CN210256110U

CN210256110U - Building element molding robot

Info

Publication number: CN210256110U
Application number: CN201920799123.4U
Authority: CN
Inventors: 不公告发明人
Original assignee: Lambe Bay Guangdong Technology Co ltd
Current assignee: Guangdong Tianlin High Tech Co Ltd
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2020-04-07
Anticipated expiration: 2029-05-29
Also published as: WO2020238680A1

Abstract

The utility model discloses a building element molding robot includes base (10), traveling system (20), support body (30), operating system (40), at least one snatchs leveling system (50), at least one auxiliary stay system (60) and fixed system (80), base (10) bottom is located in traveling system (20) and fixed system (80), base (10) are located in support body (30), operating system (40) are including going up and down controllable crane (41), crane (41) sliding connection support body (30), snatch leveling system (50) including setting up in flexible controllable a plurality of telescopic links (53) of basal portion (51) and swivelling joint basal portion (51) of crane (41), auxiliary stay system (60) are including flexible controllable telescopic bracket (61) of rotatory setting crane (41). The automatic splicing of the vertical and horizontal members using the template can be realized, and the comprehensive efficiency improvement and cost reduction are realized.

Description

Building element molding robot

Technical Field

The utility model relates to a building technical field especially relates to a building element molding robot.

Background

Currently, when building construction is carried out, the templates are usually manually spliced and fixed to form the shape of the building component, then concrete is poured into the templates, and the required building component is obtained after the concrete is solidified and formed. The working strength of manual splicing fixed templates is higher and tired, more labor force is needed, the work efficiency is not high, more and more young people are reluctant to engage in the assembly work of the building templates along with the change of people's concept, the labor cost is higher and higher, and therefore, the development of building element forming robots for realizing the automatic forming of the building elements is imperative.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can realize vertical and horizontal component use the automatic equipment of template, need not artifical equipment and efficient building element molding robot.

In order to realize the above-mentioned purpose, the utility model provides a building element molding robot, snatch leveling system, at least one auxiliary stay system and fixed system including base, traveling system, support body, operating system, at least one, traveling system and fixed system locate the base bottom, the flexible controllability of traveling system has support state and contraction state, the support body is located on the base, operating system includes the controllable crane that goes up and down, crane sliding connection in the support body, snatch leveling system including set up in the basal portion of crane and swivelling joint in the flexible controllable a plurality of telescopic links of basal portion, auxiliary stay system including rotatory set up in the flexible controllable telescopic support of crane.

Compared with the prior art, in the construction process, the building component forming robot is moved to a required position through the walking system, the walking system is operated to be in a contraction state, and the fixing system plays a supporting role. The lifting system drives the grabbing leveling system to move to a certain position, the grabbing leveling system is utilized to fix the template at a required position, automatic assembly of the vertical component template and automatic assembly of the horizontal component template can be realized, a mold cavity is formed, and then pouring is carried out. Simultaneously, the controllable telescopic bracket butt ground of the flexible of auxiliary stay system to make base and support body more stable. Therefore, the automatic assembly of the vertical component template and the horizontal component template can be realized, the complexity and the instability of manual assembly are avoided, the dependence on workers is reduced, the labor cost is reduced, the accident rate of the workers is reduced, the construction progress is improved, the construction period is shortened, the forming precision of the building component is improved, the progress of intelligent construction and unmanned construction is promoted, and the intelligent building and unmanned building combined type formwork has good investment benefits and social benefits.

Preferably, the robot further comprises at least one mechanical arm which is arranged on the lifting frame in a sliding mode and can be controlled in a stretching mode, the building element forming robot comprises two grabbing and leveling systems, one grabbing and leveling system is arranged at the extending end of the mechanical arm (70) in the vertical direction, and the other grabbing and leveling system is arranged at the extending end of the mechanical arm in the horizontal direction.

Preferably, the construction element molding robot includes five grabbing leveling systems, one of which is provided at an extending end of the robot arm (70) in a vertical direction, and the other four grabbing leveling systems are provided at extending ends of the robot arms in a horizontal direction, respectively.

Preferably, the two ends of the telescopic rod are provided with spherical convex parts, and the base part is provided with a groove for the convex parts to rotate.

Preferably, the end of the other protruding portion of the telescopic rod is provided with a clamping portion for clamping the template.

Preferably, the lifting system further comprises a first hydraulic control device and a telescopic column, the telescopic column is connected with the lifting frame, and the first hydraulic control device drives the telescopic column to extend out or retract so as to drive the lifting frame to ascend or descend.

Preferably, the grabbing leveling system further comprises a second hydraulic control device, and the second hydraulic control device drives the telescopic rod to extend or retract.

Preferably, the grabbing leveling system further comprises a control system, and the control system controls the telescopic rod to rotate around the base.

Preferably, the grabbing leveling system comprises a driving device, and the driving device drives the mechanical arm to move up or down on the lifting frame.

Preferably, the building element molding robot further comprises a telescopic support rod, wherein the base is provided with a telescopic controllable telescopic support rod along the horizontal direction, and when the telescopic support rod and the telescopic support are in an extending state, the telescopic support rod, the telescopic support and the telescopic column form a triangular structure.

Drawings

Fig. 1 is a schematic structural view of the building member molding robot of the present invention.

Fig. 2 is a front view of the construction member molding robot shown in fig. 1.

Fig. 3 is a schematic structural diagram of another embodiment of the building element molding robot of the present invention. .

Fig. 4 is a front view of the construction member molding robot shown in fig. 3.

Fig. 5 is a schematic structural view of another embodiment of the building element molding robot of the present invention.

Fig. 6 is a schematic view of another angle of the construction member molding robot shown in fig. 5.

Fig. 7 is a schematic structural view of a building element molding robot according to still another embodiment of the present invention.

Detailed Description

Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements throughout.

As shown in fig. 1-2, the utility model discloses a building element molding robot 100, including base 10, traveling system 20, support body 30, operating system 40, at least one snatchs leveling system 50, at least one auxiliary stay system 60 and fixed system 80, traveling system 20 and fixed system 80 locate the base 10 bottom, traveling system 20 is flexible controllable to have support status and contraction status, support body 30 is located on base 10, operating system 40 includes lift controllable crane 41, crane 41 sliding connection is in support body 30, snatch leveling system 50 including setting up in crane 41's basal portion 51 and the controllable a plurality of telescopic links 53 of the flexible of swivelling joint in basal portion 51, auxiliary stay system 60 includes the flexible controllable telescopic bracket 61 of the rotatory setting in crane 41. Wherein, when the walking system 20 is in the retracted state, the fixing system 80 plays a supporting role, and when the walking system 20 is in the supporting state, the walking system 20 plays a supporting role. In actual use, the traveling system 20 is a universal wheel with a telescopic function, so that the building component molding robot 100 can be conveniently moved, and when the traveling system 20 is moved to a required position, the traveling system 20 is contracted to a contracted state, so that the fixing system 80 supports against the bearing surface, and the building component molding robot 100 can be stably supported, and can not move during operation. In this embodiment, the grabbing leveling system 50 is disposed at the horizontal position of the crane 41, and may be used for automated assembly of vertical members using templates 90.

Referring to fig. 3-4, the building component molding robot 100 further includes at least one robot arm 70 slidably disposed on the crane 41 and controllable in extension and retraction, and the building component molding robot includes two grabbing leveling systems 50, wherein one grabbing leveling system 50 can be disposed at the extending end of the robot arm 70 in the vertical direction, and the other grabbing leveling system 50 can be disposed at the extending end of the robot arm 70 in the horizontal direction. In this embodiment, one of the grabbing leveling systems 50 is disposed on top of the crane 41, and can be used for automated assembly of horizontal members using templates 90; another grabbing leveling system 50 is provided at the extended end of the robot arm 70 in the horizontal direction, which can be used for automated assembly of vertical members using a template 90. That is, one of the grabbing leveling systems 50 is disposed in a vertical direction of the crane 41, and the other grabbing leveling system 50 is disposed in a horizontal direction.

Referring to fig. 1-4, the lifting system 40 further includes a first hydraulic control device and a telescopic column 43, the telescopic column 43 is connected to the lifting frame 41, and the first hydraulic control device drives the telescopic column 43 to extend or retract to drive the lifting frame 41 to ascend or descend. When the first hydraulic control device controls the telescopic column 43 to ascend, the lifting frame 41 is driven to ascend, so that the grabbing leveling system 50 located above the lifting frame 41 ascends to grab the template 90 to enable the template to be located at the designed position. Further, the grabbing leveling system 50 further includes a second hydraulic control device, and the second hydraulic control device drives the telescopic rod 53 to extend or retract. The second hydraulic control device is used for driving the telescopic rod to move, so that the position of the template 90 is adjusted, and the precision is improved. Further, the grab leveling system 50 further comprises a control system that controls the telescopic rod 53 to perform a rotational movement about the base 51. The control system is used for controlling the telescopic rod 53 to rotate around the base 51, so that the adjustment purpose is achieved flexibly and conveniently. The control system can adopt a general activity control mode, and particularly can adopt big data collected by the Internet of things to accurately adjust the position of the template 90. In order to facilitate the movement of the grabbing leveling system 50 located at the side of the crane 41, the grabbing leveling system 50 includes a third hydraulic control device, and the third hydraulic control device drives the mechanical arm 70 to extend or retract. The grabbing leveling system 50 further includes a driving device, and the driving device drives the telescopic robot arm 70 to perform ascending or descending motion on the crane 41. That is to say, when the lifting frame 41 is lifted to a certain position, the driving device drives the mechanical arm 70 to lift or descend on the lifting frame 41 to reach a more suitable position, and then the third hydraulic control device is used for driving the telescopic mechanical arm 70 to move, so as to conveniently grab and fix the template 90. Specifically, the robot arm 70 includes a support arm 71, a grabbing arm 73, and an auxiliary support arm 75, wherein the support arm 71, the grabbing arm 73, and the auxiliary support arm 75 are respectively controlled by different driving devices, and the grabbing arm 73 is used to grab the template 90, and then the support arm 71 is fixed to the template 90, so as to extend the template 90 to a designed position. When the width of the formwork 90 is large, the supporting is assisted by the auxiliary supporting arm 75, and the stability of the formwork 90 is ensured.

Wherein, both ends of the telescopic rod 53 have spherical convex parts 531, and the base part 51 is provided with a groove for one of the convex parts 531 to rotate. The convex portions 531 are driven by hydraulic pressure to rotate in the grooves, so that any angle can be conveniently adjusted, and the grooves for mounting the convex portions 531 are correspondingly formed in the back of the template 90, so that butt joint and grabbing are facilitated. In order to stably grasp the template 90, the telescopic rod 53 is provided with an engaging portion at the end of the other convex portion 531 for engaging the template 90. When the protrusion 531 of the telescopic rod 53 is located in the groove of the mold plate 90, the protrusion 531 is engaged with the groove of the mold plate 90 by the engaging portion, so that the protrusion 531 is fixed in the groove of the mold plate 90, and can rotate in the groove of the mold plate 90 to achieve any angle adjustment.

Referring to fig. 1, the auxiliary support system 60 further includes a fourth hydraulic control device, and the fourth hydraulic control device drives the telescopic bracket 61 to extend or retract. The telescopic bracket 61 is driven by the fourth hydraulic control means to extend to abut against the bearing surface. Further, the building element molding robot 100 further includes a base 10 provided with a telescopic stay 11 controllable in extension and retraction along a horizontal direction, and when the telescopic stay 11 and the telescopic bracket 61 are in an extended state, the telescopic stay 11, the telescopic bracket 61 and the telescopic column 43 form a triangular structure. That is, the telescopic support 61 is controlled to extend and the telescopic support 11 is controlled to extend through hydraulic drive, the telescopic support and the telescopic support 11 are connected to a certain position in a clamping mode, the telescopic support 11 is connected with the ground through the fixing system 80, and when the telescopic support 11, the telescopic support 61 and the telescopic column 43 form a triangular structure, the stability of the building component molding robot 100 in working is further guaranteed. When the telescopic support 61 is not needed, the telescopic support 61 can be driven to retract through the fourth hydraulic control device, so that the occupied space is reduced, and the transportation and the movement are convenient.

Referring to fig. 5-6, in the embodiment, the building component molding robot includes three grabbing leveling systems 50, one grabbing leveling system 50 is disposed at the extending end of the robot arm 70 in the vertical direction, and the other two grabbing leveling systems 50 are disposed at the extending ends of the two robot arms 70 in the horizontal direction, respectively, so as to simultaneously complete the automatic assembly of the vertical and horizontal components using the form 90. Referring to fig. 7, the building element forming robot includes five grabbing and leveling systems 50, wherein one grabbing and leveling system 50 is disposed on the top of the crane 41, i.e., on the extending end of the robot arm 70 in the vertical direction, and the other four grabbing and leveling systems 50 are disposed on the extending end of the robot arm 70 in the horizontal position, respectively, so as to simultaneously complete the automated assembly of a plurality of vertical and horizontal elements using the form 90.

The working principle of the present invention is described below with reference to fig. 1 to 7:

when the building element forming robot 100 is operated, the building element forming robot 100 can be conveniently moved to a desired position by using the traveling system 20, and then the traveling system 20 is contracted and the fixing system 80 is supported on the supporting surface for supporting. The first hydraulic control device drives the telescopic column 43 to extend out to drive the lifting frame 41 to ascend, so as to drive the grabbing leveling system 50 positioned at the top of the lifting frame 41 to realize the automatic assembly of the horizontal component by using the template 90. The third hydraulic control device drives the mechanical arm 70 to extend to drive the grabbing leveling system 50 installed at the extending end of the mechanical arm 70 to realize the automatic assembly of the vertical component using template 90. The second hydraulic control means drives the telescopic rod 53 to extend or retract to adjust the position of the template 90. The control system controls the telescopic rod 53 to rotate around the base 51, and the position of the template 90 is accurately adjusted.

Compared with the prior art, when the walking system 20 is in the supporting state during the construction process, the building element forming robot 100 is moved to a desired position by the walking system 20, the walking system 20 is operated to be in the contracting state, and the fixing system 80 plays a supporting role. The lifting system 40 drives the grabbing leveling system 50 to move to a certain position, the grabbing leveling system 50 is used for grabbing the template 90 and fixing the template 90 at a required position, automatic assembly of the vertical component using the template 90 can be achieved, automatic assembly of the horizontal component using the template 90 can also be achieved, a mold cavity is formed, and then pouring is conducted. Meanwhile, the telescopic bracket 61 of the auxiliary supporting system 60, which is controllable to be contracted, abuts against the ground, so that the base 10 and the frame body 30 are more stable. Therefore, the automatic assembly of the vertical and horizontal component using templates 90 can be realized, the complexity and the instability of manual splicing are avoided, the dependence on workers is reduced, the labor cost is reduced, the accident rate of the workers is reduced, the construction progress is improved, the construction period is shortened, the forming precision of the component is improved, the progress of intelligent construction and unmanned construction is promoted, and the intelligent building and unmanned building combined type formwork has good investment benefits and social benefits.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, therefore, the invention is not limited thereto.

Claims

1. A building element molding robot, characterized in that: comprises a base (10), a walking system (20), a frame body (30), a lifting system (40), at least one grabbing leveling system (50), at least one auxiliary supporting system (60) and a fixing system (80), the walking system (20) and the fixing system (80) are arranged at the bottom of the base (10), the walking system (20) is controllable in stretching and contracting and has a supporting state and a contracting state, the frame body (30) is arranged on the base (10), the lifting system (40) comprises a lifting frame (41) with controllable lifting, the lifting frame (41) is connected with the frame body (30) in a sliding way, the grabbing leveling system (50) comprises a base part (51) arranged on the lifting frame (41) and a plurality of telescopic rods (53) which are rotationally connected with the base part (51) and can be controlled in stretching, the auxiliary supporting system (60) comprises a telescopic bracket (61) which is arranged on the lifting frame (41) in a rotary mode and can be controlled in a telescopic mode.

2. The building element molding robot according to claim 1, further comprising at least one robot arm (70) controllable in extension and retraction provided to the crane (41), wherein the building element molding robot comprises two grabbing leveling systems (50), one of the grabbing leveling systems (50) being provided at an extended end of the robot arm (70) in a vertical direction, and the other grabbing leveling system (50) being provided at an extended end of the robot arm (70) in a horizontal direction.

3. The building component molding robot according to claim 1, wherein the building component molding robot comprises five grabbing leveling systems (50), one of the grabbing leveling systems (50) is disposed at an extending end of the robot arm (70) in a vertical direction, and the other four grabbing leveling systems (50) are disposed at an extending end of the robot arm (70) in a horizontal direction, respectively.

4. The building element molding robot according to claim 1, wherein the both ends of the telescopic bar (53) have a spherical convex portion (531), and the base portion (51) has a leveling function and is provided with a groove for rotatably disposing the convex portion (531).

5. The building element molding robot according to claim 4, wherein the telescopic bar (53) is provided with an engaging portion for engaging a template at the other end of the convex portion (531).

6. The building element forming robot as claimed in claim 1, wherein the lifting system (40) further comprises a first hydraulic control means and a telescopic column (43), the telescopic column (43) being connected to the lifting frame (41), the first hydraulic control means driving the telescopic column (43) to extend or retract to drive the lifting frame (41) to ascend or descend.

7. The building component molding robot according to claim 1, wherein the grasping leveling system (50) further comprises a second hydraulic control device that drives the telescopic link (53) to extend or retract.

8. The building element shaping robot according to claim 1, wherein the grabbing leveling system (50) further comprises a control system controlling the telescopic rod (53) to perform a rotational movement around the base (51).

9. The building element forming robot of claim 3, wherein the grabbing leveling system (50) further comprises a driving device for driving the robot arm (70) to perform ascending or descending movement on the crane (41).

10. The building element forming robot as claimed in claim 6, further comprising a telescopic stay bar (11) with controllable extension and retraction arranged on the base (10) along the horizontal direction, wherein when the telescopic stay bar (11) and the telescopic bracket (61) are in the extended state, the telescopic stay bar (11), the telescopic bracket (61) and the telescopic column (43) form a triangular structure.