CN215055540U

CN215055540U - Wall building robot

Info

Publication number: CN215055540U
Application number: CN202023282824.2U
Authority: CN
Inventors: 卢平平; 王占文
Original assignee: Chengde Petroleum College
Current assignee: Chengde Petroleum College
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2021-12-07
Anticipated expiration: 2030-12-28

Abstract

The utility model provides a wall building robot, including the frame that is equipped with running gear, rotate the swivel mount of being connected with the frame, be used for driving swivel mount pivoted drive arrangement, set up elevating system on the swivel mount and set up the brick laying mechanism on elevating system, brick laying mechanism is including setting up the arm in order to go up and down along with elevating system on elevating system, set up in the free end of arm in order to be used for snatching the jack catch of fragment of brick and set up in the slip casting shower nozzle of the free end of arm in order to be used for adding the bonding thick liquid, the slip casting shower nozzle is used for being connected with the thick liquid mixer. By the arrangement, the wall building robot can replace manual wall building operation, and the increasing vacancy of wall building workers is made up. And the utility model discloses a wall building robot volume can be made more lightly, uses the elevator easily to go up and down stairs promptly.

Description

Wall building robot

Technical Field

The utility model relates to a build wall technical field, more specifically say, relate to a build wall robot.

Background

At present, a great gap is faced by a wall building worker, so that the provision of a wall building robot capable of replacing manual wall building is a technical problem to be solved urgently by technical personnel in the field.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a can build wall robot automatically to replace the manual work to carry out the wall operation, thereby solve the problem that the wall worker kind is in shortage day by day.

In order to solve the problem, the utility model provides a wall building robot, including the frame that is equipped with running gear, with the frame rotates the swivel mount of connection, is used for the drive swivel mount pivoted drive arrangement, set up in elevating system on the swivel mount and set up in the last mechanism of laying bricks of elevating system, the mechanism of laying bricks including set up in elevating system is last in order to follow the arm that elevating system goes up and down, set up in the free end of arm in order to be used for snatching the jack catch of fragment of brick and set up in the free end of arm is in order to be used for adding the slip casting shower nozzle of bonding thick liquid, the slip casting shower nozzle is used for being connected with slurry mixer.

Preferably, the lifting mechanism includes a lifting plate slidably connected to the rotating frame, a counterweight mechanism slidably connected to the rotating frame, a chain wheel arranged on the rotating frame, a transmission chain with one end connected to the lifting plate and the other end connected to the counterweight mechanism via the chain wheel, and a lifting motor drivingly connected to the chain wheel to drive the chain wheel, and the mechanical arm is arranged on the lifting plate.

Preferably, the counterweight mechanism comprises a counterweight block, or the counterweight mechanism comprises the brick laying mechanism.

Preferably, elevating system's quantity is two, two elevating system follows the pivot circumference of swivel mount distributes, each be equipped with on the lifter plate respectively bricklaying mechanism.

Preferably, still include two be parallel to each other with the swivel mount rotates the pivot of connecting, each be equipped with two in the pivot respectively the sprocket, the quantity of driving chain is two, two one in the driving chain in proper order with two epaxial two sprocket meshing, another person in proper order with two epaxial two in addition the sprocket meshing, elevator motor's quantity with the pivot is the same and one-to-one, elevator motor and corresponding the pivot transmission is connected.

Preferably, the rack is provided with a mounting hole, and the rotating frame is rotatably mounted in the mounting hole through a bearing.

Preferably, the bearing comprises a thrust bearing disposed at the bottom of the mounting hole and a radial bearing disposed at the mounting hole aperture.

Preferably, the arm includes with the first end elevating system rotates big arm, first end of being connected with big arm second end rotates the well arm of being connected, first end with well arm second end rotates the forearm of being connected and set up in the driving motor of forearm second end, the jack catch with driving motor's output shaft transmission is connected, the slip casting shower nozzle set up in on the jack catch, the arm still including be used for driving big arm pivoted first motor, be used for driving well arm pivoted second motor and be used for driving forearm pivoted third motor, big arm well arm with the rotation axis of forearm is parallel, and all with driving motor's output shaft is perpendicular.

Preferably, the running gear is a four-wheel drive gear or a crawler gear.

The utility model provides an among the technical scheme, a wall building robot, including the frame that is equipped with running gear, rotate the swivel mount of being connected with the frame, be used for driving swivel mount pivoted drive arrangement, set up elevating system on the swivel mount and set up the brick laying mechanism on elevating system, brick laying mechanism is including setting up the arm in order to go up and down along with elevating system on elevating system, set up in the jack catch of the free end of arm in order to be used for snatching the fragment of brick and set up in the slip casting shower nozzle of the free end of arm in order to be used for adding the bonding thick liquid, the slip casting shower nozzle is used for being connected with the thick liquid mixer.

During the use, the wall building robot can reciprocate between the fragment of brick of putting in good order and the wall body of waiting to build through running gear, drive the jack catch through the arm and press from both sides the fragment of brick and place in the wall body department of waiting to build, can pour into bonding slurry through the slip casting shower nozzle and make mutual bonding fixed between the fragment of brick. The rotary frame can drive the mechanical arm to rotate in situ, the direction of the mechanical arm is adjusted, bricks are taken or placed, the mechanical arm can be lifted by the lifting mechanism along with the gradual building of the wall, and the wall building robot continues the wall building operation until the wall reaches the designed height.

By the arrangement, the wall building robot can replace manual wall building operation, and the increasing vacancy of wall building workers is made up. And the utility model discloses a wall building robot volume can be made more lightly, uses the elevator easily to go up and down stairs promptly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a wall building robot in an embodiment of the present invention;

fig. 2 is a schematic structural view of the wall building robot in fig. 1 with the frame removed;

fig. 3 is the embodiment of the present invention, which is a schematic structural diagram of a lifting mechanism of a wall building robot.

Reference numerals:

1. a frame; 2. a rotating frame; 3. a claw; 4. grouting nozzles; 5. a lifting plate; 6. a counterweight mechanism; 7. a sprocket; 8. a drive chain; 9. a rotating shaft; 10. a radial bearing; 11. a large arm; 12. a middle arm; 13. a small arm; 14. a drive motor; 15. a lifting motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of 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.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The embodiments described below do not limit the scope of the invention described in the claims. Further, the entire contents of the configurations shown in the following embodiments are not limited to those necessary as a solution of the invention described in the claims.

Referring to fig. 1 to 3, an embodiment of the present invention provides a wall building robot, including a frame 1, a rotating frame 2, a driving device, a lifting mechanism, and a brick laying mechanism. The frame 1 may be a supporting framework made of profile steel and/or sheet metal parts by welding or bolt connection. The frame 1 is provided with a running mechanism, and the running mechanism can be a four-wheel drive mechanism or a crawler mechanism. It should be noted that, the specific structures of the four-wheel drive mechanism and the track mechanism are the structures in the prior art, and are not the focus of the discussion herein, and are not described herein again. The rotating frame 2 and the frame 1 are rotatably connected, the rotating axis of the rotating frame 2 extends along the vertical direction, and the driving device is used for driving the rotating frame 2 to rotate. The lifting mechanism is arranged on the rotating frame 2. The bricklaying mechanism is arranged on the lifting mechanism to lift along with the lifting mechanism. The brick laying mechanism comprises a mechanical arm arranged on the lifting mechanism and lifted along with the lifting mechanism, a clamping jaw 3 arranged at the free end of the mechanical arm and used for grabbing bricks, and a grouting spray head 4 arranged at the free end of the mechanical arm and used for adding bonding slurry. The grouting spray head 4 is used for being connected with a slurry stirrer. Alternatively, the jaw 3 may be a pneumatic finger.

During the use, the wall building robot can reciprocate between the fragment of brick of putting and the wall body of waiting to build through running gear, drive jack catch 3 through the arm and press from both sides the fragment of brick and place in the wall body department of waiting to build, can pour into bonding slurry into through slip casting shower nozzle 4 and make the mutual bonding fixed between the fragment of brick. The rotary frame 2 can drive the mechanical arm to rotate in situ, the direction of the mechanical arm is adjusted, bricks are taken or placed, the mechanical arm can be lifted by the lifting mechanism along with the gradual building of the wall, and the wall building robot continues the wall building operation until the wall reaches the designed height.

So set up, can replace the manual work to build the wall operation through building the wall robot, solved the problem that the building work category reduces day by day. And the utility model discloses a wall building robot volume can be made more lightly, uses the elevator easily to go up and down stairs promptly.

In some embodiments, the lift mechanism includes a lift plate 5, a counterweight mechanism 6, a sprocket 7, a drive chain 8, and a lift motor 15. Wherein, the lifting plate 5 is connected with the rotating frame 2 in a sliding way. For example, the rotating frame 2 is provided with a guide rail extending in the vertical direction, and the lifting plate 5 is slidably connected to the guide rail via a slider. Alternatively, the number of guide rails is two, and the two guide rails are located on both sides of the lifting plate 5, respectively. The counterweight mechanism 6 is slidably connected with the rotating frame 2. The weight mechanism 6 may also be slidably connected to the rotating frame 2 by means of the above-mentioned guide rails and sliders. The sprocket 7 is rotatably provided on the rotating frame 2. One end of the transmission chain 8 is connected with the lifting plate 5, and the other end of the transmission chain is connected with the counterweight mechanism 6 after passing through the chain wheel 7. The lifting motor 15 is in transmission connection with the chain wheel 7 to drive the chain wheel 7 to operate, and the mechanical arm is arranged on the lifting plate 5. During the use, drive sprocket 7 through elevator motor 15 and rotate, sprocket 7 drives 8 movements of driving chain, can drive lifter plate 5 and go up and down when 8 movements of driving chain, and the weight of counter weight mechanism 6 is roughly the same with the weight of the mechanism of laying bricks, so can improve the functioning speed of the mechanism of laying bricks to reduce elevator motor 15's load.

In some embodiments, the weight mechanism 6 comprises a counterweight. For example, the clump weight may be an iron block or a concrete block. Alternatively, the counterweight mechanism 6 comprises a brick laying mechanism, i.e. another set of brick laying mechanism is added as the counterweight mechanism 6. So set up, can enough improve the lifting efficiency of the mechanism of laying bricks, reduce lifting motor 15's load, can make the work efficiency of wall building robot improve nearly one time again.

Certainly, in order to further improve the working efficiency of the wall building robot, in some embodiments, the number of the lifting mechanisms is two, the two lifting mechanisms are circumferentially distributed along the rotating shaft 9 of the rotating frame 2, and each lifting plate 5 is provided with a brick laying mechanism. If the counterweight mechanisms 6 of the two lifting mechanisms are mainly composed of brick laying mechanisms, the working efficiency of the wall building robot can be improved by nearly three times.

Referring to fig. 3, in some embodiments, the wall building robot further includes two rotating shafts 9 parallel to each other and rotatably connected to the rotating frame 2, and each rotating shaft 9 is provided with two chain wheels 7. Alternatively, the two ends of the rotating shaft 9 may be rotatably connected with the rotating frame 2 through bearing seats respectively. The number of the transmission chains 8 is two, one of the two transmission chains 8 is meshed with two chain wheels 7 on two rotating shafts 9 in sequence, and the other transmission chain is meshed with the other two chain wheels 7 on the two rotating shafts 9 in sequence. The number of the lifting motors 15 is the same as that of the rotating shafts 9, and the lifting motors 15 are in one-to-one correspondence with the rotating shafts 9 and are in transmission connection with the corresponding rotating shafts 9. For example, the lifting motor 15 may be in transmission connection with the rotating shaft 9 through a gear transmission manner. Two transmission chains 8 are connected with the lifting plate 5 at one end and the counterweight mechanism 6 at the other end. So set up, promote lifter plate 5 through two driving chains 8 for lifter plate 5 moves more stably, and two elevator motor 15 drives simultaneously and can improve elevating system's bearing capacity.

In some embodiments, the frame 1 is provided with a mounting hole, and the rotating frame 2 is rotatably mounted in the mounting hole through a bearing. For example, the bearing includes a thrust bearing provided at the bottom of the mounting hole and a radial bearing 10 provided at the mounting hole aperture. So set up, footstep bearing can the axial force that the bearing swivel mount 2 received, and the axial force includes the gravity of swivel mount 2, the gravity of the mechanism of laying bricks and the gravity of fragment of brick. The radial bearing 10 can prevent the rotating frame 2 from inclining, so that the rotating frame 2 is always kept in a vertical state.

In some embodiments, the robot arm includes a large arm 11 rotatably connected to the first end lifting mechanism, a middle arm 12 rotatably connected to the second end of the large arm 11 at the first end, a small arm 13 rotatably connected to the second end of the middle arm 12 at the first end, and a driving motor 14 disposed at the second end of the small arm 13. The claw 3 is connected with an output shaft of the driving motor 14 in a transmission way, and the grouting nozzle 4 is arranged on the claw 3. The drive motor 14 can drive the jaws 3 to rotate. The mechanical arm further comprises a first motor for driving the large arm 11 to rotate, a second motor for driving the middle arm 12 to rotate and a third motor for driving the small arm 13 to rotate. Taking the first motor and the large arm 11 as an example, the first motor may be installed on the lifting plate 5, and the large arm 11 may be installed on an output shaft of the first motor, so that the first motor may drive the large arm 11 to rotate relative to the lifting plate 5. Referring to fig. 2, the rotation axes of the large arm 11, the middle arm 12, and the small arm 13 are parallel and are all perpendicular to the output shaft of the drive motor 14. So set up, the space angle of the fragment of brick that 3 clamps of jack catch can easily be adjusted to the arm to snatch and place the fragment of brick more accurately.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a wall building robot, its characterized in that, including frame (1) that is equipped with running gear, with frame (1) rotates swivel mount (2) of connecting, is used for the drive swivel mount (2) pivoted drive arrangement, set up in elevating system on swivel mount (2) and set up in elevating system is last builds a brick mechanism, build a brick mechanism including set up in elevating system is last in order to follow elevating system's lift arm, set up in the free end of arm is in order to be used for snatching jack catch (3) of fragment of brick and set up in the free end of arm is in order to be used for adding grouting spray nozzle (4) of bonding thick liquid, grouting spray nozzle (4) are used for being connected with slurry mixer.

2. The barrier robot according to claim 1, wherein the lifting mechanism comprises a lifting plate (5) slidably connected with the rotating frame (2), a counterweight mechanism (6) slidably connected with the rotating frame (2), a chain wheel (7) arranged on the rotating frame (2), a transmission chain (8) with one end connected with the lifting plate (5) and the other end connected with the counterweight mechanism (6) through the chain wheel (7), and a lifting motor (15) in transmission connection with the chain wheel (7) to drive the chain wheel (7) to run, and the mechanical arm is arranged on the lifting plate (5).

3. A barrier robot according to claim 2, characterised in that the counterweight mechanism (6) comprises a counterweight or that the counterweight mechanism (6) comprises the brick laying mechanism.

4. The wall building robot according to any one of claims 2-3, characterized in that the number of the lifting mechanisms is two, the two lifting mechanisms are distributed circumferentially along the rotating shaft (9) of the rotating frame (2), and each lifting plate (5) is provided with the brick laying mechanism.

5. The barrier robot according to claim 2, further comprising two parallel rotating shafts (9) rotatably connected to the rotating frame (2), wherein two chain wheels (7) are respectively disposed on each rotating shaft (9), the number of the transmission chains (8) is two, one of the two transmission chains (8) is sequentially engaged with two chain wheels (7) on the rotating shaft (9), the other is sequentially engaged with the other two chain wheels (7) on the rotating shaft (9), the number of the lifting motors (15) is the same as and corresponds to that of the rotating shafts (9), and the lifting motors (15) are in transmission connection with the corresponding rotating shafts (9).

6. The barrier robot according to claim 1, characterized in that the frame (1) is provided with mounting holes, and the rotating frame (2) is rotatably mounted in the mounting holes through bearings.

7. The barrier robot of claim 6, wherein the bearings comprise a thrust bearing disposed at the bottom of the mounting hole and a radial bearing (10) disposed at the mounting hole aperture.

8. The barrier robot as claimed in claim 1, wherein the robot arm comprises a large arm (11) rotatably connected to the lifting mechanism at a first end, a middle arm (12) rotatably connected to the second end of the large arm (11) at a first end, a small arm (13) rotatably connected to the second end of the middle arm (12) at a first end, and a driving motor (14) provided at the second end of the small arm (13), the claw (3) is in transmission connection with an output shaft of the driving motor (14), the grouting nozzle (4) is provided on the claw (3), the robot arm further comprises a first motor for driving the large arm (11) to rotate, a second motor for driving the middle arm (12) to rotate, and a third motor for driving the small arm (13) to rotate, rotation axes of the large arm (11), the middle arm (12) and the small arm (13) are parallel, And are all perpendicular to the output shaft of the driving motor (14).

9. The barrier robot of claim 1, wherein the travel mechanism is a four-wheel drive mechanism or a crawler mechanism.