CN217054424U - Automatic wall building robot of building engineering - Google Patents

Abstract

The utility model discloses an automatic machine people of building a wall of building engineering, include: a moving part for the robot to travel; the mechanical arm is arranged on the moving part, the end part of the mechanical arm is detachably connected with the clamping part or the guniting part, and the mechanical arm is used for construction in an all-round and multi-angle manner; the pressurized cement system is arranged on the moving part and is used for pressurizing and spraying out cement; and the cement smearing system is arranged on the moving part, is connected with the pressurized cement system and is used for spraying cement onto the bricks clamped by the clamping part in real time according to the action of the mechanical arm. The utility model discloses can move in a flexible way, need not loaded down with trivial details preparation work, arm work satisfies builds by laying bricks or stones the demand, builds by laying bricks or stones the precision height, can fill and level up the ground of unevenness, has the function of water spray mud.

Description

Automatic wall building robot of building engineering

Technical Field

The utility model relates to a building engineering field, concretely relates to automatic machine people of building a wall of building engineering.

Background

In the current building masonry construction, manual operation is needed, bricks are coated with cement to build a wall body, the building operation is a heavy project, a large amount of manpower is often needed to carry out the building operation in the building, the cost is greatly improved, the technical requirements needed by the building operation are high, workers capable of meeting the work are increasingly in shortage, the technical levels are also uneven, and various brick wall building forms can be rarely considered. For solving this problem, at present there have been multiple automatic wall building robot developed, and common automatic wall building robot has the whitewashing, snatchs the function, but its whitewashing is not even, and the dynamics of building a wall is not enough, still need carry out the compaction and handle to mostly be orbital motion, need lay the track in advance by the manual work. The track can not be directly paved on uneven ground, and the track needs to be paved after being leveled, so that the masonry precision is greatly reduced.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims to provide an automatic wall building robot of building engineering can the nimble motion, need not loaded down with trivial details preparation work, and arm work satisfies builds by laying bricks or stones the demand, builds by laying bricks or stones the precision height, can fill and level up the ground of unevenness, has the water spray mud function.

In order to further realize the purpose, the utility model adopts the following technical proposal:

an automatic wall building robot for construction engineering, comprising:

a moving part for the robot to travel;

the mechanical arm is arranged on the moving part, the end part of the mechanical arm is detachably connected with the clamping part or the guniting part, and the mechanical arm is used for construction in an all-round and multi-angle manner;

the pressurized cement system is arranged on the moving part and is used for pressurizing and spraying out cement;

and the cement smearing system is arranged on the moving part, is connected with the pressurized cement system and is used for spraying cement onto the bricks clamped by the clamping part in real time according to the action of the mechanical arm.

Optionally, the mechanical arm includes a mechanical arm base mounted on a device table of the moving part, the mechanical arm base is hinged to the support arm through a bottom shaft, the support arm is hinged to the large arm through a support arm shaft, the large arm is hinged to the small arm through a large arm shaft, and the small arm is hinged to the mechanical wrist through a small arm shaft; the mechanical wrist is provided with a connecting groove.

Optionally, the clamping part comprises a palm plate installed with a connecting groove and a driving motor connected with the palm plate, the lower end of the swing rod is connected with the driving motor, two sides of the swing rod are hinged to one end of the driven rod, and the other end of the driven rod is hinged to the clamping plate.

Optionally, the pressurized cement system comprises a cement paste storage box arranged on the device platform and an air pump connected with an air inlet of the cement paste storage box, and a grout outlet a and a grout outlet b are arranged at the upper end of the cement paste storage box.

Optionally, the slurry spraying part comprises an electric control spray gun for being mounted with the connecting groove, and a slurry inlet and a slurry outlet a of the electric control spray gun are connected through a hose.

Optionally, the cement smearing system comprises a cement box arranged on the device table, an electric packing auger arranged in the cement box and a motor used for driving the electric packing auger to rotate, and a discharge port is formed in a material conveying channel of the electric packing auger.

Preferably, the brick storage device further comprises a brick storage part arranged on one side of the moving part, the brick storage part comprises a sliding frame arranged on the side edge of the device platform, a fork frame in sliding connection with the sliding frame and a brick blocking plate arranged on one side, facing the device platform, of the sliding frame, forks are arranged on the fork frame, and pulleys are arranged on the sliding frame and the fork frame and are connected in series through a wire.

Preferably, still including set up in the ground system of filling in of removal part opposite side, the ground system of filling in includes XZ axle slip table and the scanning pole of being connected with the device platform, be provided with laser sensor on the scanning pole, be provided with the mud jet on the XZ axle slip table, the mud jet is connected with grout outlet b.

Compared with the prior art, the utility model discloses following benefit has:

1. the moving part of the crawler type enables the wall building robot to conveniently move in a construction place, the grounding area of the crawler type is large, the stability of the device can be improved, the track does not need to be laid in advance, and the operation is convenient and fast.

2. The tail end clamping part is powered by the rotation of a motor, can firmly clamp bricks through the oscillating bar and the driven rod mechanism, and can be used for various types of bricks.

3. The design of storing up the brick can add the brick automatically, uses manpower sparingly, drives through the motor and rises to enable the brick to appear in fixed position, makes things convenient for the location programming of arm, and need not the manual work and adds the brick.

4. The arm end is for dismantling, can press from both sides the part of getting and trade the whitewashing part, both can build a wall, also can be used for the water mud spray work after the work of building a wall.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the moving part of the present invention;

FIG. 3 is a schematic view of the structure of the robot arm of the present invention;

FIG. 4 is a schematic view of the clamping part of the present invention;

FIG. 5 is a schematic view of the structure of the guniting part of the present invention;

FIG. 6 is a schematic view of the brick storage part of the present invention;

FIG. 7 is a schematic view of the pressurized cement system of the present invention;

FIG. 8 is a schematic structural view of the cement applying system of the present invention;

FIG. 9 is a schematic view of the ground leveling system of the present invention;

fig. 10 is an installation view of the gripping part of the present invention;

FIG. 11 is an installation diagram of the guniting part of the present invention;

fig. 12 is a schematic view of the whole back of the device of the present invention.

In the figure:

100-moving part:

101-a crawler belt; 102-a drive wheel; 103-a guide wheel; 104-a thrust wheel; 105-a device stage; 106-steel outer shell;

200-a mechanical arm:

201-mechanical arm base; 202-bottom axis; 203-a support arm; 204-support arm axis; 205-big arm; 206-big arm shaft; 207-arm; 208-forearm shaft; 209-mechanical wrist; 210-a connecting trough;

300-gripping part:

301-palm plate; 302-a drive motor; 303-oscillating bar; 304-a driven rod; 305-a splint;

400-guniting part:

401-an electronically controlled spray gun; 402-a pulp inlet; 403-a pulp outlet; 404-an air inlet; 405-a high-pressure air pump;

500-brick storage part:

501, universal wheels; 502-a carriage; 503-blocking brick plate; 504-a fork carriage; 505-a fork; 506 a-pulley a; 506 b-pulley b; 506 c-Pulley c; 506 d-Pulley d; 507-motor a;

600-pressurized cement system:

601-an air pump; 602 a-slurry outlet a; 602 b-a slurry outlet b; 603-grout storage tanks;

700-cement application system:

701-a cement box; 702-an electric auger; 703-motor b; 704-a discharge hole;

800-ground filling system:

801-XZ axis slipway; 802-scanning rod; 803-laser sensor; 804-spout the mud mouth.

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected, and mechanically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 and 12, the utility model provides an automatic robot of building a wall of building engineering, including the mobile part 100 that is located the lowermost position, arm 200, pressurized cement system 600 and cement painting system 700 all set up on mobile part 100, press from both sides and get part 300 or whitewashing part 400 and be used for being connected with arm 200, store up brick part 500 and set up in mobile part 100 left side, ground filling system 800 sets up in mobile part 100 right side.

As shown in fig. 2, the moving part 100 is composed of a crawler 101, a driving wheel 102, a guide wheel 103, a thrust wheel 104, a mounting platform 105, and a steel casing 106; the crawler belt 101 is connected with the driving wheel 102 in a meshed mode, the guide wheel 103 is connected with the crawler belt 101 in a meshed mode, the thrust wheel 104 is connected with the steel shell 106 in a welded mode, the driving wheel 102 is connected with the engine, the driving wheel 102 is used for converting energy transmitted by the engine into tension force on the crawler belt 101 when the device runs, the brake is matched with the brake to brake a vehicle when the device brakes, and the crawler belt 101 and the driving wheel 102 can be guaranteed to smoothly enter into and exit from the meshed mode; guide wheels 103 are installed on the crawler belt 101 for guiding the crawler belt 101; the function of which is mainly to guide the correct winding of the track 101; the thrust wheels 104 are used for uniformly distributing the weight of the whole vehicle to the crawler belt 101 and the ground; the fixture block 105 is connected to a steel housing 106 that carries all the fixtures above.

As shown in fig. 3, the robot 200 is composed of a robot base 201, a bottom shaft 202, a support arm 203, a support arm shaft 204, a large arm 205, a large arm shaft 206, a small arm 207, a small arm shaft 208, a robot wrist 209, and a connecting groove 210, wherein the robot base 201 is mounted on the mounting table 105; the mechanical arm base 201 is hinged with a support arm 203 through a bottom shaft 202; the support arm 203 is hinged with a large arm 205 through a support arm shaft 204; the big arm 205 is hinged with the small arm 207 through a big arm shaft 206; the small arm 207 is hinged with a mechanical wrist 209 through a small arm shaft 208; the connecting slot 210 is mounted on the wrist 209; the rotation of each shaft is provided by a servo motor. The bottom shaft 202 drives the support arm 203 to rotate in an XY plane; the support arm shaft 204 drives the large arm 205 to rotate in the XZ plane; the big arm shaft 206 drives the small arm 207 to rotate in the XZ plane; the forearm shaft 208 drives the mechanical wrist 209 to rotate on a YZ plane; the wrist 209 drives the connecting slot 210 to rotate in the XY plane.

As shown in fig. 4 and 10, the gripping part 300 is composed of a palm plate 301, a driving motor 302, a swing link 303, a driven lever 304, and a gripper 305; the palm plate 301 is arranged on the connecting groove 210; the driving motor 302 is connected with the palm plate 301 and drives the swing rod 303 to rotate; the lower end of the swing rod 303 is connected with a driving motor 302, the two sides of the swing rod are hinged with a driven rod 304, and the driven rod 304 is driven to swing through rotation; the other end of the driven rod 304 is hinged with the clamping plate 305 and is used for transmitting power to enable the clamping plate 305 to complete the clamping action.

As shown in fig. 5 and 11, the guniting part 400 consists of an electric control spray gun 401, a grout inlet 402, a grout outlet 403, an air inlet 404 and a high-pressure air pump 405; when the guniting operation is carried out, the clamping part 300 is required to be taken down and replaced by the guniting part 400; the tail end of the electric control spray gun 401 is connected with the connecting groove 210; the grout inlet 402 is connected with the grout outlet a602a through a hose, so that grout enters the electric control spray gun 401; the grout outlet 403 is positioned at the head end of the electric control spray gun 401 and sprays out grout; the air inlet 404 is connected with a high-pressure air pump 405 through a hose, so that cement in the electric control spray gun 401 is mixed with high-pressure air, and atomized cement slurry is sprayed out.

As shown in fig. 6, the tile storage portion 500 includes a universal wheel 501, a carriage 502, a tile stopping plate 503, a fork carriage 504, a fork 505, a pulley, and a motor a507, the universal wheel 501 being mounted on the lower side of the tile stopping plate 503 for supporting the tile storage portion 500 and facilitating traveling; the carriage 502 is attached to the side of the fixture base 105 to limit the carriage 504 to move only up and down; a brick blocking plate 503 is connected with the other side of the carriage 502 and is used for stabilizing bricks on the pallet fork 505; the fork carriage 504 is connected with the carriage 502 in a matching way to drive the forks 505 to move up and down; forks 505 are mounted to the fork carriage 504 for forking up the stack of bricks; pulleys are mounted to the carriage 502 and the fork carriage 504; serially connecting by using a wire; winding through a motor a507, specifically: the wire is firstly fixed to the pulley a506a, then wound around the pulley c506c and the pulley d506d, then wound around the pulley b506b, and finally wound around the rotating part of the motor 507; the motor a507 is connected with the device platform 105 and is used for rotating to wind the wire and driving the fork carriage 504 to move upwards through a pulley; or reversely rotating to loosen the wire; lowering of the fork carriage 504 is accomplished by the weight of the fork carriage 504.

As shown in fig. 7, the pressurized cement system 600 comprises an air pump 601, a grout outlet a602a, a grout outlet b602b, and a cement slurry storage tank 603; the grout storage tank 603 is provided with a grout outlet a602a and a grout outlet b602b, and an air outlet of the air pump 601 is connected with an air inlet of the grout storage tank 603; the air pump 601 is fixed on the device platform 105, the cement paste storage tank 603 is pressurized, a pipeline which is positioned in the cement paste storage tank 603 and is connected with the grout outlet a602a and the grout outlet b602b extends to the bottom of the cement storage tank 603, and the air pump 601 is ventilated and pressurized to ensure that the cement paste is sprayed out through the pipeline; a grout storage tank 603 is connected to the fixture block 105 for storing pressurized cement.

As shown in fig. 8, the cement smearing system 700 is composed of a cement box 701, an electric auger 702, a motor b703 and a discharge port 704; the cement box 701 is connected with the device platform 105 and is used for containing cement; the electric auger 702 is arranged in the cement box 701 and is driven by a motor b703 for extracting cement from the cement box 701; the discharge port 704 is connected with the electric auger 702 and is positioned on a conveying channel of the electric auger 702 so that cement is sprayed out from a fixed position.

As shown in fig. 9, the ground leveling system 800 is composed of an XZ axis sliding table 801, a scanning rod 802, a laser sensor 803, and a mud spraying port 804, wherein the XZ axis sliding table 801 is connected with the device table 105 and is used for driving the mud spraying port 804 to move on an XZ plane; the scanning rod 802 is connected with the device table 105; the laser sensor 803 is arranged below the scanning rod 802 to scan the ground; the front end of the mud spraying port 804 is arranged on an XZ shaft sliding table 801, and the tail end of the mud spraying port 804 is connected with a mud outlet b602 b; whether the ground is flat or not is judged by scanning the distance between the ground and the laser sensor, if the numerical difference between the distance between a certain position and the distance around the certain position is too large, the XZ axis sliding table 801 is started to enable the mud spraying port 804 to be aligned to the position, mud spraying is carried out, mud spraying operation is carried out on the monitored uneven ground in sequence, and the mud spraying position is subjected to smoother fine treatment through the people.

The specific working principle of the automatic wall building robot for construction engineering of the present invention is described below with reference to fig. 1 to 12 in combination with the description of the above structural technical features:

1. the whole device is assembled according to the structure; note that the connecting groove 210 of the robot arm 200 first mounts the gripping section 300; starting the laser sensor 803; the device scans the ground while moving; and cement is sprayed out from the uneven ground through the cement spraying port 804 to fill and level the uneven ground.

2. Motor a507 of the brick storage part 500 is activated to position the fork carriage 504 at the lowermost end, to run the integrated unit, to fork a pile of bricks not exceeding the height of the integrated unit; the device is driven to the walling position.

3. The following actions are accomplished through programming: jaws 305 of grasping portion 300 open; the robot arm 200 moves to the brick storage portion 500; clamping a brick; the motor a of the brick storage part 500 is started; raising the fork carriage 504 by the height of one brick; the brick at the gripper plate 305 is moved by the robotic arm 200 to the outfeed 704; starting a motor b703 on the electric auger 702; cement is sprayed out to one side of the brick; the mechanical arm 200 sends the brick to a brick laying position; and finishing the brick laying action.

4. Repeating the action of the step 3; until the bricks in the brick storage part 500 are used up; repeating the step 2 for one time; and then continuing to repeat the action of the step 3.

5. After finishing the wall building operation; the clamping part 300 of the connecting groove 210 of the mechanical arm 200 is dismounted, the electric control spray gun 401 is replaced and installed, the high-pressure air pump 405 is started, the switch of the electric control spray gun 401 is turned on, and the mechanical arm 200 is programmed to complete the guniting operation on the wall.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can understand the changes or substitutions within the technical scope of the present invention, and all should be covered within the scope of the present invention.

Claims (8)

1. The utility model provides an automatic machine people that builds a wall of building engineering which characterized in that includes:

a moving part for the robot to travel;

the mechanical arm is arranged on the moving part, the end part of the mechanical arm is detachably connected with the clamping part or the guniting part, and the mechanical arm is used for construction in an all-round and multi-angle manner;

the pressurized cement system is arranged on the moving part and is used for pressurizing and spraying out cement;

and the cement smearing system is arranged on the moving part, is connected with the pressurized cement system and is used for spraying cement onto the bricks clamped by the clamping part in real time according to the action of the mechanical arm.

2. The automatic building engineering wall building robot according to claim 1, wherein the robot arm comprises a robot arm base mounted on a mounting table provided on the moving part, the robot arm base is hinged to a support arm through a bottom shaft, the support arm is hinged to a large arm through a support arm shaft, the large arm is hinged to a small arm through a large arm shaft, and the small arm is hinged to the robot wrist through a small arm shaft; the mechanical wrist is provided with a connecting groove.

3. The automatic walling robot of construction engineering according to claim 1, wherein the gripping part includes a palm plate for being mounted with a connecting groove and a driving motor connected with the palm plate; the lower end of the swing rod is connected with the driving motor, two sides of the swing rod are hinged to one end of the driven rod, and the other end of the driven rod is hinged to the clamping plate.

4. The automatic building robot of construction engineering according to claim 1, wherein the pressurized cement system comprises a cement paste storage tank arranged on the device platform, and an air pump connected with an air inlet of the cement paste storage tank, and a grout outlet a and a grout outlet b are arranged at the upper end of the cement paste storage tank.

5. The automatic walling robot of building engineering according to claim 1, wherein the guniting part comprises an electric control spray gun for being installed with a connecting groove, and a grout inlet and a grout outlet a of the electric control spray gun are connected through a hose.

6. The automatic building robot of building engineering according to claim 1, wherein the cement smearing system comprises a cement box arranged on the mounting table, an electric auger arranged in the cement box, and a motor for driving the electric auger to rotate, and a discharge port is arranged on a conveying channel of the electric auger.

7. The automatic building robot for construction engineering according to claim 1, further comprising a brick storage part disposed at one side of the moving part, wherein the brick storage part comprises a carriage disposed at a side of the mounting table, a fork carriage slidably coupled to the carriage, and a blocking plate disposed at one side of the carriage toward the mounting table, the fork carriage is provided with forks, and the carriage and the fork carriage are provided with pulleys and are connected in series by a wire.

8. The automatic building robot of claim 1, further comprising a ground leveling system arranged on the other side of the moving part, wherein the ground leveling system comprises an XZ shaft sliding table and a scanning rod, the XZ shaft sliding table and the scanning rod are connected with a device table, a laser sensor is arranged on the scanning rod, a mud spraying port is arranged on the XZ shaft sliding table, and the mud spraying port is connected with a mud outlet b.

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