that a wall at a position where the moving base 100 cannot reach is built; moreover, when the building block is clamped, the basic clamping units can be switched through the horizontal moving table 201 of the grasping mechanism, so that each basic clamping unit can clamp the building block from a specified position under the condition that the gripper of the wall building mechanical claw is not moved.
The wall building mechanical claw provided by the embodiment of the utility model drives the masonry grasping mechanism to move up and down, back and forth, left and right through the mechanical arm, so that the work of clamping and building blocks can be realized, and the building of a wall body is realized; in the process of building a wall body, the mortar laying mechanism lays horizontal mortar along the horizontal direction of the wall body firstly, and then when building blocks, the mortar laying mechanism lays vertical mortar for the side face of each block, so that the connection between two adjacent blocks in the horizontal direction is stable, the laying of the mortar is realized, the heavy manual force is liberated, and the wall building efficiency is improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The wall building gripper is characterized by comprising a movable base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is mounted on the movable base, the masonry grasping mechanism comprises a grasping support connected with the mechanical arm, a mounting plate is fixedly mounted at the bottom of the grasping support, a plurality of basic clamping units are mounted on the mounting plate side by side, all the basic clamping units are connected with a rotating mechanism which enables each basic clamping unit to rotate around the axis of the basic clamping unit, and all the basic clamping units are connected with a translation mechanism which enables each basic clamping unit to translate; the mortar laying mechanism comprises a mortar hopper arranged on the movable base and a mortar laying head arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline.
2. The walling gripper according to claim 1, wherein the basic gripping unit comprises a gripper base and a first screw rod sliding table arranged on one side of the gripper base, a sliding block is arranged in the middle of the first screw rod sliding table, and the sliding block is connected with the output end of the gripping motor through a screw rod; a gear base is arranged at one end of the top of the holder base, a gear seat is arranged at the other end of the top of the holder base, a sliding plate gear is arranged on the gear base, and a front-end gear is arranged on the gear seat; a central shaft rod extending towards the direction of the sliding plate gear is arranged at the axis of the front end gear, a first track wheel and a second track wheel are sleeved on the central shaft rod at intervals, the first track wheel is meshed and connected with the sliding plate gear through a first rack plate, the second track wheel penetrates through the first track wheel through a second rack plate and is meshed and connected with the sliding plate gear, and the first rack plate and the second rack plate are positioned on two sides of the sliding plate gear; one end of the second rack plate, which is far away from the second track wheel, is connected with the sliding block in a clamping manner; a first clamping rod and a second clamping rod are symmetrically arranged on the front end gear on two sides of the central axis of the front end gear, and the front end gear is respectively connected with the first clamping rod and the second clamping rod in a sliding manner; one end of the first clamping rod bypasses the second track wheel to be connected with the first track wheel in a sliding manner, and the other end of the first clamping rod is fixedly provided with a first clamping plate; one end of the second clamping rod is connected with the second rail wheel in a sliding manner, and the other end of the second clamping rod is fixedly provided with a second clamping plate; the bottom of the holder base is provided with a holder base foot which is in sliding connection with a sliding rail fixedly arranged on the mounting plate.
3. The walling gripper according to claim 2, wherein the rotating mechanism comprises a rotating motor frame fixedly mounted on the mounting plate, a rotating motor is fixedly mounted on the rotating motor frame, and an output end of the rotating motor is respectively in meshed connection with a front end gear of each basic clamping unit through a transmission mechanism.
4. The walling gripper according to claim 2, wherein the translation mechanism comprises a translation transmission rod and a translation limiting rod which are arranged along a direction perpendicular to the axis of the basic clamping unit, two ends of the translation transmission rod are movably connected with the gripping bracket, and two ends of the translation limiting rod are fixedly connected with the gripping bracket; the translational transmission rod is connected with the output end of the translational motor through a second screw rod sliding table, the position, corresponding to each basic clamping unit, on the translational transmission rod is connected with the basic clamping units through a translational connecting piece, each translational connecting piece is connected with the translational limiting rod in a sleeved mode, and limiting sleeves are arranged on the translational limiting rod and positioned on two sides of each translational connecting piece respectively; all the translation connecting pieces are fixedly connected with the corresponding basic clamping units, one of the translation connecting pieces is fixedly connected with the translation transmission rod, the rest of the translation connecting pieces are connected with the translation transmission rod in a sleeved mode, and a compression spring is arranged between every two adjacent translation connecting pieces on the translation transmission rod.
5. The walling gripper according to claim 1, wherein a gripping mechanism translation stage is arranged at one end of the mechanical arm connected with the masonry gripping mechanism, a gripping mechanism translation slide bar is arranged on the gripping mechanism translation stage, and the gripping bracket is slidably connected with the gripping mechanism translation slide bar; the gripping mechanism translation table is also provided with a gripping mechanism translation control motor, and the output end of the gripping mechanism translation control motor is connected with the gripping bracket.
6. The walling gripper according to claim 1, wherein a mortar laying head translation table is further arranged on the mounting plate, a mortar laying head translation slide rod is arranged on the mortar laying head translation table, a mortar laying head support is sleeved on the mortar laying head translation slide rod and connected with an output end of a mortar laying head translation motor for controlling the mortar laying head translation slide rod to slide, a lifting slide rail is arranged on the mortar laying head support, the mortar laying head is connected with the lifting slide rail in a sliding manner through an L-shaped slider, and the L-shaped slider is connected with an output end of a mortar laying head lifting control motor.
7. The walling gripper according to claim 1, wherein mortar laying baffles are provided on both sides of the bottom of the mortar laying head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920840000.0U CN210177989U (en) | 2019-06-04 | 2019-06-04 | Wall building gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920840000.0U CN210177989U (en) | 2019-06-04 | 2019-06-04 | Wall building gripper |
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| Publication Number | Publication Date |
|---|---|
| CN210177989U true CN210177989U (en) | 2020-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920840000.0U Active CN210177989U (en) | 2019-06-04 | 2019-06-04 | Wall building gripper |
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| CN (1) | CN210177989U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110094073A (en) * | 2019-06-04 | 2019-08-06 | 沈洋 | One kind is built a wall gripper |
| CN110094073B (en) * | 2019-06-04 | 2024-04-26 | 沈洋 | Wall building mechanical claw |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110094073A (en) * | 2019-06-04 | 2019-08-06 | 沈洋 | One kind is built a wall gripper |
| CN110094073B (en) * | 2019-06-04 | 2024-04-26 | 沈洋 | Wall building mechanical claw |
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