CN212613863U - Man-machine cooperation wall building robot and system - Google Patents
Man-machine cooperation wall building robot and system Download PDFInfo
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- CN212613863U CN212613863U CN202020802301.7U CN202020802301U CN212613863U CN 212613863 U CN212613863 U CN 212613863U CN 202020802301 U CN202020802301 U CN 202020802301U CN 212613863 U CN212613863 U CN 212613863U
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Abstract
The embodiment of the utility model discloses man-machine cooperation wall building robot, include: remove the chassis, with remove the fixed support post in chassis, with support the fixed assist drive device of stand and with the holder that assist drive device is fixed, assist drive device includes raiser and support arm, the extending direction of support arm with the support post is perpendicular, the support arm is kept away from the end of support post is provided with first location structure, the raiser include power pack and with the hawser that power pack is fixed, the hawser extends and passes along the direction of support arm first location structure after-fixing the holder. The utility model provides a people and machine cooperation robot simple structure can the fully provided floor bearing capacity, and the process of pressing from both sides the brick is accomplished by the holder, has solved the big technical problem of intensity of labour of artifical transport building block. The utility model discloses still relate to a man-machine cooperation wall building robot system.
Description
Technical Field
The utility model relates to a building technical field especially relates to a to people's computer coordination robot and system of building a wall.
Background
In the building construction process, a wall building process is often adopted after a main body is cast in place, the existing wall building mostly adopts an air-adding block, the size of the conventional air-adding block is 600mmX200mmX300mm, and the weight of a single brick after wet water can reach 40 Kg; at present, the brick moving and the brick laying are basically completed manually, and for manpower, the operations of plastering, building and the like on the aerated block with the weight of 40Kg are difficult continuously, so the current wall building efficiency is low, and the operation can be completed by personnel with good physical strength or two persons simultaneously. With the transformation of the Chinese labor force, the worker still engaged in the wall building operation in the building construction industry is seriously aged, and the environment of the construction site is severe, and the wall building operation is not boring and tasteless, so that the wall building operation is basically not considered in the young generation. At present, the construction industry has seen the shortage of people, and how to get up the building by building walls with less and less ginseng and plastering. The floor bearing capacity of a commercial house is 200 kg/square meter, and large-scale heavy equipment cannot be applied to floor construction, so that an industrial mechanical arm with the load of 40kg or more cannot be applied to floors. Based on the problems, in the current building construction industry, an efficient human-machine power-assisted wall building system scheme is urgently needed to assist in completing a wall building process.
SUMMERY OF THE UTILITY MODEL
In order to achieve the technical purpose, the embodiment of the utility model provides a wall building robot and system are collaborated to people and machine.
A human-machine collaboration walling robot, comprising: remove the chassis, with remove the fixed support post in chassis, with support the fixed assist drive device of stand and with the holder that assist drive device is fixed, assist drive device includes raiser and support arm, the extending direction of support arm with the support post is perpendicular, the support arm is kept away from the end of support post is provided with first location structure, the raiser include power pack and with the hawser that power pack is fixed, the hawser extends and passes along the direction of support arm first location structure after-fixing the holder.
In a preferred embodiment, the support column includes a base pillar fixed to the mobile chassis, a telescopic pillar sleeved in the base pillar, and a top-ceiling structure fixed to one side surface of the telescopic pillar, the side surface being away from the base pillar, and the top-ceiling structure includes a guide rail fixed to the telescopic pillar and a sliding portion fixed to the guide rail.
In a preferred embodiment, the support arm includes a first connection seat fixed to the telescopic column, a first folding arm pivoted to the first connection seat, a second connection seat fixed to the first folding arm, and a second folding arm pivoted to the second connection seat, the first connection seat and the roof structure are respectively fixed to two opposite surfaces of the telescopic column, the first folding arm can rotate relative to the first connection seat, and the second folding arm can rotate relative to the second connection seat.
In a preferred embodiment, the power unit is fixed to the first connecting seat, the second connecting seat, the first folding arm and the second folding arm are respectively provided with a second positioning structure, and the cable is connected with the power unit, then bypasses the plurality of second positioning structures, and then is fixed with the holder.
In a preferred embodiment, the second positioning structure comprises a mounting seat, a rotating disc, two reels and a limit plate; the mount pad with the support arm is fixed, the rolling disc set up in the mount pad just can be relative the mount pad rotates, be provided with two spaced reference columns on the rolling disc, the reel is worn to establish reference column and its both ends press from both sides and locate the rolling disc with between the limiting plate, the reel can be relative the reference column rotates.
In a preferred embodiment, the man-machine cooperation wall building robot further comprises a power supply device fixed in the movable chassis, and the power supply device supplies power to the support upright, the boosting mechanism and the clamper.
In a preferred embodiment, the holder includes the body and is located the first grip block and the second grip block of the relative both ends of body, the body still includes two sides perpendicular with the second grip block respectively, is provided with the slide rail respectively on every side and follows the slider of slide rail removal, the body still includes the fixed plate of U type, the relative both ends of fixed plate are respectively with two the slider is fixed, the bottom of fixed plate with the second grip block is fixed, the fixed plate is along with the removal drive second grip block of slider is to being close to or keeping away from the direction removal of first grip block.
In a preferred embodiment, the body further comprises a driving part fixed with the second clamping plate.
In a preferred embodiment, the holder is provided with a control button, and the control button is electrically connected with the driving part.
The utility model discloses still relate to a human-computer cooperation wall building robot system for accomplish the wall building with the cooperation of human-computer cooperation wall building robot.
The utility model provides a people and machine cooperation wall building robot system, its includes as above people and machine cooperation wall building robot and automatic mortar joint plastering device, automatic mortar joint plastering machine include mortar conveyer, mortar joint plastering machine and connect in the mortar conveyer conveying pipeline between the mortar joint plastering machine, the mortar conveyer is used for producing the mortar, the conveying pipeline be used for with the mortar that the mortar conveyer produced is exported extremely mortar joint plastering machine, mortar joint plastering machine sets up on the building block, mortar joint plastering machine accomplishes the back of fixing a position at the building block, moves in order to realize paining of horizontal mortar joint and vertical mortar joint on the building block.
Compared with the prior art, the utility model discloses following beneficial effect has: the man-machine cooperation wall building robot of the utility model has light weight as a whole and can fully meet the bearing capacity of floors; the execution speed is high, the efficiency is high, and the quality is good; the volume is small, and most construction spaces in the floor can be met.
Drawings
Fig. 1 is a schematic diagram of an embodiment of a human-machine cooperation wall building robot provided by the utility model.
Fig. 2 is an enlarged schematic view of a region II of the man-machine cooperative walling robot provided in fig. 1.
Fig. 3 is an enlarged schematic view of a region III of the man-machine cooperative walling robot provided in fig. 1.
Fig. 4 is an enlarged schematic view of a VI area of the man-machine cooperative walling robot provided in fig. 1.
Fig. 5 is the utility model provides a structural schematic of people and machines cooperation wall building robot system.
Description of the main elements
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Referring to fig. 1-4, fig. 1 is a schematic view illustrating a human-machine cooperation wall building robot according to an embodiment of the present invention. Fig. 2 is an enlarged schematic view of a region II of the man-machine cooperative walling robot provided in fig. 1. Fig. 3 is an enlarged schematic view of a region III of the man-machine cooperative walling robot provided in fig. 1. Fig. 4 is an enlarged schematic view of a VI area of the man-machine cooperative walling robot provided in fig. 1. The embodiment of the utility model provides a pair of people and machine cooperation wall building robot 100, include: the device comprises a movable chassis 10, a support upright post 20 fixed with the movable chassis 10, a boosting mechanism 30 fixed with the support upright post 20 and a clamper 40 fixed with the boosting mechanism 30.
The mobile chassis 10 includes a plurality of universal wheels and a brake structure for fixing the universal wheels. The universal wheels are arranged on the movable chassis 10 to facilitate the movement of the man-machine cooperation wall building robot 100.
The moving chassis 10 is provided with a power supply device (not shown) which supplies power to the supporting upright 20, the boosting mechanism 30 and the clamper 40. The power supply device may be a battery.
The support column 20 includes a base column 21 fixed to the mobile chassis 10, a telescopic column 22 sleeved in the base column 21, and a top-ceiling structure 23 fixed to one side surface of the telescopic column 22 away from the base column 21. The overhead structure 23 includes a guide rail 230 fixed to the telescopic column 22 and a sliding portion 232 fixed to the guide rail 230. The sliding portion 232 has a length such that its top end abuts against the ceiling when sliding on the guide rail 230. Thus, the top end of the sliding part 232 is pressed against the ceiling, and the movable chassis 10 is pressed against the ground, so that the movable chassis 10 and the sliding part 232 are firmly fixed with the bottom surface and the ceiling, and the support column 20 can be prevented from shaking. The lifting sequence of the telescopic column 22 and the top roof structure 23 can be determined according to the design and can be automatically completed by one key. The ceiling structure 23 can determine the lifting height according to the height of the ceiling.
The assist mechanism 30 includes a lifter 31 and a support arm 32. The support arms 32 extend in a direction perpendicular to the support columns 20. The end of the support arm 32 remote from the support post 20 is provided with a first locating formation 50. The lifter 31 includes a power unit and a cable 312 fixed to the power unit, the cable 312 extending in the direction of the support arm 32 and passing through the first positioning structure 50 to fix the holder 40.
In the present embodiment, the first positioning structure 50 is a pulley.
The support arm 32 include with the first connecting seat 320 that telescopic column 22 is fixed, with the first arm 322 that rolls over of first connecting seat 320 pin joint, with the first second connecting seat 324 that rolls over 322 fixed and the second that rolls over arm 326 with second connecting seat 324 pin joint, first connecting seat 320 with it is fixed in respectively to push up day structure 23 two surfaces of carrying on the back mutually of telescopic column 22, first arm 322 that rolls over can be relative first connecting seat 320 rotates, the second is rolled over arm 326 and can be relative second connecting seat 324 rotates.
In this embodiment, the support arm 32 includes the first folding arm 322 and the second folding arm 326, so that the degree of freedom of the support arm 32 is increased, and the support arm 32 can be extended by different lengths and folded by different angles, so as to grip the blocks 101 at different distances.
The power unit is fixed to the first connecting seat 320, the second connecting seat 324, the first folding arm 322 and the second folding arm 326 are respectively provided with a second positioning structure 60, and the cable 312 is connected with the power unit and then bypasses a plurality of the second positioning structures 60 and then is fixed with the holder 40.
In the present embodiment, the second positioning structure 60 includes a mounting seat 61, a rotating disk 62, a reel 63, and a stopper plate 65. The mount pad 61 with the support arm 32 is fixed, the rolling disc 62 set up in the mount pad 61 and can be relative the mount pad 61 rotates, be provided with two spaced reference columns 64 on the rolling disc 62, reel 63 wears to establish reference column 64 and its both ends press from both sides and locate the rolling disc 62 with between the limiting plate 65, also two the center pin of reel 63 parallels, reel 63 can be relative reference column 64 rotates.
In this embodiment, the number of the second positioning structures 60 is three, and three second positioning structures 60 are respectively disposed on the first connecting seat 320, the second connecting seat 324 and the first folding arm 322.
In this embodiment, the direction-changing device further comprises a direction-changing wheel 66 disposed on the second folding arm 326, wherein the direction-changing wheel 66 is used for changing the direction of the cable 312 to change the extending direction of the cable 312 from the horizontal position to the vertical position.
The clamper 40 includes a body 41, a first clamping plate 42 and a second clamping plate 43 at opposite ends of the body 41, and a driving portion (not shown). The body 41 includes two sides perpendicular with second grip block 43 respectively, is provided with slide rail 44 and the slider 45 that moves along slide rail 44 on every side respectively, the body 41 still includes the fixed plate 46 of U type, the relative both ends of fixed plate 46 respectively with two the slider 45 is fixed, the bottom of fixed plate 46 with the second grip block 43 is fixed, the fixed plate 46 is along with the removal of slider 45 drives second grip block 43 and removes to the direction that is close to or keeps away from first grip block 42. In the present embodiment, since the operator is required to operate the holder 40, that is, the operator is required to position the holder 40 to place the block 101 at the predetermined position, the holder 40 may further be provided with a handle, so that the operator can hold the handle to place the block 101 at the predetermined position after the holder 40 holds the block 101.
The holder 40 is provided with a first control button (not shown) and a second control button (not shown), the first control button is electrically connected with the driving part and is used for controlling the second holding plate 43 to move relative to the first holding plate 42 so as to hold the building blocks 101 with different thicknesses, and the second control button is used for controlling the power unit to release and release the cable 312 so as to realize the lifting of the holder 40. The constructor can realize the actions of lifting and clamping the clamp holder 40 and the brick by controlling the first control button and the second control button.
Referring to fig. 5, fig. 5 is a diagram of a human-machine cooperation wall building robot system 200 according to the present invention, which is used to complete wall building in cooperation with an automatic mortar joint plastering device 300.
A human-machine-collaborative walling robot system 200 includes the human-machine-collaborative walling robot 100 as described above and an automatic mortar joint plastering device 300. The automatic mortar joint plastering device 300 comprises a mortar conveyor 70, a mortar joint plastering machine 80 and a conveying pipeline 90 connected between the mortar conveyor 70 and the mortar joint plastering machine 80. The mortar conveyor 70 is used for generating mortar, and the conveying pipeline 90 is used for outputting the mortar generated by the mortar conveyor 70 to the mortar joint grouting machine 80. Mortar joint grouting machine 80 is arranged on building block 101, and mortar joint grouting machine 80 moves on building block 101 after building block 101 is positioned so as to paint horizontal mortar joints and vertical mortar joints.
The utility model provides a 100 systems of people's machine cooperation wall building robot can carry out according to following step when using:
a constructor pushes the man-machine cooperation wall building robot 100 system to the middle position of a wall to be built, and universal wheels of the movable chassis 10 are fixed;
starting the telescopic column 22 and the overhead structure 23 included in the support upright column 20 to enable the sliding part 232 included in the overhead structure 23 to rise upwards until the sliding part abuts against the ceiling, so that the whole equipment is stably supported at the point, and the stable arrangement of the power assisting mechanism 30 is also realized;
a constructor places the automatic mortar joint grouting machine 80 on the bottom building and places the mortar conveyor 70 on the periphery to facilitate adding mortar;
providing a heightening ladder 110, and enabling the heightening ladder 110 to be positioned at the periphery of the wall body to be built for convenient use;
electrifying the whole equipment, and pressing a starting button; the mortar conveyor 70 starts to convey mortar according to a program, and the automatic mortar joint plastering machine 80 starts to plaster horizontal and vertical mortar according to a preset program; the constructor operates the clamp 40 and controls the lifter 31 to release and release the cable 312 through a second control button on the clamp 40, so that the clamp 40 is moved to clamp the building block 101;
after the clamp 40 clamps the building block 101, a constructor operates the clamp 40, moves the building block 101 to a position to be built with mortar, and presses a first control button to place the building block 101 after aligning the building block 101; the gripper 40 is repeatedly operated in such a way, and the placement of the building block 101 is completed by matching with the execution speed of the automatic mortar joint grouting machine 80; after the lower-layer building block 101 is built, a constructor uses a heightening ladder to assist in completing the building of the high-layer building block 101;
when no mortar exists in the mortar conveyor 70, workers need to pour the mortar into the mortar conveyor; after the wall is built, the worker moves the whole set of equipment to the next built wall, and the wall is built by repeating the operations.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A human-machine collaboration walling robot, comprising: remove the chassis, with remove the fixed support post in chassis, with support the fixed assist drive device of stand and with the fixed holder of assist drive device, its characterized in that, assist drive device includes raiser and support arm, the extending direction of support arm with it is perpendicular to support the stand, the support arm is kept away from the end of support post is provided with first location structure, the raiser include power pack and with the hawser that power pack is fixed, the hawser extends and passes along the direction of support arm first location structure after-fixing the holder.
2. The man-machine cooperation wall building robot of claim 1, wherein the support column comprises a base column fixed with the moving chassis, a telescopic column sleeved in the base column and a top roof structure fixed with one side surface of the telescopic column far away from the base column, and the top roof structure comprises a guide rail fixed with the telescopic column and a sliding part fixed with the guide rail in a matching manner.
3. The human-computer cooperation wall building robot according to claim 2, wherein the supporting arm comprises a first connecting seat fixed to the telescopic column, a first folding arm pivoted to the first connecting seat, a second connecting seat fixed to the first folding arm, and a second folding arm pivoted to the second connecting seat, the first connecting seat and the top roof structure are respectively fixed to two opposite surfaces of the telescopic column, the first folding arm can rotate relative to the first connecting seat, and the second folding arm can rotate relative to the second connecting seat.
4. The man-machine cooperation wall building robot according to claim 3, wherein the power unit is fixed to the first connecting seat, second positioning structures are respectively arranged on the first connecting seat, the second connecting seat, the first folding arm and the second folding arm, and the cable is connected with the power unit, bypasses the plurality of second positioning structures and is fixed to the holder.
5. The human-machine cooperation wall building robot according to claim 4, wherein the second positioning structure comprises a mounting seat, a rotating disc, two reels and a limiting plate; the mount pad with the support arm is fixed, the rolling disc set up in the mount pad just can be relative the mount pad rotates, be provided with two spaced reference columns on the rolling disc, the reel is worn to establish reference column and its both ends press from both sides and locate the rolling disc with between the limiting plate, the reel can be relative the reference column rotates.
6. The human-machine cooperation wall building robot according to claim 1, further comprising a power supply device fixed in the moving chassis, wherein the power supply device supplies electric energy to the support upright, the power assisting mechanism and the clamper.
7. The man-machine cooperation wall building robot according to claim 1, wherein the holder comprises a body, a first holding plate and a second holding plate, the first holding plate and the second holding plate are located at two opposite ends of the body, the body further comprises two side faces perpendicular to the second holding plate, a sliding rail and a sliding block moving along the sliding rail are arranged on each side face, the body further comprises a U-shaped fixing plate, two opposite ends of the fixing plate are fixed to the two sliding blocks, the bottom of the fixing plate is fixed to the second holding plate, and the fixing plate drives the second holding plate to move towards or away from the first holding plate along with movement of the sliding block.
8. The humanoid cooperative walling robot of claim 7, wherein the body further includes a drive portion, the drive portion being fixed with the second clamping plate.
9. The human-machine cooperation wall building robot according to claim 8, wherein a first control button and a second control button are arranged on the clamp holder, the first control button is electrically connected with the driving portion and used for controlling the second clamping plate to move relative to the first clamping plate, and the second control button is used for controlling the power unit to retract and release the cable.
10. A human-machine cooperation wall building robot system, characterized by, include human-machine cooperation wall building robot and automatic mortar joint plastering device of any one of claims 1-9, automatic mortar joint plastering machine includes mortar conveyer, mortar joint plastering machine and connect in the mortar conveyer between the mortar joint plastering machine, the mortar conveyer is used for producing mortar, the conveying pipeline is used for exporting the mortar that the mortar conveyer produced to mortar joint plastering machine, mortar joint plastering machine sets up on the building block, mortar joint plastering machine after the building block is accomplished the location, moves on the building block in order to realize smearing of horizontal mortar joint and vertical mortar joint.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020802301.7U CN212613863U (en) | 2020-05-14 | 2020-05-14 | Man-machine cooperation wall building robot and system |
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| CN202020802301.7U CN212613863U (en) | 2020-05-14 | 2020-05-14 | Man-machine cooperation wall building robot and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111502313A (en) * | 2020-05-14 | 2020-08-07 | 中物智建(武汉)科技有限公司 | Man-machine cooperation wall building robot and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111502313A (en) * | 2020-05-14 | 2020-08-07 | 中物智建(武汉)科技有限公司 | Man-machine cooperation wall building robot and system |
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