CN217460576U - Barricade construction robot - Google Patents
Barricade construction robot Download PDFInfo
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- CN217460576U CN217460576U CN202123442453.4U CN202123442453U CN217460576U CN 217460576 U CN217460576 U CN 217460576U CN 202123442453 U CN202123442453 U CN 202123442453U CN 217460576 U CN217460576 U CN 217460576U
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- truss
- devices
- feeding
- material taking
- retaining wall
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Abstract
The utility model discloses a barricade construction robot, the utility model discloses a track chassis drive removes, carries the material through feeding system, is provided with braced system between feeding system and truss system, realizes the removal adjustment on level and vertical. The utility model has the advantages of simple structure installs easily, compact structure, and the practicality is strong, can full play barricade build the advantage of construction by laying bricks or stones.
Description
Technical Field
The utility model belongs to the engineering machine tool field, concretely relates to barricade construction robot.
Background
Retaining walls are common structures used in road construction. In order to ensure the safety of traffic and adjacent buildings, in areas where debris flow or mountain instability often occurs, and rockfall and landslide occur in windy, rainy, and snowmelt, it is necessary to stably reinforce the mountain or to construct retaining walls capable of preventing rockfall and landslide. The retaining wall reinforces the soil body incapable of maintaining self stability through self gravity or by means of partial soil body gravity, so as to keep the stability of the roadbed and ensure the safety and smoothness of road transportation.
The retaining wall is usually built by clean and wet building blocks, when the retaining wall is built manually, bottom slurry is firstly paved, then the stone blocks are put (the sharp parts of the stone blocks are firstly knocked off), and after the retaining wall is slightly kneaded left and right for a few times, the stone blocks are flicked, so that mortar at mortar joints is compacted. When the side faces of the built stone blocks are laid, mortar is firstly smeared on the adjacent side faces, then the stone blocks are laid, and the mortar is forcibly extruded downwards and towards the side faces, so that mortar joints are compacted, and the masonry blocks are tightly attached. The principle is that the process is carried out in a segmented and layered mode. The longer masonry still needs to be built in sections except for the sections, the building height difference of two adjacent sections should not exceed 1.2m, and the sections are arranged at the positions of settlement joints or expansion joints. When the stone is built in layers, the kerbstone is firstly built, then the kerbstone or the facing stone is built, and finally the abdominal stone is filled. After the kerbs are set, they proceed from side to center and then side to center.
In the prior art, most retaining walls are built in a manual construction mode, and no good mechanical device is used for replacing manpower. Although the manual construction can basically complete the work, the manual construction has the influence of a plurality of factors such as large workload, high cost, large investment, low efficiency, large danger coefficient, uneven construction effect, much uncertainty and the like.
Compared with the prior related patents
Chinese patent CN201811243771.8 transports the material from ground to the HUB bin through the hopper, and after the HUB bin transported the material to required position through flexible slide, flexible work arm drove the side splint and presss from both sides the material and tamp, accomplishes building of barricade. The feeding system disclosed by the patent is high in implementation difficulty, limited in operation range and strict in operation environment requirement. This patent can't realize the barricade construction requirement under the current technology.
Chinese patent CN202022076879.1 drives the bevel gear on the first rotating shaft to rotate through the double-shaft motor, drives the second rotating shaft connected with the second bevel gear and the third bevel gear at the other end, thereby the second rotating shaft drives the workbench at the side surface of the screw cap to move through the screw column, and the masonry work is completed. Although the patent can basically complete the masonry work of the wall body, the building blocks are the building blocks with relative specifications. The retaining wall construction can involve building blocks with large mass and complex working environments, the adaptability requirements on the working load of a mechanical device and a working platform are high, and the requirements of the retaining wall construction cannot be met.
Chinese patent CN202011240496.1 screens the masonry base material through the feeding system, and sends into the feeding system, and the feeding system sends the masonry base material into the blanking construction system and carries out cement mortar pouring, sends into the construction face through the blanking construction system after pouring tamps and accomplishes the barricade construction. The device has the advantages of single structure, low practicability and low realization possibility, and can not be used for the construction of the lower retaining wall. The patent also can not adapt to the retaining wall construction requirement under the current technology.
Disclosure of Invention
An object of the utility model is to overcome the above-mentioned not enough, provide a barricade construction robot to solve in the road bed barricade work progress, artifical construction work volume is big, with high costs, the input is big, inefficiency, danger coefficient is big, the uneven problem of effect of construction.
In order to achieve the purpose, the utility model comprises a crawler chassis, a beam system is arranged on the crawler chassis, a conveying system is arranged on the beam system, a truss system is arranged at the tail end of the beam system, a stand column system is arranged between the beam system and the truss system, a cement pouring system is arranged on the truss system, and a tamping device is arranged at the tail end of the cement pouring system;
the cement pouring system is used for performing cement pouring work at a preset position;
the tamping device is used for vibrating and tamping the building blocks.
The crawler chassis comprises a cab, a control cabinet is arranged beside the cab, a hydraulic support leveling device and a crawler traveling mechanism are arranged at the bottom of the cab, a rotary platform is arranged at the rear part of the cab and connected with a beam system, and the hydraulic support leveling device and the crawler traveling mechanism are connected with a power source.
The conveying system comprises a feeding device and a material transferring system;
the feeding device is arranged in the cross beam support and is connected with the feeding motor;
the material transferring system is arranged in the upright post bracket and is connected with the winch.
A horizontal feeding guide groove is formed in the cross beam support, a horizontal feeding guide wheel is arranged on the feeding device, and the horizontal feeding guide wheel is arranged in the horizontal feeding guide groove.
The upright post system comprises an upright post support, wherein a vertical feeding guide groove is formed in the upright post support, vertical feeding guide wheels are arranged at two ends of the material transferring system, and the vertical feeding guide wheels are arranged in the vertical feeding guide groove.
The material transferring system is connected with the feeding device through a beam-upright post connecting device, and a rotating mechanism is arranged between the material transferring system and the feeding device.
The rotating mechanism adopts a hydraulic rotating support device which is connected with a driving motor.
The truss system comprises a truss support, a truss guide supporting device is arranged on the truss support, the truss support is connected with a truss support connecting device, a guide roller which is used for being in contact with a material transferring system is arranged on the truss guide supporting device, a rope device is arranged at the top of the upright post system, the rope device is connected with the truss guide supporting device through a steel wire rope, the rope device is connected with a truss telescopic motor, an auxiliary supporting device is arranged between the truss guide supporting device and the truss support connecting device, a truss beam moving device is arranged on the truss support, and a working arm assembly and a material taking device are arranged on the truss beam moving device.
The material taking device comprises a material taking mechanism and a material taking driving device, and the material taking driving device drives the material taking mechanism to take the building blocks from the material transferring system to the material taking mechanism.
The working arm assembly comprises a working clamping jaw, a material pushing mechanism and a material pushing driving device, and the material pushing driving device drives the material pushing mechanism to push the building blocks on the material taking mechanism to the working clamping jaw.
Compared with the prior art, the utility model discloses a track chassis drive removes, carries the material through the conveying system on the crossbeam system, is provided with the stand system between crossbeam system and truss system, realizes the removal adjustment on level and vertical. The utility model has the advantages of simple structure installs easily, compact structure, and the practicality is strong, can full play barricade build the advantage of construction by laying bricks or stones.
Further, the utility model discloses utilize rotary platform adjustment operation angle, can carry out the construction of diversified, multi-angle, robot track chassis can adapt to multiple complicated topography and remove easily, and overall design is strong to operational environment adaptability.
Furthermore, a rotating mechanism is arranged between the material transferring system and the feeding device, so that the vertical arm can be folded, and the feasibility and reliability in the carrying process are improved.
Further, the utility model discloses be provided with the work clamping jaw, through the control to the rotation gesture of work clamping jaw, realized the adjustment to the stone.
Drawings
Fig. 1 is a schematic view of the whole structure of the present invention.
Fig. 2 is a schematic structural view of the crawler chassis of the present invention.
Fig. 3 is a schematic structural view of the supporting system and the feeding device of the present invention.
Fig. 4 is the truss system of the present invention.
Wherein: 1-crawler chassis, 2-conveying system, 3-beam system, 4-truss system, 5-cement pouring system, 6-tamping device, 7-hydraulic support leveling device, 8-control cabinet, 9-cab, 10-crawler traveling mechanism, 11-rotary platform, 12-power source, 13-winch, 14-beam support, 15-driving motor, 16-horizontal moving device, 17-beam moving guide rail, 18-feeding device, 19-hydraulic rotary support device, 20-beam-column connecting device, 21-truss telescopic motor, 22-rope device, 23-vertical feeding guide groove, 24-vertical feeding guide wheel, 25-material-transferring system, 26-column base, 27-horizontal feeding guide wheels, 28-horizontal feeding guide grooves, 29-upright post supports, 30-horizontal feeding motors, 31-truss guiding and supporting devices, 32-truss supports, 33-auxiliary supporting devices, 34-truss support connecting devices, 35-truss beam moving devices, 36-working arm assemblies, 37-working clamping jaws, 38-pushing mechanisms, 39-pushing driving devices, 40-building blocks, 41-fetching mechanisms, 42-fetching driving devices, 43-material supporting mechanisms, 44-material supporting driving devices and 45-upright post systems.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Referring to fig. 1, the utility model comprises a caterpillar base plate 1, a beam system 3 is arranged on the caterpillar base plate 1, a transport system 2 is arranged on the beam system 3, a truss system 4 is arranged at the end of the beam system 3, a column system 45 is arranged between the beam system 3 and the truss system 4, a cement pouring system 5 is arranged on the truss system 4, and a tamping device 6 is arranged at the end of the cement pouring system 5; the cement pouring system 5 is used for performing cement pouring work at a preset position; the tamping device 6 is used for vibratory tamping of the block 40.
Referring to fig. 2, the crawler chassis 1 includes a cab 9, a control cabinet 8 is disposed beside the cab 9, a hydraulic support leveling device 7 and a crawler traveling mechanism 10 are disposed at the bottom of the cab 9, a rotary platform 11 is disposed at the rear of the cab 9, the rotary platform 11 is connected to the beam system 3, and the hydraulic support leveling device 7 and the crawler traveling mechanism 10 are connected to a power source 12. The hydraulic supporting and leveling device 7 meets the levelness of the whole machine and the stability of the whole machine during equipment construction; the control cabinet 8 is a control system (including a hydraulic control system and a weak electric control system) of the locomotive; the cab 9 provides a working position (including a human-machine interface, a manual operating handle, a button and the like) for an operator to operate. The crawler traveling mechanism 10 meets the traveling function of the equipment; the slewing platform 11 allows the devices connected thereto to be rotated to accommodate different working and transport environments. The power source 12 provides power to the device.
Referring to fig. 3, the feeding device 2 includes a feeding device 18 and a material transferring system 25; the feeding device 18 is arranged in the cross beam bracket 14, and the feeding device 18 is connected with a feeding motor 30; the material transferring system 25 is arranged in the upright post bracket 29, and the material transferring system 25 is connected with the winch 13. The beam support 14 is provided with a horizontal feeding guide groove 28, the feeding device 28 is provided with a horizontal feeding guide wheel 27, and the horizontal feeding guide wheel 27 is arranged in the horizontal feeding guide groove 28. The upright post system 45 comprises an upright post bracket 29, wherein a vertical feeding guide groove 23 is formed in the upright post bracket 29, vertical feeding guide wheels 24 are arranged at two ends of the material transferring system 25, and the vertical feeding guide wheels 24 are arranged in the vertical feeding guide groove 23. The material transferring system 25 is connected with the feeding device 18 through the beam-column connecting device 20, and a rotating mechanism is arranged between the material transferring system 25 and the feeding device 28. The horizontal moving device 16 is connected with the horizontal moving guide rail 17 and moves under the work of the driving motor 15 so as to realize the movement of the supporting system 3 and the truss system 4, the horizontal moving device 16 is connected with the rotary platform 11, and the rotary platform 11 works so as to rotate the supporting system 3 and the truss system 4 so as to realize the adaptation of the equipment to different working environments and transportation environments. The hydraulic rotary supporting device 19 is provided with a roller, and the upright post bracket 29 can be lifted off the ground under the driving of the driving motor 15, so that construction adjustment and transportation are facilitated.
Preferably, the rotating mechanism comprises a hydraulic rotating support device 19, and the hydraulic rotating support device 19 is connected with the driving motor 15.
Referring to fig. 4, the truss system 4 includes a truss support 32, a truss guide support device 31 is arranged on the truss support 32, the truss support 32 is connected with the truss support connection device 34, a guide roller for contacting with the material transferring system 25 is arranged on the truss guide support device 31, a rope device 22 is arranged on the top of the upright post system 45, the rope device 22 is connected with the truss guide support device 31 through a steel wire rope, the rope device 22 is connected with the truss telescopic motor 21, an auxiliary support device 33 is arranged between the truss guide support device 31 and the truss support connection device 34, a truss beam moving device 35 is arranged on the truss support 32, and a working arm assembly 36 and a material taking device are arranged on the truss beam moving device. The material taking device comprises a material taking mechanism 41 and a material taking driving device 42, and the material taking driving device 42 drives the material taking mechanism 41 to take the building block 40 from the material transferring system 25 to the material taking mechanism 41. The working arm assembly 36 comprises a working clamping jaw 37, a material pushing mechanism 38 and a material pushing driving device 39, and the material pushing driving device 39 drives the material pushing mechanism 38 to push the building block 40 on the material taking mechanism 41 to the working clamping jaw 37. The material supporting mechanism 43 is driven by the material supporting driving device 44 to rotate forward to complete the material supporting operation when the material pushing mechanism 38 operates. The material supporting driving device 44 works to enable the material supporting mechanism 43 to rotate reversely to complete avoiding work, so that the working clamping jaw 37 smoothly completes blanking and masonry processes.
During the use, the utility model discloses a crawler travel mechanism 10 gets into construction site, and 11 work adjustment truss systems 4 of rotary platform get into the construction district, and stand base 26 adjusts stand support 29 and makes truss systems 4 level. The cement pouring system 5 pours the to-be-built area, so that cement mortar is uniformly paved on the to-be-built area, and the equipment has construction conditions.
The feeding device 18 sends the building blocks 40 in the feeding device 18 to the material transferring system 25 through the horizontal feeding motor 30, and the material transferring system 25 sends the building blocks 40 in the material transferring system 25 to the truss system 4 through the winch 13. The take-off drive 42 causes the take-off mechanism 41 to take the block 40 to the take-off drive 42. The pushing driving device 39 is operated to push the building block 40 to the working clamping jaw 37. The posture adjustment and the building of the building blocks 40 are completed by the working clamping jaws 37, and the tamping device 6 works to vibrate and tamp the building blocks 40 which are just built. And the whole retaining wall construction of the area to be built is finished by parity of reasoning. After the area to be built is completed, the winch 13 lifts the column support 29 off the ground, the hydraulic rotary support device 19 is retracted, and the crawler traveling mechanism 10 operates to move the equipment into the next area to be built. The winch 13 is operated to lower the column bracket 29 to the column base 26 to contact the ground and the above operation is repeated.
After the whole retaining wall construction is finished, the truss system 4 is lifted to a certain height by the operation of the truss stretching motor 21 through the rope device 22, and the whole retaining wall construction can be finished by repeating the actions.
Claims (7)
1. A barricade construction robot is characterized by comprising a crawler chassis (1), wherein a beam system (3) is arranged on the crawler chassis (1), a conveying system (2) is arranged on the beam system (3), a truss system (4) is arranged at the tail end of the beam system (3), an upright column system (45) is arranged between the beam system (3) and the truss system (4), a cement pouring system (5) is arranged on the truss system (4), and a tamping device (6) is arranged at the tail end of the cement pouring system (5);
the cement pouring system (5) is used for performing cement pouring work at a preset position;
the tamping device (6) is used for vibrating and tamping the building block (40);
the crawler chassis (1) comprises a cab (9), a control cabinet (8) is arranged beside the cab (9), a hydraulic support leveling device (7) and a crawler traveling mechanism (10) are arranged at the bottom of the cab (9), a rotary platform (11) is arranged at the rear part of the cab (9), the rotary platform (11) is connected with a beam system (3), and the hydraulic support leveling device (7) and the crawler traveling mechanism (10) are connected with a power source (12);
the conveying system (2) comprises a feeding device (18) and a material transferring system (25);
the feeding device (18) is arranged in the cross beam bracket (14), and the feeding device (18) is connected with a feeding motor (30);
the material transferring system (25) is arranged in the upright post bracket (29), and the material transferring system (25) is connected with the winch (13);
truss guide supporting devices (31) are arranged on truss supports (32), the truss supports (32) are connected with truss support connecting devices (34), guide rollers used for being in contact with a material transferring system (25) are arranged on the truss guide supporting devices (31), rope devices (22) are arranged at the tops of upright post systems (45), the rope devices (22) are connected with the truss guide supporting devices (31) through steel wire ropes, the rope devices (22) are connected with truss telescopic motors (21), auxiliary supporting devices (33) are arranged between the truss guide supporting devices (31) and the truss support connecting devices (34), truss beam moving devices (35) are arranged on the truss supports (32), and working arm assemblies (36) and material taking devices are arranged on the truss beam moving devices.
2. The retaining wall construction robot according to claim 1, wherein the beam support (14) is provided with a horizontal feeding guide groove (28), the feeding device (18) is provided with a horizontal feeding guide wheel (27), and the horizontal feeding guide wheel (27) is arranged in the horizontal feeding guide groove (28).
3. The retaining wall construction robot according to claim 1, wherein the upright post system (45) comprises an upright post bracket (29), a vertical feeding guide groove (23) is formed in the upright post bracket (29), vertical feeding guide wheels (24) are arranged at two ends of the material transferring system (25), and the vertical feeding guide wheels (24) are arranged in the vertical feeding guide groove (23).
4. The retaining wall construction robot according to claim 1, wherein the material transferring system (25) is connected with the feeding device (18) through a beam-column connecting device (20), and a rotating mechanism is arranged between the material transferring system (25) and the feeding device (18).
5. The retaining wall construction robot according to claim 4, wherein the rotating mechanism adopts a hydraulic rotating supporting device (19), and the hydraulic rotating supporting device (19) is connected with a driving motor (15).
6. The retaining wall constructing robot according to claim 1, wherein the material taking device comprises a material taking mechanism (41) and a material taking driving device (42), and the material taking driving device (42) drives the material taking mechanism (41) to take the building block (40) from the material transferring system (25) to the material taking mechanism (41).
7. The retaining wall construction robot according to claim 1, wherein the working arm assembly (36) comprises a working clamping jaw (37), a material pushing mechanism (38) and a material pushing driving device (39), and the material pushing driving device (39) drives the material pushing mechanism (38) to push the building block (40) on the material taking mechanism (41) onto the working clamping jaw (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123442453.4U CN217460576U (en) | 2021-12-31 | 2021-12-31 | Barricade construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123442453.4U CN217460576U (en) | 2021-12-31 | 2021-12-31 | Barricade construction robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217460576U true CN217460576U (en) | 2022-09-20 |
Family
ID=83261343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123442453.4U Active CN217460576U (en) | 2021-12-31 | 2021-12-31 | Barricade construction robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217460576U (en) |
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2021
- 2021-12-31 CN CN202123442453.4U patent/CN217460576U/en active Active
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