CN210177990U

CN210177990U - Can build gripper on indoor wall top

Info

Publication number: CN210177990U
Application number: CN201920840027.XU
Authority: CN
Inventors: Yang Shen; 沈洋
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-06-04
Filing date: 2019-06-04
Publication date: 2020-03-24
Anticipated expiration: 2029-06-04

Abstract

The utility model belongs to the technical field of construction machinery, and discloses a gripper capable of building an indoor wall top, which comprises a movable base, an mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is arranged on the movable base; the mortar laying mechanism comprises a mortar hopper and a mortar laying head, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the mortar laying head is connected with a pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit. This gripper that can build indoor wall top not only can carry out the wall body in big space and build by laying bricks or stones, can also build by laying bricks or stones the indoor wall body that is close to the limited spatial position of wall top, liberated artifical heavy physical power, improved the efficiency of building a wall.

Description

Can build gripper on indoor wall top

Technical Field

The utility model belongs to the technical field of construction machinery, concretely relates to gripper that can step indoor wall top.

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. Along with the progress of science and technology, some automatic wall building machines have appeared gradually to replace artifical work of building by laying bricks or stones, but current automatic wall building machine has very big limitation in actual construction, for example need the wall body top to have enough big space, can't be built by laying bricks or stones near the position department of wall crown to indoor.

SUMMERY OF THE UTILITY MODEL

In order to solve one or more problems in the prior art, the utility model provides a gripper that can step on indoor wall top.

In order to realize the purpose, the utility model discloses a technical scheme as follows:

a mechanical claw capable of building an indoor wall top comprises 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 mortar laying mechanism comprises a mortar hopper and a mortar laying head, the mortar hopper is arranged on the movable base, the mortar laying head is arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the mortar laying head is connected with a mortar laying head pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit.

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 meshed and connected with the front end gear of the basic clamping unit through a transmission mechanism.

Further, a plurality of the basic clamping units are arranged on the mounting plate side by side.

The device further comprises a translation mechanism for controlling the translation of each basic clamping unit, wherein 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 translation connecting piece at the outermost edge of all the translation connecting pieces is fixedly connected with the translation transmission rod, the rest 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, the mortar laying head pulling and holding mechanism comprises a mortar laying head longitudinal sliding table which is arranged on the mortar laying head support and is perpendicular to the mortar laying head translation table, a mortar laying head longitudinal sliding rod is arranged on the mortar laying head longitudinal sliding table, a longitudinal pulling and holding sliding block is arranged on the mortar laying head longitudinal sliding rod, and the longitudinal pulling and holding sliding block is connected with the output end of a mortar laying head longitudinal sliding control motor arranged on the side part of the mortar laying head longitudinal sliding table; the bottom of the lifting slide rail is hinged to the mortar laying head support, and one side, away from the mortar laying head, of the top of the lifting slide rail is connected with the longitudinal pulling slide block through a connecting rod.

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 utility model provides a gripper that can build indoor wall top not only can carry out the wall body in big space and build by laying bricks or stones, can also build by laying bricks or stones the indoor wall body that is close to the finite spatial position of wall top, liberated artifical heavy physical power, improved the efficiency of building a wall.

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 an indoor wall top, including a mobile base 100, a mechanical arm 200, a masonry grasping mechanism 300, and a mortar laying mechanism, wherein the mechanical arm 200 is mounted on the mobile base 100, the masonry grasping mechanism 300 includes a grasping support 301 rotatably connected to the mechanical arm 200, a mounting plate 302 is fixedly mounted at the bottom of the grasping support 301, a basic clamping unit is mounted on the mounting plate 302, and the basic clamping unit is connected to a rotating mechanism for rotating the basic clamping unit around its axis; the mortar laying mechanism comprises a mortar hopper 401 and a mortar laying head 403, the mortar hopper 401 is arranged on the movable base 100, the mortar laying head 403 is arranged above the basic clamping unit, and the mortar hopper 401 is connected with the mortar laying head 403 through a conveying pipeline 402; a mortar application head pulling mechanism for moving the mortar application head 403 to the rear end of the basic gripping unit is connected to the mortar application head.

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, rotating electrical machines 324's output pass through drive mechanism with the front end gear 311 meshing of basic centre gripping unit is connected.

In a specific implementation process, the mounting plate 302 in the embodiment of the present invention may be provided with only one basic clamping unit, or may be provided with a plurality of basic clamping units, and when a plurality of basic clamping units are provided, the embodiment of the present invention further includes a translation mechanism for controlling translation of each basic clamping unit, where the translation mechanism includes a translation transmission rod 325 and a translation limiting rod 326 arranged along a direction perpendicular to an axis of the basic clamping unit, both ends of the translation transmission rod 325 are movably connected to the gripping bracket 301, and both ends of the translation limiting rod 325 are fixedly connected to the gripping bracket 301; the translational transmission rod 326 is connected with the output end of a translational motor 328 through a second screw rod sliding table 327, the translational transmission rod 325 is connected with the basic clamping units through a translational connecting piece 329 at the position corresponding to each basic clamping unit, 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 at 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. The embodiment of the present invention provides an existing transmission mechanism, such as a gear transmission mechanism, which can also adopt other existing transmission mechanisms without limitation. Furthermore, the embodiment of the utility model provides an in pipeline 402 is formed by a plurality of hard tubes and a plurality of hose concatenation, and the hose mainly sets up in the active position of arm 200, and the mortar in mortar fill 401 is carried to mortar from pipeline 402 through the delivery pump and is laid first 403.

The embodiment of the utility model provides a basic theory of operation of above-mentioned gripper that can step on indoor wall top as follows, for the convenience of understanding, the embodiment of the utility model provides a with set up threely the gripper that can step on indoor wall top of basic centre gripping unit explains as an example in detail:

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.

And then, when the wall body is built, the wall building mechanical claw firstly moves along the axis direction of the wall body, and simultaneously controls the mortar laying mechanism to lay the transverse mortar of the wall body 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 three basic centre gripping unit, consequently can press from both sides simultaneously and get three building block. 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 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.

Assuming that after the blocks are clamped, the distance between adjacent blocks is 2 cm. After the mortar is laid, the masonry is carried out, firstly, the mechanical arm 200 and the masonry grasping mechanism 300 are controlled to move downwards, meanwhile, the clamped building blocks are controlled to rotate 90 degrees in the opposite direction to reach the masonry position, 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 2cm rightwards, the moving direction of the middle basic clamping unit is blocked by a corresponding limiting sleeve 330 on a translational limiting rod 326, a translational transmission rod continues moving rightwards, and at the moment, a compression spring 331 between the middle basic clamping unit and the left basic clamping unit is compressed by 1 cm; the basic clamping unit on the left side moves 3cm rightwards along with the translation transmission 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.

When the wall is built to be close to the top surface of the floor, the clamping of the building blocks is consistent with the method, the transverse mortar and the longitudinal mortar of the building blocks are laid through the mortar laying head 403 according to the method, at the moment, the side surfaces of the building blocks are still upward, and the front-end gear is supposed to rotate 90 degrees clockwise; when building a wall, firstly, the masonry grasping mechanism 300 rotates clockwise 180 degrees around the axis of the end part connected with the mechanical arm 200, meanwhile, the basic clamping unit rotates the clamped building block anticlockwise 90 degrees around the central shaft rod 312, at the moment, the bottom of the mounting plate 302 faces upwards, the first clamping plate 319 and the second clamping plate 320 of the basic clamping unit keep a state of clamping the building block downwards, then the building is carried out in the same building mode, and the building sequence of the building blocks is changed from left to right.

In a specific implementation, since the mortar application head 403 is located directly above the basic gripping unit, in order to avoid that the mortar laying head 403 is in the plane of the masonry wall, occupying the masonry space, the embodiment of the utility model is provided with a mortar laying head holding mechanism which enables the mortar laying head 403 to move towards the tail end of the basic clamping unit, in particular, the pulling and holding mechanism comprises a mortar laying head longitudinal sliding table 339 which is arranged on the mortar laying head bracket 334 and is vertical to the mortar laying head translation table 332, a mortar laying head longitudinal sliding rod 340 is arranged on the mortar laying head longitudinal sliding table 339, a longitudinal pulling and holding sliding block 341 is arranged on the mortar laying head longitudinal sliding rod 340, and the longitudinal pulling and holding sliding block 341 is connected with the output end of a mortar laying head longitudinal sliding control motor 342 which is arranged at the side part of the mortar laying head longitudinal sliding table 339; the bottom of the lifting slide rail 336 is hinged with the mortar laying head bracket 334, and one side of the top of the lifting slide rail 336, which is far away from the mortar laying head 403, is connected with the longitudinal pulling slide block 341 through a connecting rod 343. After the masonry grasping mechanism 300 rotates 180 degrees clockwise around the axis of the end part connected with the mechanical arm 200, the longitudinal sliding control motor 342 of the mortar laying head drives the longitudinal pulling and holding slider 341 to move towards the tail end of the basic clamping unit along the longitudinal sliding rod 340 of the mortar laying head, and the connecting rod 343 connected with the longitudinal pulling and holding slider 341 drives the lifting slide rail 336 to rotate around the tail end of the basic clamping unit at the position hinged with the bracket 334 of the mortar laying head, so that the mortar laying head is out of the plane of the wall, and the wall close to the top surface of the floor can be smoothly laid.

When the distance from the highest position of a built wall to the bottom surface of a beam/floor slab meets the requirement of the national requirement of slant building, a mechanical claw is controlled to perform building in a 45-degree slant building mode, the clamping of the building blocks is consistent with the mode of being close to the top surface of the floor, but only one basic clamping unit at the most edge is used for clamping, the example is described by clamping the building blocks by the basic clamping unit at the rightmost side, after the building blocks are clamped, the basic clamping unit rotates the clamped building blocks clockwise 180 degrees around a central shaft rod 312, then mortar is laid along the long side direction of the building blocks, then a masonry clamping mechanism 300 rotates anticlockwise 180 degrees around the shaft center of the end part connected with the mechanical arm 200, meanwhile, the basic clamping unit rotates the clamped building blocks clockwise 45 degrees around the central shaft rod 312, at the moment, the bottom of an installation plate 302 faces upwards, and a first clamping plate 319 and a, and then masonry is performed one by one from left to right to the top of the wall. The mortar laying head moves out of the plane of the wall body according to the mode in the second stage of masonry after long-side mortar laying of the building blocks is finished, and blocking of building top building blocks is avoided.

The whole wall can be built by building the wall in the three stages.

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 embodiment of the utility model provides a gripper that can step on indoor wall top not only can carry out the wall body in big space and build by laying bricks or stones, can also build by laying bricks or stones the indoor wall body that is close to the finite spatial position of wall top, liberated artifical heavy physical power, improved the efficiency of building a wall.

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

1. The mechanical claw capable of building the indoor wall top 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 mortar laying mechanism comprises a mortar hopper and a mortar laying head, the mortar hopper is arranged on the movable base, the mortar laying head is arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the mortar laying head is connected with a mortar laying head pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit.

2. The gripper for building an indoor wall top 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, 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 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 gripper for building an indoor wall top according to claim 1, 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 in meshed connection with a front end gear of the basic clamping unit through a transmission mechanism.

4. The gripper for an interior wall ceiling capable of building according to claim 1, wherein a plurality of said basic gripping units are arranged side by side on said mounting plate.

5. The gripper for the interior wall top of the maskable room as claimed in claim 4, further comprising a translation mechanism for controlling the translation of each basic clamping unit, wherein the translation mechanism comprises a translation transmission rod and a translation limiting rod which are arranged along the direction perpendicular to the axis of the basic clamping unit, two ends of the translation transmission rod are movably connected with the gripping brackets, and two ends of the translation limiting rod are fixedly connected with the gripping brackets; 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 translation connecting piece at the outermost edge of all the translation connecting pieces is fixedly connected with the translation transmission rod, the rest 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.

6. The gripper for the masonry indoor wall top according to claim 1, wherein a gripping mechanism translation table is arranged at one end of the mechanical arm connected with the masonry gripping mechanism, a gripping mechanism translation sliding rod is arranged on the gripping mechanism translation table, and the gripping bracket is connected with the gripping mechanism translation sliding rod in a sliding manner; 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.

7. The mechanical claw for building an indoor wall top according to claim 1, wherein a translational mortar laying head table is arranged on the mounting plate, a translational mortar laying head sliding rod is arranged on the translational mortar laying head table, a translational mortar laying head support is sleeved on the translational mortar laying head sliding rod and connected with an output end of a translational mortar laying head motor for controlling the translational mortar laying head sliding on the translational mortar laying head sliding rod, a lifting sliding rail is arranged on the translational mortar laying head support, the mortar laying head is connected with the lifting sliding rail in a sliding manner through an L-shaped sliding block, and the L-shaped sliding block is connected with an output end of a lifting control motor for the mortar laying head.

8. The gripper for building an indoor wall top according to claim 7, wherein the mortar laying head pulling and holding mechanism comprises a mortar laying head longitudinal sliding table which is arranged on the mortar laying head bracket and is perpendicular to the mortar laying head translation table, a mortar laying head longitudinal sliding rod is arranged on the mortar laying head longitudinal sliding table, a longitudinal pulling and holding slider is arranged on the mortar laying head longitudinal sliding rod, and the longitudinal pulling and holding slider is connected with an output end of a mortar laying head longitudinal sliding control motor arranged on a side portion of the mortar laying head longitudinal sliding table; the bottom of the lifting slide rail is hinged to the mortar laying head support, and one side, away from the mortar laying head, of the top of the lifting slide rail is connected with the longitudinal pulling slide block through a connecting rod.

9. The gripper for building an interior wall top according to claim 1, wherein mortar installation baffles are provided on both sides of the bottom of the mortar installation head.