RU2803337C1 - Robotic complex for laying aerated concrete - Google Patents

Abstract

FIELD: construction equipment.

SUBSTANCE: robotic complex for laying aerated concrete blocks consists of a layer and a crane, characterized in that the layer consists of a wheeled base for moving along the plane intended for building a structure from blocks, a conveyor belt for supplying aerated concrete blocks to the laying mechanism, the mechanism for laying aerated concrete blocks, made with two degrees of freedom, a device for moving blocks, an electronic engine control unit combined with a power board for powering the layer, with position and triangulation sensors, funnels for supplying adhesive solution through a hose, a machine vision module with a visible range camera. The moving and laying mechanisms have two degrees of freedom, the laying mechanism has a cup for levelling the laid rows of aerated concrete blocks of the wall structure being erected, PU adhesive foam cylinders weighing up to 1 kg are used as the adhesive composition for adhesion of the rows that are fixed as a modular unit on the manipulator. The crane consists of a base with two wheels for moving around the construction site, frames attached to the base and moving along the body at given angles for stability of the crane, a tower with a lifting and lowering mechanism with fixation in 3 positions, a turntable for circular movement of aerated concrete blocks relative to the fixed tower, a manipulator consisting of articulated moving rotating parts, a mechanism for lifting and lowering loads with a winch and engines, and a cable, while the crane is made with the ability to pass through doorways in the folded state, as well as with possibility of installation on uneven surfaces, including stairwells and stairs.

EFFECT: increase in accuracy and quality of masonry structures under construction.

1 cl, 3 dwg

Description

The invention relates to the field of working tools and other auxiliary devices for construction work, automation and mechanization of construction and can be used in the construction of building and other structures, including low-rise and multi-storey buildings and structures for various purposes, manufacturing parts of structures of simple and complex geometric shapes .

In modern construction, certified technologies for constructing structures from small-piece materials such as bricks, stones or blocks are based on the use of manual labor. Small pieces placed on pallets are delivered to the construction site and transported to work sites by crane or forklift.

The adhesive mortar for masonry is delivered from the factory or prepared at the construction site and is also distributed to individual workplaces, for which appropriate transport containers and equipment are provided.

The masonry is carried out by a mason under the supervision of a foreman and a foreman in accordance with the design documentation. The mason selects and moves from the pallets the type of small-piece product corresponding to the masonry plan, applies a suitable mortar to it and installs the element into the structure. During the work, the mason and foreman must control the correct transportation and filling of masonry joints with mortar, verticality, horizontality and straightness of surfaces and corners, the thickness of the masonry, the dimensions of the walls and openings, etc.

The work of a bricklayer is physically tiring, traumatic and often performed in adverse weather conditions. It requires high skill, concentration and great physical effort. All this makes the process of constructing structures slow and labor-intensive.

The construction of structures from small-piece products using manual force is characterized by low productivity and substandard quality of finished structures due to the presence of the human factor.

A method for constructing structures from small-piece products and a robot manipulator with a complex for its implementation is known from the state of the art (RF Patent No. 2754505, published 09/02/2021). The complex for the construction of structures from small-piece products includes a robot manipulator, an automatic device for preparing additional elements and a software complex for processing, data storage and remote control of the robot manipulator, as well as a mobile platform and a manipulator installed on it, equipped with detection, measurement and positioning devices placed on the flange and base of the manipulator, automatically interchangeable capture, transfer and stacking devices for various types of small-piece products, a device for dispensing and applying an adhesive solution to the surface of small-piece products, connected to a container for temporary storage of the adhesive solution, and is capable of remote control.

However, such manipulations require complex mechanisms, and five degrees of freedom of the manipulator, which are not necessary, lead to complexity and high demands on the parts of the mechanism when laying large mass products, non-standard gearboxes and bearings.

The closest to the proposed solution is a technical solution for the construction of walls (RF Patent No. 2019655, published on September 15, 1994), containing a vertical guide with clamps for fixing building blocks installed on it with the possibility of axial movement and rotation by 180 degrees around the horizontal axis of the table , a means for supplying a solution, a storeroom and a stacker of building blocks, is equipped with a device for assembling building blocks into groups and an additional vertical guide with a device installed on it with the ability to move and rotate 180 around the horizontal axis for transferring building blocks from the device for assembling them to the table main vertical guide. In this case, the device for transferring building blocks is made in the form of a clamping frame or in the form of a table with clamps for fixing building blocks, and the device for assembling building blocks into groups is in the form of a program-controlled belt conveyor. In addition, the wall construction machine is equipped with a programmable saw for cutting building blocks laid on the conveyor belt, as well as a rotary device for feeding the building block from the conveyor belt to the saw and returning it back. In this case, the installation has transport carts moving along a closed path, which serve as the basis for constructing a masonry of building blocks.

The disadvantage of this solution is the construction of paths for centering the smooth movement of the installation for laying blocks.

The technical challenge is to create a device that will increase the accuracy and quality of masonry of erected structures and the speed of work.

The technical result is achieved by the fact that during laying a robotic complex is used to move and lay the blocks.

The task is solved due to the fact that the stacker contains moving and laying mechanisms that have two degrees of freedom, the laying mechanism has an additional cup for leveling already laid blocks of wall rows, standard PPU adhesive foam cylinders weighing up to 1 kg, mounted as a modular unit on the manipulator. Thanks to the compact dimensions of the crane, it is possible to pass through doorways when folded, with the ability to be installed on uneven surfaces, up to staircases and stairs.

This invention is illustrated by the following figures.

In FIG. Figure 1 shows a robotic complex for laying aerated concrete, consisting of a layer 1 and a crane 2.

The paver is capable of moving aerated concrete blocks from the initial position on the platform to the place of laying with the simultaneous supply of an adhesive solution and subsequent laying of the blocks, and the crane is capable of delivering heavy aerated concrete blocks to the paver's initial platform.

In FIG. Figure 2 shows a stacker consisting of a wheel base 3 for moving along the plane on which it is necessary to build a structure of blocks, a conveyor belt 4 for feeding the stacking mechanism, a block stacking mechanism 5 with two degrees of freedom, a device for moving blocks on rows 6, an electronic engine control unit 7 combined with a power board for powering the stacker, with position and triangulation sensors, a funnel 8 for supplying the adhesive solution through a hose, a machine vision module 9 with a visible range camera.

In FIG. Figure 3 shows a crane consisting of a base 10 with two large wheels for moving around the construction site, a frame 11 is attached to the base and moves along the body, at specified angles for the stability of the crane, a tower 12, which has a lifting and lowering mechanism with fixation in 3 positions, a rotating platform 13 for circular movement of building blocks, a relatively stationary tower, a manipulator 14, which consists of articulated movable rotating parts, a mechanism for lifting and lowering loads 15 with a winch, motors and a cable.

The robotic complex for laying aerated concrete works as follows: crane 1, using gripping software, moves a pre-prepared aerated concrete block onto the conveyor belt of stacker 4, stacker 2 takes the block and lays them in a row relative to the first wall in the row, when moving between rooms, laying occurs along the perimeter premises. Each row of blocks is grouted to align them relative to each other; glue is applied after grouting, before laying the next row.

The technical result of the proposed device is to increase the accuracy and quality of masonry of erected structures, the speed of work to move heavy blocks, while reducing the number of workers.

The proposed solution allows you to accurately lay blocks when laying out a wall, increase the speed of laying and work time, reducing the number of workers due to round-the-clock and continuous operation, and the need for intermediate measurements.

The proposed solutions can be used to work remotely in hard-to-reach and unfavorable places for human presence; they allow expanding architectural and planning capabilities, increasing the level of automation during the construction of buildings and structures while ensuring construction technology and the required technical characteristics of buildings and structures. These solutions provide the possibility of their effective use in multi-storey and high-rise construction, which helps to increase productivity in multi-storey and high-rise construction and improve the quality of finished structures.

Based on the above, the task is to create a device that allows laying massive building blocks, without mechanisms requiring high manufacturing precision without a large number of degrees of freedom. In order to simplify the design and maintenance process, it was decided to divide the device into two automated mechanisms that interact with each other.

Claims (1)

A robotic complex for laying aerated concrete blocks, consisting of a stacker and a crane, characterized in that the stacker consists of a wheel base for moving along a plane intended for building a structure from blocks, a conveyor belt for supplying aerated concrete blocks to the laying mechanism, a mechanism for laying aerated concrete blocks, made with two degrees of freedom, a device for moving blocks, an electronic motor control unit combined with a power board for powering the stacker, with position and triangulation sensors, a funnel for supplying an adhesive solution through a hose, a machine vision module with a visible range camera, while the movement and laying mechanisms have two degrees of freedom, the laying mechanism has a cup for leveling the laid rows of aerated concrete blocks of the wall structure being built, PPU adhesive-foam cylinders weighing up to 1 kg are used as the adhesive composition for fastening the rows, weighing up to 1 kg, fixed as a modular block on the manipulator, and the crane consists of a base with two wheels for moving around the construction site, frames attached to the base and moving along the body at specified angles for the stability of the crane, a tower with a lifting and lowering mechanism with fixation in 3 positions, a rotating platform for circular movement of aerated concrete blocks relative to a stationary tower, a manipulator consisting of articulated movable rotating parts, a mechanism for lifting and lowering loads with a winch and engines, and a cable, while the crane is made with the ability to pass through doorways when folded, as well as with the ability to be installed on uneven surfaces, up to staircases and stairs