WO2018099323A1 - Robot de pose de briques - Google Patents

Robot de pose de briques Download PDF

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Publication number
WO2018099323A1
WO2018099323A1 PCT/CN2017/112793 CN2017112793W WO2018099323A1 WO 2018099323 A1 WO2018099323 A1 WO 2018099323A1 CN 2017112793 W CN2017112793 W CN 2017112793W WO 2018099323 A1 WO2018099323 A1 WO 2018099323A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
disposed
brick
robot according
negative pressure
Prior art date
Application number
PCT/CN2017/112793
Other languages
English (en)
Chinese (zh)
Inventor
刘昌臻
陈思鑫
Original Assignee
厦门华蔚物联网科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201611069571.6A external-priority patent/CN106592991B/zh
Priority claimed from CN201621289304.5U external-priority patent/CN206319635U/zh
Priority claimed from CN201721383556.9U external-priority patent/CN207436520U/zh
Priority claimed from CN201711006365.5A external-priority patent/CN107642247B/zh
Priority claimed from CN201721383469.3U external-priority patent/CN207332339U/zh
Priority claimed from CN201711006396.0A external-priority patent/CN107892170B/zh
Application filed by 厦门华蔚物联网科技有限公司 filed Critical 厦门华蔚物联网科技有限公司
Publication of WO2018099323A1 publication Critical patent/WO2018099323A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/16—Tools or apparatus
    • E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines

Definitions

  • the present invention relates to the field of intelligent building construction technology, and in particular, to a bricklaying robot.
  • the construction industry is a pillar industry in China and plays a leading role in the national economy.
  • the traditional masonry method is done manually, and the operator builds the wall tiles as required.
  • the wall tiles have been changed from clay sintering (each weight 1.5 ⁇ 3kg) to aerated brick or cement hollow brick (each weight is 10 ⁇ 25kg), the construction progress is slow, the labor intensity is high, and the working environment is poor. And the cost of relying on human labor is getting higher and higher. Therefore, the construction industry urgently needs a robot that can replace the manual operation of masonry engineering.
  • the height of the wall is greater than the limit position of the bricklaying robot, and the masonry of the high wall cannot be realized.
  • the wall thickness is different, the brick specifications are different, the fixture is difficult to be universal, and the scope of application is small.
  • the beam crossing beam is a beam placed on the door, window or reserved hole, etc.
  • the wall opening is larger than 300mm, in order to support the upper part of the hole
  • the various loads coming from, and these loads are transmitted to the walls on both sides of the opening such as doors and windows, and the lintels are required to be placed on the openings of the doors and windows.
  • the existing bricklaying robots are not easy to use and can be easily placed.
  • top brick Due to the hardening of the wall mortar, the volume is reduced during the hardening process.
  • the bricks of this section cannot be built together.
  • the national regulations clearly stipulate that it must be separated by more than 7 days.
  • the top brick masonry is a kind of consumption and consumption.
  • the special work of the work, the existing bricklaying robot can not carry out the brickwork of the top brick.
  • the present invention provides a bricklaying robot with simple structure and good stability, which is suitable for bricklaying environments in various occasions.
  • the technical solution proposed by the present invention is:
  • the present invention discloses a brick-laying robot, which comprises a rotary moving chassis, a lifting module and a top brick-laying module which are sequentially connected;
  • the rotary mobile chassis includes a base, a first driving member, a gear set, a rotating support disk, and a moving mechanism, the gear set is disposed between the base and the rotating support disk, and the moving mechanism is disposed at a lower end of the base,
  • the first driving member drives the gear set to drive the rotating support disk to rotate;
  • the lifting module includes a second driving member, a first screw rod, a longitudinal rail structure and a plurality of first fixing plates; the bottom end of the lifting module is fixed above the rotating support plate;
  • the top bricklaying module includes a support plate, and a plurality of second fixing plates, a second screw rod, a transverse rail mechanism, a third driving member, a brick building fixture and a fourth driving member fixed above the supporting plate;
  • the third driving member drives the second screw rod, the second screw rod and the fourth driving member are connected, the supporting plate is provided with a guiding slot, and the fourth driving member passes through the guiding slot Connecting with the brick fixture to drive the brick fixture to rotate;
  • the brick fixture comprises a first grabbing plate, a second grabbing plate, a plurality of fixing bars, a plurality of link mechanisms and a pneumatic cylinder, and the connecting rod mechanism comprises a first link, a second link and a third link connected in sequence, the first link and the third link are respectively connected to the first grabbing plate and the second grabbing plate, and the second connecting rod passes through the center
  • the connecting rod shaft is fixed under the pneumatic cylinder, and the pneumatic cylinder drives the first grabbing plate or the second gripping plate to move, The
  • the top brick-laying module realizes sliding on the longitudinal rail structure by the first screw rod under the action of the second driving member, and the top brick-laying module realizes circular motion through the rotating support disk with the lifting module as the axis .
  • the plurality of fixing rods are disposed between the first grabbing plate and the second grabbing plate, and the first grabbing plate and the second grabbing plate are provided with a skid plate.
  • the number of the lateral rail mechanisms is two groups, which are respectively located at two sides of the guide slot, the lateral rail mechanism includes a guide slider and a guide rail; the second screw rod and the fourth driving member pass the guide roller The block connection achieves a synchronized movement between the fourth drive member, the brick fixture and the second screw.
  • the top of the lifting module is further provided with a weight.
  • the gear set is fixed to the base; the gear set includes a meshing active pinion and a driven bull gear; the first drive member drives the drive pinion to rotate, and the drive pinion drive The large gear rotates to drive the entire rotating support disk to rotate.
  • both the first screw rod and the second screw rod are provided with a limit switch, and the rotary mobile chassis and the brick fixture are provided with photoelectric switches.
  • the first driving member, the second driving member, the third driving member and the fourth driving member are all used as an AC servo motor, and the motor has a 17-bit incremental rotation Encoder.
  • the pneumatic cylinder includes a body and a cylinder push rod, the body is connected to a third driving member, and the cylinder push rod is disposed on the other side and connected to the second grabbing plate;
  • the first catching plate is provided with a escaping groove, and the body can pass through the escaping groove.
  • the air rod push rod is connected to the second grab plate through a connecting block, the connecting block is locked on the second grab plate, and the connecting block is provided with a limiting slot. The end of the cylinder push rod is installed in the limiting slot.
  • the moving mechanism includes a chassis body, a suction cup holder, two one-way traveling wheels, and one or two rotating wheels, and the suction cup holder is evenly disposed at a lower portion of the chassis body, and the one is Or two rotating wheels are disposed at the front end of the chassis body, and the two one-way traveling wheels are disposed at the rear end of the chassis body.
  • the rotating wheel comprises a wheel body, a wheel frame, a face gear, a pinion gear and a control motor, wherein the wheel body is axially connected to the wheel frame, and the end gear is fixed on the wheel frame.
  • the pinion gear is driven by the control motor, and the central axes of the pinion gear and the face gear are vertically arranged, the pinion and the end The face gears mesh.
  • the rotating wheel is a universal wheel or an omnidirectional wheel.
  • the suction cup base comprises a control push rod assembly, a negative pressure plate, a sealing ring and a vacuum generator; the control push rod assembly is fixed at one end to the chassis body, and one end is connected with the negative pressure plate, which pushes the negative pressure plate, a lower movement of the sealing ring is attached to the negative pressure plate, the negative pressure plate is provided with a suction hole, and the vacuum generator is sealingly connected with the air suction hole, and the vacuum generator is provided There is an electromagnetic switch that controls the vacuum.
  • the chassis body is provided with a sensor.
  • the moving mechanism comprises a chassis body and a plurality of suction cup holders fixedly disposed under the chassis body and three sets of flattening devices, wherein the flattening device comprises a servo mechanism, a control push rod and For the flat block, the control push rod is axially connected with the servo mechanism, and the end of the control push rod is connected with the flat block, and the bottom lines of the three sets of flattening devices are not in a straight line.
  • the three sets of flattening devices are arranged in an equilateral triangle.
  • a plurality of wheels are evenly disposed under the chassis body.
  • the suction cup holder includes a vacuum generator, a coaxially disposed M-stage suction cup assembly, and a plurality of sets of elastic media, and the M-stage suction cup assembly includes an outer suction inner first suction cup assembly to an Mth suction cup assembly, M is a natural number greater than one;
  • the first suction cup assembly includes a first negative pressure plate group and a first sealing ring, and the first negative pressure plate group is provided with a first air suction hole, and the first sealing ring seal is attached under the first negative pressure plate group, a first cavity is disposed in the first negative pressure plate group, an elastic medium is disposed in the first cavity, and the vacuum generator is sealedly connected to the first air suction hole
  • N is a natural number between 1 and M, including an Nth negative pressure plate group, an Nth sealing ring, and an Nth negative pressure plate group is provided with an Nth suction hole, and the Nth sealing ring is sealed. Attached to the Nth negative pressure plate group, the Nth negative pressure plate group is provided with an Nth cavity, the Nth cavity is provided with an elastic medium, and the Nth air suction hole is connected with the first air suction hole; The N negative pressure plate group is installed in the N-th cavity to move the compression elastic medium upward;
  • the M-th suction cup assembly includes an M-th negative pressure plate group and an M-th sealing ring, wherein the M-th negative pressure plate group is provided with an Mth air-suction hole, and the M-th seal ring is attached under the M-th negative pressure plate group
  • the M negative pressure plate group is installed in the M-1 cavity to move the elastic elastic medium upward.
  • the lower end faces of the first negative pressure plate group to the M negative pressure plate group are sequentially protruded downward, adjacent to two negative
  • the height difference of the lower end surface of the pressure plate group is 1 to 2 mm.
  • the elastic medium is a spring or an elastic sponge provided with an air suction passage.
  • the M-stage suction cup assembly is a secondary suction cup assembly
  • the first negative pressure plate group includes a first negative pressure body and a first cover body fixedly mounted thereon, the first air suction hole
  • the first negative pressure body is mounted on the first cover body to form a first cavity, and the first negative pressure body is sealed to the first sealing ring.
  • the rotary mobile chassis is provided with a scissor lifting device on a side of the lifting module, the lifting module is provided with a supporting handle, and the scissor lifting device comprises a lower support. a support frame, an upper support frame, a motor assembly, and two sets of parallel-arranged scissor linkage assemblies between the lower support frame and the upper support frame, the upper support frame being located directly below the support handle, the lower support frame Fixed on the rotary mobile chassis, the motor assembly and the scissor linkage assembly are connected to control the scissor linkage assembly to fold and expand.
  • the method further includes a support standard set group disposed between the lift module and the rotary mobile chassis, wherein the support standard set includes a plurality of support standard sections, and the top of the support standard section is fixed to the bottom of the lift module, and the most The lower part is fixed to the rotary moving chassis, and the supporting standard sections are fixed to each other.
  • Each supporting standard section side is provided with a detachable lifting handle, and the raising handle is located directly below the supporting handle.
  • the supporting standard section group is arbitrarily assembled by a plurality of supporting standard sections of different height and size specifications.
  • the scissor linkage assembly includes two upper links, two lower links, an upper connector, a lower connector, at least two upper gears, and at least two lower gears;
  • the upper end of the rod is hinged to the upper connecting seat, and the upper gear is fixedly fixed at the hinge, and the two upper gears are meshed;
  • the lower end of the lower connecting rod is hinged with the lower connecting seat, and the lower gear is fixedly fixed at the hinge, the two lower gears
  • the lower end of the upper link is hinged with the upper end of the lower link, and the two upper links and the two lower links form a diamond structure.
  • a set of guide rod assemblies two pin shafts with through holes and a plurality of fasteners, the pin shaft passing through the upper end of the lower link and the lower end of the upper link hinged
  • the axis of the through hole is in a horizontal direction, and the guide rod assembly passes through the through holes of the two pin shafts, and one end of the guide rod assembly is fixed and connected to the motor assembly.
  • the present invention also discloses a bricklaying robot, comprising a rotary moving chassis, a lifting module disposed on the rotating mobile chassis and capable of rotating along its own axis, disposed on one side of the lifting module and capable of realizing vertical a horizontal mechanical arm for lifting movement in a direction, and a brick-laying jig disposed on the horizontal mechanical arm and movable along a length direction of the horizontal mechanical arm; a rotary electric machine further disposed on the horizontal mechanical arm to realize the bricklaying
  • the fixture is rotated along its own vertical axis;
  • the brick fixture comprises a carrier for mounting the wall of the wall and the fixture body; the fixture body is fixed on the horizontal arm and driven to the rotary motor;
  • the carrier includes two clamping units that are used together and have the same structure; each clamping unit includes a carrier plate and a bearing mechanism; the carrier mechanism includes a first pneumatic cylinder, a transmission plate, and a plurality of carrier rods
  • the first pneumatic cylinder is fixed to one side of the carrier plate and the direction of movement of the push rod of the first pneumatic cylinder is perpendicular to the carrier plate; one end of the push rod is fixed to the drive plate; and one end of the support rod is fixedly disposed with a drive plate The other end is adjacent to the carrier plate;
  • the two clamping units are respectively disposed on both sides of the brickwork fixture to realize the synchronous clamping and clamping movement with the brickwork fixture; the two carrier rods are implemented by the two first pneumatic cylinders.
  • the two clamping units are respectively disposed on both sides of the clamp body.
  • the clamp body comprises a second pneumatic cylinder and two fixed plates facing each other; the second pneumatic cylinder is fixed on a fixed plate, and one end of the push rod of the second pneumatic cylinder is fixed to another A fixing plate is used to realize the clamping of the lintel by the clamp body.
  • the two supporting plates are respectively fixedly connected with the outer sides of the two fixing plates by bolts to realize easy disassembly of the carrier for the wall mounting hole lintel.
  • a bearing slider or a limiting sliding slot is disposed on a side of the supporting plate and the fixing plate; the bearing plate or the limiting chute is disposed on a side of the fixing plate Fitted limit chute or load slider.
  • the brick-laying robot may further be provided with an obstacle alarm device to avoid collision between two ends of the lintel during the lifting of the lintel;
  • the obstacle alarm device may be a sensor or a visual image determining device. Or radar ranging device.
  • the number of the carrying rods in each of the clamping units is two; the two supporting rods and the push rods of the first pneumatic cylinder are horizontally and arranged in a row; the carrying rods are arranged through the carrying plate to pass through The plate realizes the support of the carrier rod.
  • a guiding sleeve is further sleeved on the outer side of the carrying rod; the guiding sleeve and the carrying rod are fixedly connected by bolts.
  • the present invention also discloses a bricklaying robot, comprising a rotary moving chassis, a lifting module disposed on the rotating mobile chassis and capable of rotating along its own axis, disposed on one side of the lifting module and realizable a horizontal mechanical arm for lifting movement in a vertical direction and a brick-laying jig disposed on the horizontal mechanical arm and movable along a length direction of the horizontal mechanical arm; a rotary electric machine further disposed on the horizontal mechanical arm Realizing rotation of the brick-laying fixture along its vertical axis; the brick-laying fixture comprises the fixture of the brick-topping brick and the brick-laying fixture body; the brick-laying fixture body is fixed on the horizontal robot arm And connected to the rotating electric machine through a rotating shaft; the jig for the top brick can be fixedly disposed on the main body of the brick building to realize the function of completing the brick.
  • the fixture for the top brick includes a clamp body, a first clamping cylinder, a drive shaft, and a drive motor;
  • the clamp body includes a first plate body and a second plate body and a connection therebetween a connecting plate between the first plate body and the second plate body;
  • the first clamping cylinder is fixedly disposed on a side of the first plate body;
  • the first plate body has a plurality of through holes for the first A push rod of a clamping cylinder passes through to achieve clamping of the object to be clamped; one end of the transmission shaft is fixedly disposed on one side of the second plate body, and the transmission shaft is driven to rotate in an axial direction by a driving motor.
  • the first board body and the board body have the same structure and are disposed opposite to each other; the connecting board connects the same side of the first board body and the second board body.
  • the ratio of the length of the push rod of the first clamping cylinder to the length of the connecting plate ranges from 0.1 to 0.
  • the ratio of the length of the connecting plate to the length of the transmission shaft is 0.7 to 1.
  • one end of the push rod of the clamping cylinder may further be provided with a clamping plate.
  • the brick fixture body comprises a second clamping cylinder and two clamping clamping plates facing each other; the second clamping cylinder is fixed on a clamping fixing plate, and the second clamping cylinder is pushed One end is fixed to the other clamping fixing plate to realize the clamping of the top body brick by the clamping body.
  • the two clamping fixing plates are respectively further provided with two clamp placing plates by bolts;
  • the transmission shaft is further provided with two fixing seats;
  • the fixing plate is provided with a fixing hole for the transmission shaft to pass through;
  • a bearing is arranged between the fixing hole and the transmission shaft;
  • the two fixing seats are respectively fixedly disposed on the two clamping plate placing plates by bolts.
  • a side of the clamp placement plate that is attached to the clamping and fixing plate is provided with a slider or a sliding slot; the side of the clamping and fixing plate is provided with the slider or the sliding slot Chute or slider.
  • the rotating shaft is rotatably connected to a fixing carrier plate through a bearing through the upper surface of the horizontal arm; the driving shaft is provided with two fixing seats; Set in solid Seated on the carrier board.
  • the present invention has the following beneficial effects:
  • the brick-laying robot of the invention has a simple structure and a small occupied area, and is suitable for a brick-laying environment in various occasions.
  • each part of the brick-laying robot of the present invention can be disassembled independently, and the independent work between the parts does not affect each other.
  • the bricklaying robot can adjust the height of the robot body according to the actual height of the brickwork, and is suitable for brick wall building with different heights, small weight and small volume, convenient transportation, applicable range wide.
  • the brick-laying fixture of the brick-laying robot capable of installing the beam of the hole adopts a carrier for mounting the beam of the hole, and the plurality of load-bearing rods in the carrier limit the lintel and further fix by the main body of the clamp, Finally, the movement of the lintel is realized by the overall structure of the rotary moving chassis, the lifting platform and the horizontal manipulator.
  • the use of the girders is facilitated, and the installation of the girders is realized automatically, which saves the cost of erecting scaffolding, reduces labor and improves installation efficiency.
  • the brick-laying robot capable of building a top brick can realize the clamping of the top skin brick and the rotation positioning of the top skin brick by the fixture of the top brick and the brick building fixture. Finally, The movement of the top skin brick and the brick laying are realized by the overall structure of the rotary moving chassis, the lifting platform and the horizontal manipulator, which is convenient to use, realizes the effect of automatically laying the top brick, reduces the labor, and greatly improves the installation efficiency.
  • 1 is a schematic view showing the assembly of the first embodiment of the present invention.
  • FIG. 2 is a bottom view of the top brick making module of the first embodiment.
  • FIG 3 is a front elevational view of the top brick laying module of the first embodiment.
  • FIG. 4 is a schematic structural view of a lifting module of the first embodiment.
  • 5 is a schematic structural view of a brick laying fixture of the second embodiment.
  • FIG. 6 is a bottom view of the brick masonry clamp of the second embodiment.
  • FIG. 7 is a perspective view of the brick masonry clamp of the second embodiment.
  • FIG. 8 is a bottom view of the brick masonry clamp of the second embodiment.
  • FIG. 9 is a schematic structural view of a moving mechanism of the third embodiment.
  • FIG. 10 is a front elevational view showing the moving mechanism of the third embodiment.
  • FIG. 11 is a bottom view of FIG. 10.
  • FIG. 12 is a schematic perspective view of a fourth embodiment.
  • FIG. 13 is a front elevational view showing the fourth embodiment.
  • FIG. 14 is a bottom view of FIG. 13.
  • Embodiment 15 is a schematic structural view of Embodiment 5.
  • 16 is an exploded perspective view of the fifth embodiment.
  • 17 is a cross-sectional view showing the fifth embodiment.
  • FIG. 18 is a schematic view showing the state of compression adsorption of FIG. 17.
  • Embodiment 19 is a schematic structural view of Embodiment 6.
  • FIG. 20 is a schematic structural view of a scissor lifting device in Embodiment 6.
  • 21 is an exploded perspective view of the scissor lifting device of the sixth embodiment.
  • FIG. 22 is a schematic structural view of a support standard section in the sixth embodiment.
  • Embodiment 23 is a schematic structural view of a carrier in Embodiment 7.
  • Embodiment 24 is a schematic structural view of Embodiment 7.
  • FIG. 25 is a partially enlarged schematic view of FIG. 24.
  • FIG. 26 is a schematic structural view of a jig for a roofing brick according to Embodiment 8. [0089] FIG.
  • Embodiment 27 is a schematic structural view of Embodiment 8.
  • FIG. 28 is a partially enlarged schematic view of FIG. 27.
  • 29 is a schematic structural view of a ninth embodiment.
  • FIG. 30 is a partially enlarged schematic view of FIG. 29.
  • Rotary moving chassis 10 base 11, first drive member 12, gear set 13, drive pinion 131, from Moving large gear 132, rotating support plate 14
  • moving mechanism chassis body 151, suction cup holder 152, control push rod assembly 1521, negative pressure plate 1522, sealing ring 1523, air vent 1524, one-way traveling wheel 153, rotating wheel 154, wheel body 1541, wheel carrier 1542, face gear 1543, pinion 1544, control motor 1545, leveling device 155, servo 1551, control push rod 1552, flattening block 1553, wheel 156, sensor 157, vacuum generator 158, spring 159, first suction cup The assembly 16, the first negative pressure plate group 161, the first negative pressure body 1611, the first cover body 1612, the first air suction hole 1613, the blind hole 1614, the first cavity 1615, the step mounting table 1616, and the first sealing ring 162
  • lifting module 20 lifting module 20, second driving member 21, first screw rod 22, longitudinal rail structure 23, first fixing plate 24, weight 25, first bending portion 241, second bending portion 242, support Handle 26
  • Scissor lifting device 40 lower support frame 41, upper support frame 42, motor assembly 43, motor 431, fixing base 4 32, scissor linkage assembly 44, upper link 441, lower link 442, upper connection Seat 443, lower joint 444, upper gear 445, lower gear 446, pin 45, through hole 451, guide rod assembly 46
  • carrier 60 carrier plate 61, limit chute 611, carrier mechanism 62, first pneumatic cylinder 621, transmission plate 62
  • a carrier bar 623 a guide sleeve 63, a first cylindrical portion 631, a second cylindrical portion 632, a jig body 64, a second pneumatic cylinder 641, a fixing plate 642, carrying a slider 6421
  • the jig for the top brick can be 70, the jig body 71, the first plate 711, the second plate 712, the connecting plate 713
  • the present embodiment discloses a bricklaying robot comprising a rotary moving chassis 10, a lifting module 20 and a top brick making module 30 which are sequentially connected.
  • the rotary moving chassis 10 includes a base 11, a first driving member 12, a gear set 13, a rotating support disk 14, a moving mechanism 15, and a gear set 13 disposed between the base 11 and the rotating support disk 14.
  • the moving mechanism 15 is disposed at the lower end of the bottom seat 11, and the first driving member 12 drives the gear set 13 to rotate the rotating support disk 14.
  • the lifting module 20 includes a second driving member 21, a first lead screw 22, a longitudinal rail structure 23, and a plurality of first fixing plates 24. The bottom end of the lifting module 20 is fixed above the rotating support disk 14.
  • the top brick making module 30 includes a support plate 31, a plurality of second fixing plates 32, a second screw rod 33, a lateral rail mechanism 34, a third driving member 35, a brick masonry 36, and a fourth driving member 37.
  • a plurality of second fixing plates 32, second screw bars 33, lateral rail mechanisms 34, third driving members 35 and fourth driving members 37 are fixed above the support plate 31.
  • the support plate 31 has a guide groove 311, and the fourth driving member 37 is connected to the brick fixture 36 through the guide groove 311.
  • the fourth drive member 37 is used to drive the brickwork fixture 36 to rotate.
  • the top brickwork module 30 achieves sliding on the longitudinal rail mechanism 23 by the first wire rod 22.
  • the top brick-laying module 30 is circularly moved by rotating the support disk 14 with the lifting module 20 as an axis.
  • the brick-laying fixture 36 includes a first grabbing plate 361, a second catching plate 362, a plurality of fixing rods 363, a link mechanism 364, and a pneumatic cylinder 365
  • the link mechanism 364 includes A first link 3641, a second link 3642 and a third link 3643 are connected.
  • the first link 3641 and the third link 3643 are coupled to the first catching plate 361 and the second catching plate 362, respectively, and the second link 3642 is fixed to the lower portion of the pneumatic cylinder 36 by a central connecting rod shaft 368.
  • the pneumatic cylinder 365 drives the first catching plate 361 or the second catching plate 362 to move, and the first link 3641 and the third link 3643 are center-symmetrically moved about the link shaft 368.
  • the invention adopts three major components, has simple structure, light weight, can adapt to a variety of bricklaying environments, can be bricklayed step by step and has good gripping effect.
  • the fourth drive member 37 drives the brick fixture 36 to achieve 360° rotation on the horizontal plane.
  • Bricklaying fixture 36 also includes The pneumatic cylinder first fixed plate 366 and the pneumatic cylinder second fixed plate 367 are included.
  • the pneumatic cylinder first fixing plate 366 is connected to the upper third driving member 35.
  • the pneumatic cylinder second fixing plate 367 fixes the pneumatic cylinder 365 to the first fixing plate 366 of the pneumatic cylinder by bolts.
  • a plurality of fixing rods 363 are disposed between the first clamping plate 361 and the second clamping plate 362 and are fixed to the first fixing plate 366 of the pneumatic cylinder by bolts.
  • the fixing rod 363 guides the movement of the clamping plate, and the connecting rod mechanism 36 is fixed to the pneumatic cylinder second fixing plate 367 through the center connecting rod shaft 368.
  • a skid plate 369 is disposed on the first catching plate 361 and the second catching plate 362.
  • the number of the second fixing plates 32 is four, which are vertically disposed around the support plate 31, respectively.
  • a plurality of symmetrical holes are dug in the second fixing plate 32 on both sides of the brick-clamping fixture 36 in the moving direction for weight reduction and fixing of the third driving member and the like.
  • the travel range of the brick-laying fixture 36 on the guide groove 311 ranges from 0 mm to 500 mm, and the projection distance of the guide groove 311 from the end of the lifting device 20 to the center of the base 11 is 500 mm, that is, the position that the wall-building robot of the present invention can reach.
  • the part of the two concentric circles whose radius is 1 000 mm and radius of 500 mm is not coincident with the center of the disc as a dot.
  • the number of the lateral rail mechanisms 34 is two sets, which are respectively located at two sides of the guide chute 311, and the lateral rail mechanism 34 includes a guide slider 341 and a guide rail.
  • the second lead screw 33 is connected at its end to the third driving member 35 , and the other end is fixed to the second fixing plate 32.
  • the second lead screw 33 and the fourth drive member 37 are coupled to the guide sliders 341 on both sides to realize synchronous movement between the fourth drive member 37, the brick jig 36 and the second lead screw 33.
  • the number of the first fixing plates 24 is two, and the cross section of the first fixing plate 24 includes a first bending portion 241 and a second bending portion 242.
  • the first bent portion 241 and the second bent portion 242 are vertically distributed to form an "L" shape.
  • the longitudinal rail structure 23 is fixed to the first bending portion 241, and the second bending portion 242 is disposed on both sides of the screw rod for fixing the longitudinal rail structure 23 and the protection lifting module 20.
  • the top of the lifting module 20 is further provided with a weight 25 which is fixed to the top end of the first screw 22 and further restrained by the two first fixing plates 24.
  • the lifting module 20 can achieve a stroke range of 0 mm to 1520 mm.
  • the heights of the first fixed plate 24, the first lead screw 22, and the longitudinal rail structure 23 are substantially similar to the maximum stroke of h.
  • the use of such a structure not only can effectively promote the lifting and lowering, but also as much as possible to reduce the overall weight from the structural simplification of the components while ensuring the maximum stability of the structure.
  • the gear set 13 is fixed to the base 11.
  • the gear set 13 includes a meshing drive pinion 131 and a driven bull gear 132.
  • the first driving member 12 drives the driving pinion 131 to rotate, and the driving pinion 131 drives the driven large gear 132 to rotate to drive the entire rotating supporting plate 14 to rotate.
  • the rotating supporting plate 14 further has two cross sections of the second fixing plate 32 and the second fixing plate 32. Fitted raised plates are bolted together. With such a structure, the transmission efficiency is high and the chassis stability is high.
  • Both the first screw rod 22 and the second screw rod 33 are provided with limit switches at both ends.
  • Rotary mobile chassis 10 and brick-laying fixtures 36 are equipped with photoelectric switches, which can be used for positioning and limiting.
  • the first driving member 12, the second driving member 21, the third driving member 35 and the fourth driving member 37 are both AC servo motors, and the motor has a 17-bit incremental rotary encoder, which can realize high precision of the motor.
  • Positioning which is the basis for the intelligent wall motion control of the wall-mounted robot.
  • the same control system is also installed in the same motor. The control system needs to realize the conversion between the Cartesian coordinate system and the cylindrical coordinate system, so as to Inter-institutional linkage for operational control.
  • the movement track of the end of the fixture of the brick-laying fixture 36 must follow a specific path, and the intermediate point of the path needs to be interpolated.
  • the discrete points are converted into the speed and position information of each servo motor, the information passes.
  • the control system bus is transmitted to the servo drive device, and each motor is synchronously controlled by the bus method.
  • the use of such intelligent control method can accurately and effectively control the wall-building robot to carry out various wall-building actions, and ensure that the position of each tile can be within a certain error.
  • S1 obtains the distance between the center of the base 11 and the first leather brick wall by the precision ranging sensor, and ensures that the distance between the center of the base 11 and the wall surface is 500 mm ⁇ 20 mm.
  • S2 places the brick after the mortar is placed at a position 500 mm away from the center of the base 11, to ensure that the center of the clamp coincides with the center line of the block, and when the brick fixture 36 senses that there is a brick underneath, the electromagnetic valve is energized, and then Clip the swivel.
  • S3 accurately locates the height and horizontal position of the brick wall, and the first driving member 12 and the second driving member 35 are simultaneously activated to control the movement of the rotary moving chassis 10 and the lifting module 20 respectively, when the brick-laying fixture 36 moves to After the designated position, the third drive member 35 and the fourth drive member 37 are simultaneously activated, controlling the brick to move and rotate to a fixed brick position, and then lowering the brick.
  • the lifting module 20 is lifted to a certain height so that the lower bottom surface of the brick fixture is separated from the brick. Surface, then all parts return to the origin according to the action, and the second brick is clamped.
  • a bricklaying process is completed, that is, each bricklaying process realizes three bricks. After completion, the bricklaying robot moves. Repeat the above steps to the next location.
  • the difference between the embodiment and the first embodiment is that the brick-laying fixture is different from the first embodiment.
  • the brick-laying fixture 36 can realize the bricks of different thicknesses.
  • the brick-laying fixture 36 includes a first grabbing plate 361, a second grabbing plate 362, a plurality of fixing rods 363, a link mechanism 364, and a pneumatic cylinder 365.
  • the pneumatic cylinder 365 includes a body 3651 and a cylinder push The rod 3652, the body 3651 is fixed by the pneumatic cylinder first fixing plate 366, and the cylinder push rod 3652 is disposed on the other side and connected to the second catching plate 362.
  • the first catching plate 361 is provided with a escape groove 3611, and the body 3651 can pass through the escape groove 3611.
  • the air rod push rod 3652 is connected to the second grab plate 362 through a connecting block 38, and the connecting block 38 is locked on the second grab plate 3 62.
  • the connecting block 38 is provided with a limiting slot 381, the cylinder push rod 3652 The end is installed in the limiting slot 381.
  • the thickness of the pneumatic cylinder 365 is adjusted to 0.6 to 0.8 MPa
  • the body 3651 controls the cylinder push rod 3652 to extend
  • the air pressure push rod 3652 pushes the second catching plate 362 to the fixed position.
  • the outer end of the rod 363 moves, the second catching plate 362 drives the second link 3642 to extend, the second link 3642 drives the entire link mechanism 36 4 to extend outward, and the first link 3641 drives the first catching plate 361 to synchronize.
  • the outer end is moved such that the distance between the two grippers matches the thickness of the thick brick, the fourth drive member 37 controls the rotation of the clamp, and the two skid plates 369 grip the thick brick.
  • the thin brick is clamped, the air pressure value of the pneumatic cylinder 365 is adjusted to 0.5 to 0.6 MPa, the main body 36 51 controls the cylinder push rod 3652 to be shortened, and the air pressure push rod 3652 drives the second catching plate 362.
  • the second catching plate 362 drives the third link 3643 to contract, the third link 3643 drives the entire link mechanism 364 to contract inward, and the first link 3641 drives the first catching plate 361 to synchronize.
  • the body 3651 passes through the escape groove 3611 of the first catching plate 361, so that the distance between the two grab plates matches the thickness of the thin brick, and the fourth driving member 37 controls the rotation of the clamp,
  • the anti-slide board 369 grips the thin brick.
  • This embodiment further discloses the moving mechanism in the first embodiment, so that the bricklaying robot can realize the switching of the walking movement steering and the fixed adsorption state.
  • the moving mechanism 15 includes a chassis body 151, a suction cup holder 152, and two one-way walking.
  • the wheel 153 and the two rotating wheels 154 are four-wheel chassis.
  • the suction cup holder 152 is evenly disposed at a lower portion of the chassis body 151.
  • Two rotating wheels 154 are disposed at the front end of the chassis body 151, and two one-way traveling wheels 153 are disposed at the rear end of the chassis body 151.
  • the rotating wheel 154 can be a universal wheel or an omnidirectional wheel (such as a Mecanum wheel).
  • the rotating wheel 154 can precisely control the angular steering.
  • the rotary wheel 154 includes a wheel body 1541, a wheel carrier 1542, a face gear 1543, a pinion gear 1544, and a control motor 1545.
  • the wheel body 1541 is axially connected to the wheel frame 1542.
  • the face gear 1543 is fixed above the wheel frame 1542.
  • the pinion gear 1544 is driven by the control motor 1545.
  • the center axes of the pinion gear 1544 and the face gear 1543 are vertically disposed, and the pinion gear 1544 is The face gear 1543 is meshed.
  • the control motor 1545 controls the rotation angle of the pinion gear 1544, the pinion gear 1544 engages the face gear 1543 to rotate, and then the face gear 1543 drives the wheel frame 1542.
  • the wheel carrier 1542 drives the wheel body 1541 to rotate by an angle. By this structure, the control wheel body 41 is realized. Turn.
  • the chuck holder 152 is square or circular.
  • the chuck holder 152 includes a control push rod assembly 1521, a negative pressure plate 1522, a seal ring 1523, and a vacuum generator (not shown).
  • the control push rod assembly 1521 is fixed to the chassis body 151, and one end is connected to the negative pressure plate 1522, which pushes the negative pressure plate 1522 up and down.
  • the sealing ring 1523 is attached to the negative pressure plate 1522.
  • the negative pressure plate 1522 is provided with a suction hole, and the vacuum generator is sealedly connected with the air suction hole, and the vacuum generator is provided with an electromagnetic switch for controlling the vacuum.
  • the bricklaying robot is mounted and fixed on the chassis body 151 of the embodiment, the bricklaying robot needs to move the rafter, the suction cup seat 152 controls the pusher assembly 1521 to contract, and the sealing ring 1523 is located above the ground, and the cymbal rotating wheel 15 4 drives The one-way walking wheel 153 walks and turns.
  • the control push rod assembly 1521 works, pushing the negative pressure plate 1522 downward to contact with the ground, and the sealing ring 1523 contacts the ground and then moves downward to compress the sealing ring 1523.
  • the electromagnetic switch on the vacuum generator is slammed, a negative pressure is generated in the negative pressure plate 1522, and the sealing ring 1523 is closely adsorbed on the ground.
  • This bricklaying robot can start bricklaying. When the bricklaying robot needs to move the crucible, the electromagnetic generator of the vacuum generator is turned off, the sealing ring 1523 is separated from the ground, and then the push rod assembly 1521 is contracted, and the above process is repeated.
  • This embodiment further discloses the moving mechanism in the first embodiment, so that the bricklaying robot can automatically reconcile the ground and adsorb to the ground.
  • the moving mechanism 15 includes a chassis body 151, and a plurality of them are fixed under the chassis body 151.
  • a sensor 157 is disposed on the chassis body 151 to sense surrounding obstacles.
  • the flattening device 155 is disposed at a lower central position of the chassis body 151.
  • the flattening device 155 includes a servo mechanism 1 551, a control push rod 1552 and a flattening block 1553.
  • the control push rod 1552 is axially connected to the servo mechanism 1551, and the end of the control push rod 1552 is connected to the flattening block 1553.
  • the flattening device 155 can be electric or pneumatic, that is, the servo mechanism 1551 is a hydraulic cylinder, the control push rod 1552 is a hydraulic push rod, or the servo mechanism 1551 is a motor, and the control push rod 1552 is an electric push rod.
  • the bottoms of the three sets of flattening devices 155 are not in a straight line, so that the three sets of flattening devices 155 are flattened by one plane.
  • the three sets of flattening devices 155 are arranged in an equilateral triangle: as shown by the dotted line in FIG. It is shown that the bottom lines of the three sets of flattening devices 155 form an equilateral triangle.
  • the wheel 156 is a universal wheel or an omnidirectional wheel, which realizes the turning of the bricklaying robot.
  • the chuck holder 152 is one on each side and is disposed at a lower edge position of the chassis body 151.
  • the suction cup holder 1 52 includes a control push rod assembly 1521, a negative pressure plate 1522, a seal ring 1523, and a vacuum generator (not shown).
  • the control push rod assembly 1521 is fixed to the chassis body 151, and one end is connected to the negative pressure plate 1522, which pushes the negative pressure plate 1522 up and down.
  • the sealing ring 1523 is attached to the negative pressure plate 1522, and the negative pressure plate 1522 is provided with a suction hole 1524.
  • the vacuum generator is sealedly connected with the air suction hole 1524, and the vacuum generator is provided with an electromagnetic switch for controlling the vacuum.
  • the bricklaying robot is mounted and fixed on the chassis body 151 of the embodiment, and the chassis body 151 is in contact with the ground.
  • the control pusher assembly 1521 of the suction cup holder 152 is contracted, and the servo mechanism 155 of the three sets of flattening devices 155
  • the control control push rod 1552 is extended, so that the flat block 1553 is in contact with the rough ground, and the three sets of flat blocks 1553 continuously adjust the elevation so that the three sets of flat blocks 1553 are located on the same horizontal plane.
  • the push rod assembly 1521 is controlled to push the negative pressure plate 1522 downward, the sealing ring 1523 contacts the ground, and then moves downward to compress the sealing ring 1523 for a distance, and then the electromagnetic pressure on the vacuum generator is pressed, and the negative pressure is pressed. A negative pressure is generated in the plate 1522, and the seal ring 1523 is closely adhered to the ground.
  • This bricklaying robot can start bricklaying. The bricklaying robot needs to move the crucible, close the electromagnetic switch of the vacuum generator, the sealing ring 1523 is separated from the ground, the control push rod assembly 1521 of the suction cup base 152 is contracted, and the sealing ring 1523 is located above the ground, and the crucible wheel 156 walks or turns. mobile.
  • Embodiment 5 discloses a bricklaying robot, which differs from the third embodiment and the fourth embodiment in that the structure of the suction cup holder is different, and the rest of the structure can adopt the structure of the third embodiment or the fourth embodiment.
  • the chuck holder of the embodiment has a multi-stage adsorption function, including a vacuum generator, a coaxially arranged M-stage suction cup assembly and a plurality of sets of elastic medium, and the M-stage suction cup assembly includes an outer suction inner first suction cup assembly to the Mth Suction cup assembly, M is a natural number greater than 1;
  • the first suction cup assembly includes a first negative pressure plate group and a first sealing ring; the Nth suction cup assembly, N is a natural number between 1 and M, including an Nth negative pressure plate group, an Nth sealing ring; Suction cup assembly, including the Mth negative pressure plate set
  • the suction cup holder 15 2 includes a vacuum generator 158, a coaxially disposed secondary suction cup assembly, and a set of elastic medium.
  • the secondary suction cup assembly includes a first suction cup assembly 16 and a second suction cup assembly 17 from the outside to the inside.
  • the elastic medium is a spring 159 or an elastic sponge 160.
  • the first chuck assembly 16 includes a first negative pressure plate set 161 and a first seal ring 162.
  • the first negative pressure plate group 161 includes a first negative pressure body 1611 and a first cover body 1612 fixedly mounted thereon.
  • the first cover body 1612 is provided with a first air suction hole 1613, and the first cover body 1612 is provided with a plurality of mounting holes for mounting.
  • a first cavity 1615 is formed between the first negative pressure body 1611 and the first cover body 1612, and a step mounting platform 1616 is disposed under the first negative pressure body 161 1 .
  • the first negative pressure body 1611 is sealed and attached to the first seal.
  • the ring 16 2 is provided with a spring 159 in the first cavity 1615, and the vacuum generator 158 is sealingly connected to the first air suction hole 1613.
  • the second chuck unit 17 includes a second negative pressure plate group 171 and a second seal ring 172.
  • the second negative pressure plate group 171 is provided with a second air suction hole 1711, the second sealing ring 172 is sealingly attached under the second negative pressure plate group 171, and the second negative pressure plate group 171 is installed in the first cavity 1615.
  • the second negative pressure plate group 171 is provided with a positioning boss 1712 which is positioned and engaged with the step mounting table 1616 of the first negative pressure body 161 1 .
  • a plurality of fixing posts 1713 for mounting the springs 159 are vertically disposed above the second negative pressure plate group 171.
  • a groove 173 for mounting a corresponding seal ring is disposed under the first negative pressure plate group 161 and the second negative pressure plate group 171, and the width of the inside of the groove 173 is larger than the width of the mouth portion.
  • the first cover 1612 is first opened, and the second negative pressure plate set 171 is installed in the first empty In the cavity 1615, the positioning boss 1712 is engaged with the step mounting table 1616, and then the spring 159 is mounted such that the spring 159 is disposed on the fixing post 1713 and the other end is disposed in the blind hole 1614.
  • the first cover 1612 is then mounted and the first cover 1612 is bolted to the first negative pressure body 1611.
  • the first seal ring 162 is mounted in the recess 173 below the first negative pressure plate group 161, and the second seal ring 172 is mounted in the recess 173 below the second negative pressure plate group 171.
  • the suction cup is seated under the bricklaying robot and moved to the part to be bricked, and then the servo mechanism controls the push rod to push the secondary suction cup assembly out into contact with the uneven ground, and the vacuum generator 158 is snoring from the first suction hole.
  • a vacuum is drawn in the 1613 and the second air vent 1711 so that the second seal ring 17 2 is first adsorbed to the ground, and then the second negative pressure plate group 171 compresses the spring 159 upward.
  • the first sealing ring 16 2 is then adsorbed to the ground as shown in FIG. After the double-layer adsorption is achieved, the whole is stably fixed on the ground.
  • the rotary mobile chassis 10 is further provided with a scissor lifting device on the side of the lifting module.
  • the scissor lift can be removed from the robot as needed.
  • the scissor lifting device 40 includes a lower support frame 41, an upper support frame 42, a motor assembly 43, and two sets of parallel arrangement between the lower support frame 41 and the upper support frame 42.
  • Scissor linkage assembly 44 The upper support frame 42 is located directly below the support handle 26 on the lift module 20, and the lower support frame 41 is fixed to the rotary mobile chassis 10.
  • the scissor linkage assembly 44 includes two upper links 441, two lower links 442, an upper connector 443, a lower connector 444, at least two upper gears 445, and at least two lower gears 446.
  • the upper end of the upper link 441 is hinged to the upper connecting base 443, and the upper gear 445 is fixedly mounted on the hinge.
  • the upper connecting rod has two upper gears 445 on the side, a total of four upper gears 445, and two upper gears 445. Engaged.
  • the lower end of the lower link 442 is hinged to the lower connecting seat 444, and the lower gear 446 is fixedly attached to the hinge.
  • the lower end of the upper link 441 is hinged to the upper end of the lower link 442, and the two upper links 441 and the two lower links 442 form a rhombic structure.
  • the motor assembly 43 includes a motor 431 and a mount 432.
  • the motor 431 is a worm gear motor.
  • the motor 431 is mounted on a fixed seat 432 that is hinged to one side of the scissor linkage assembly 44.
  • the mounting base 432 is provided with a central bore through which the output shaft of the motor 431 is in contact with the guide rod assembly 46.
  • the pin shafts 45 with the through holes 451 pass through the upper end of the lower link 442 and the lower end of the upper link 441, so that the axis of the through hole 451 is in the horizontal direction.
  • the guide rod assembly 46 passes through the through holes 451 of the two pin shafts 45, and one end of the guide rod assembly 46 is fixed and connected to the motor assembly 43.
  • the support standard node group is disposed between the robot lifting module 20 and the robot rotary moving base 10, and the supporting standard node group may be assembled by a plurality of different height specification support standard sections 50, as needed. For example, set the support standard section with a height of 10cm, 20cm. 50cm, and assemble according to the required height.
  • the side of the support standard section 50 is provided with a detachable raising handle 51 which is located directly below the support handle 26.
  • the scissor lifting device 40 is fixed above the robot rotary movable base 10 such that the upper support frame 42 is located below the support handle 26.
  • the scissor lifting device 40 is lowered to the initial position, and the lifting handle 51 is mounted on the supporting standard section 50.
  • the upper supporting frame 42 is located below the raising handle 51, the starting motor 431, the scissor linkage assembly
  • the 44 lifts the support standard section 50 and the lifting module 20 above it to move upward by a certain height distance, and then inserts a new section of the support standard section 50 within this height distance.
  • Several support standard sections 50 are inserted repeatedly until their overall height meets masonry requirements.
  • the scissor lift 40 can be removed after the support standard section 50 has been installed.
  • This embodiment discloses a carrier for a beam mounting wall and a brick-laying robot.
  • the present embodiment discloses a wall mounting bracket 60 for a wall mounting hole for a bricklaying robot, and includes two clamping units that are used together and have the same structure.
  • Each of the clamping units includes a carrier plate 61 and a carrier mechanism 62.
  • the carrier mechanism 62 includes a first pneumatic cylinder 621, a transmission plate 622, and a plurality of carrier rods 623.
  • the first pneumatic cylinder 621 is fixed to the side of the carrier plate 61 and the direction of movement of the push rod of the first pneumatic cylinder 621 is perpendicular to the carrier plate 61.
  • One end of the push rod is fixed to the drive plate 622.
  • the carrier rod 623 is fixedly disposed on the transmission plate 622, and the other end is disposed adjacent to the carrier plate 61.
  • the two clamping units 60 are respectively disposed on the two sides of the brickworker brickwork fixture 36 to realize the synchronous clamping and clamping movement with the brickwork fixture 36.
  • the two carrier rods 623 are brought into engagement and split by the action of the two first pneumatic cylinders 621.
  • the number of the carrier bars 623 in each of the clamping units 60 is two.
  • Two carrier bars 623 are disposed on either side of the first pneumatic cylinder 621.
  • the two load-bearing rods 623 and the push rods of the first pneumatic cylinder 621 are horizontally and in a row arrangement.
  • the carrier bar 623 is disposed through the carrier plate 61 to support the carrier bar 623 through the carrier plate 61.
  • the outer side of the carrying rod 623 is further sleeved with a guiding sleeve 63;
  • the guiding sleeve 63 includes a first cylindrical portion 631 and a second cylindrical portion 632.
  • the first cylindrical portion 631 is disposed on the side of the carrier plate 61 and is fixedly coupled to the carrier plate 61 by a bolt.
  • the second cylindrical portion 632 has a smaller radius value than the first cylindrical portion 631 for guiding the carrier rod 6233.
  • the brick-laying robot of this embodiment includes a rotary moving chassis 10, a lifting module 20 disposed on the rotating mobile chassis 10 and capable of rotating along its own axis, and being disposed on the side of the lifting module 20 And a horizontal mechanical arm 39 that can realize the lifting movement in the vertical direction and a brick-laying jig 36 that is disposed on the horizontal mechanical arm 39 and that can move in the longitudinal direction of the horizontal mechanical arm 39 can be realized. Further, a rotary electric machine is disposed on the horizontal robot arm 39 to effect rotation of the brick-laying jig 36 in the direction of its own vertical axis.
  • the brick masonry 36 includes a wall mounting bracket 60 for the wall and a clamp body 64. Fixing body 64 fixed It is mounted on the horizontal robot arm 39 and connected to the rotary electric machine. Two clamping units are respectively disposed on both sides of the clamp body 64.
  • the lintels are restrained by the two load-bearing rods 623 of the carrier beam 60 by the wall-mounting girders and further fixed by the clamp body 64, and finally by the rotary moving chassis 10, the lifting module 20, the horizontal robot arm 39
  • the overall structure realizes the movement of the lintel, which is convenient to use, realizes the automatic installation of the traverse of the hole, reduces labor and improves installation efficiency.
  • the jig body 64 includes a second pneumatic cylinder 641 and two fixed plates 642 that face each other.
  • the second pneumatic cylinder 641 is fixed to a fixed plate 642.
  • One end of the push rod of the second pneumatic cylinder 641 is fixed to the other fixing plate 642 to effect the clamping of the lintel by the jig main body 64.
  • the two supporting plates 61 are respectively fixedly connected to the outer sides of the two fixing plates 422 by bolts to realize easy disassembly of the wall mounting brackets 41 for the wall mounting holes, and the utility model is not required to be installed and removed. After that, the role of bricklaying can be achieved.
  • a bearing slider 61 or a limiting chute 6 11 is disposed on a side of the carrier plate 61 that is attached to the fixing plate 642.
  • a limiting chute or a bearing slider 6421 is disposed on the side of the fixing plate 642 to cooperate with the bearing slider or the limiting chute 611.
  • the height of the carrying slider 6421 in the moving direction of the jig main body 64 ranges from 7 mm to 10 mm.
  • the width of the carrying slider 6421 in the vertical direction ranges from 20 mm to 30 mm.
  • the bearing plate 61 and the fixing plate 6 42 are matched and fixed by means of the bearing block 6421 and the limiting sliding slot 611, so that the horizontal mechanical arm can share the force in the vertical direction of the carrying plate 61 to ensure that the carrying beam is sufficient.
  • the bearing capacity of the same wall is relatively easy to use and easy to disassemble between the carrier 60 and the clamp body 64, which can greatly improve the installation efficiency.
  • a plurality of fixed ground anchor devices are further disposed below the rotary mobile chassis 10.
  • the number of fixed ground anchor devices is four, evenly distributed below the rotary moving chassis 10;
  • the fixed ground anchor device includes a connected third pneumatic cylinder and a suction cup to ensure that the girders and the ground are hoisted Stable grip;
  • the suction cup is connected to a vacuum generator mounted on the bricklaying robot.
  • the brick-laying robot may further be provided with an obstacle alarm device to avoid collision between the two ends of the lintel during the hoisting of the lintel, because the length of the lintel is very long, and the traverse of the brick-laying fixture is equal to The center-centered rotary motion makes it easy to slam into the wall.
  • the obstacle alarm device may be a sensor or a visual image determining device or a radar ranging device; preferably, the obstacle alarm device is disposed at an end of the horizontal arm length; when the obstacle alarm device is a sensor, the distance sensor may be Determine whether the distance between the brickwork fixture and the obstacle is less than half the length of the beam, and if it is less than, stop working; When the obstacle alarm device is a visual image judging device and a radar ranging device, the judgment principle is the same as the sensor
  • S2 the brickwork fixture 36 is lowered in alignment with the lifting position, and stops when the carrier rod 623 is lower than the bottom of the beam.
  • S7 The first pneumatic cylinder 621 controls the load-bearing rod 623 to be retracted and disengaged from the lintel;
  • step S2 in the initial state, a plurality of lintels to be hoisted are stacked on the ground, and each two adjacent lintels are separated by a spacer, and the carrier rods are facing each other.
  • the two positions are respectively provided with an infrared emitter and an infrared receiver.
  • the carrier rods are sequentially located on the lintel - both sides of the lintel - the lintel After the next process, it is judged that the carrier bar is lower than the bottom of the beam.
  • the carrying rod detects whether the underside of the carrying rod is touched by the pressure sensor. If the detected pressure is less than a certain threshold, it is determined that the bottom of the carrying rod touches the opening so that the opening is carried. The rod shares the weight of the support beam.
  • This embodiment discloses a jig for building a brick and a brick-laying robot.
  • the jig 70 of the top brick can include a jig body 71, a first clamping cylinder 72, a transmission shaft 73, and a driving motor 74.
  • the jig body 71 includes a first plate body 711 that is oppositely disposed. And the second plate body 712 and a connecting plate 713 connecting the first plate body 711 and the second plate body 712 to achieve the object to be clamped from all directions.
  • the first clamping cylinder 72 is fixedly disposed on the side of the first plate body 711.
  • the first plate body 711 has a plurality of through holes for the passage of the push rod of the first clamping cylinder 72 to achieve clamping of the object to be clamped.
  • the clamping body to be gripped by the clamp body 71 and the first clamping cylinder 72 can be effectively realized, in particular, a rectangular parallelepiped object such as a building brick, and the gripping effect is good.
  • the first plate body 711 and the second plate body 712 are identical in structure and disposed opposite to each other.
  • the connecting plate 713 connects the same side of the first plate body 7 11 and the second plate body 712 so that each two adjacent faces are vertically disposed to better secure the objects to be clamped, especially the bricks and bricks.
  • the clamp body 71 adopts a three-sided frame design to cooperate with the transmission shaft 73 to approach the object to be clamped from above and to both sides of the object to be clamped, and further clamps the object to be clamped by the first clamping cylinder 72, which can effectively treat Fast and stable clamping of the holder.
  • the length of the surface of the first plate body 711 and the connecting plate 713 that is in contact with the object to be clamped is 0.2 to 0.4, that is, the length of the horizontal surface of the first plate body 711 perpendicular to the moving direction of the first clamping cylinder 72 is about
  • the ratio of the length of the push rod of the first clamping cylinder 72 to the length of the connecting plate 713 ranges from 0.1 to 0.5, and the push rod of the first clamping cylinder 72 is designed to effectively fit the second plate 712 and the connecting plate. 713 is used to clamp the different sizes of the bricks.
  • the overall volume of the cylinder 72 is too large to be fixed, so that the length ratio of the range can be used to effectively determine the length of the push rod of the first clamping cylinder 72 by the length of the specific connecting plate 713.
  • first clamping cylinder 72 may also be fixed to the inner side of the first plate body 711 such that the push rod of the first clamping cylinder 72 passes out from the inside to the outside, at the first clamping cylinder 72.
  • the end of the push rod further fixes a driving plate opposite to the first plate body 711, and a plurality of pressing rods parallel to the push rod of the first clamping cylinder 72 are fixedly disposed on the driving plate, and the pressing rod is fixed by the pressing rod
  • the outer side of the first plate body 711 is worn to the inner side to realize the fixing of the object to be clamped. In this way, the object to be clamped can be fixed in the case that the pneumatic cylinder is not retracted, which can effectively reduce the clamping during the normal setting mode. Energy loss of the air pressure bar.
  • the ratio of the length of the connecting plate 713 to the length of the transmission shaft 73 is 0.7 to 1. With such a length ratio, the length of the transmission shaft 73 can be effectively determined for the size of the connecting plate 713, and the length close to the connecting plate 713 is selected.
  • the size of the drive shaft 73 ensures that the support member provides sufficient support strength to drive the clamp body to rotate, thereby minimizing the energy loss of the drive motor 74.
  • the first plate body 711 is further provided with a support plate body 714 for supporting the first clamping cylinder 72.
  • one end of the push rod of the first clamping cylinder 72 may be further provided with a clamping plate 75 for fixing the side surface of the top brick or brick by the clamping plate 75.
  • a fixing sleeve is further sleeved on the fixed end of the clamp body 71 and the transmission shaft 73.
  • the fixing sleeve is fixedly connected to the side of the clamp body 71 by bolts.
  • the brick-laying robot of this embodiment includes a rotary moving chassis 10, a lifting module 20 disposed on the rotating mobile chassis 10 and capable of rotating along its own axis, and being disposed on the lifting module.
  • a horizontal manipulator 39 that is flanked and capable of lifting movement in the vertical direction and a brick-laying jig 36 that is disposed on the horizontal manipulator 39 and that is movable in the longitudinal direction of the horizontal manipulator 39.
  • the horizontal robot arm 39 is further provided with a rotary electric machine and passes through a rotating shaft 391 to realize the rotation of the brick fixture 36 in its own vertical axis direction.
  • a rotary moving chassis 10 is provided with a roller, and the rotary moving chassis 10 is provided with a driving dial that can drive the lifting module 20 to rotate.
  • a screw mechanism is provided in the lifting module 20 to drive the horizontal robot arm 39 to move in the vertical direction.
  • the horizontal mechanical arm 39 is provided with a screw mechanism to drive the brick-clamping fixture 36 to perform a linear motion in the horizontal direction.
  • the brick masonry 36 includes a jig 70 capable of laying bricks and a brickwork fixture body 80.
  • the brickwork fixture body 80 is fixed below the horizontal robot arm 39 and is drivingly coupled to the rotary motor.
  • the fixture for the top brick can be fixedly disposed on the main body 80 of the brickwork fixture to realize the function of completing the brickwork.
  • the brick masonry main body 80 includes a second clamping cylinder 81 and two clamping fixing plates 82 facing each other.
  • the second clamping air cylinder 81 is fixed to a clamping fixing plate 82.
  • One end of the pushing rod of the second clamping cylinder 81 is fixed to the other clamping fixing plate 82 to realize clamping of the brick by the clamping body 71.
  • Two clamp placement plates 83 are further disposed on both sides of the two clamping fixing plates 8 2 by bolts.
  • Two fixing seats 84 are disposed on the transmission shaft 73.
  • the jig placement plate 83 includes a horizontal portion and a vertical portion integrally formed in an L shape, and the horizontal portion is for fixing the drive motor 74 and the fixing base 84, and the vertical portion is for achieving a fixed connection with the clamp fixing plate 82.
  • the fixing seat 84, the jig placement plate 83, and the clamp fixing plate 82 are each provided with a fixing hole through which the transmission shaft 73 passes.
  • a bearing is further disposed between the fixing hole and the transmission shaft 73.
  • the fixing seat 84 is fixedly disposed on the two clips by bolts It is placed on the board 83.
  • a chute 831 is provided on the side where the jig placement plate 83 is fitted to the clamp fixing plate 82.
  • a slider 821 that cooperates with the chute 831 is disposed on the side of the clip fastening plate 82.
  • S2 controlling the bricklaying robot to move the fixture of the top brick to the top brick, so that the top brick is located in the fixture body;
  • the 73 axis rotates until the top skin brick is just tilted tightly against the column or wall between the beam bottom and the wall and leaning against the end;
  • S6 Repeat steps S1 to S5 to realize that the next piece of top skin is inclined to lean against the top brick that has been built.
  • step S3 it is necessary to ensure that the first clamping cylinder clamps the opposite sides of the two sides of the top brick in the longitudinal direction of the top brick, because the top brick is a rectangular parallelepiped, and the clamping scheme of the opposite sides is There are three types: When the first clamping cylinder clamps the ends of the top brick in the longitudinal direction, the height value that can be achieved is much smaller than the length of the top brick, which cannot meet the spacing requirement between the beam bottom and the wall; A clamping cylinder clamps the two sides of the top brick in the longitudinal direction and has a relatively large area. The achievable supporting area between the top brick and the beam bottom and the wall is not enough, and the strength requirement cannot be achieved. .
  • this embodiment discloses a bricklaying robot capable of building a top brick. Its implementation The eighth example differs in that the brick-laying jig body 80 has another arrangement.
  • the rotating shaft 391 of the horizontal robot arm 39 is rotatably coupled to a fixed-seat carrier plate 90 through a bearing through the upper surface of the horizontal arm 39.
  • the jig 70 for the top brick can be placed above the mount carrier 90, that is, above the horizontal robot arm 39.
  • the transmission shaft 73 is provided with two fixing seats 84, and the fixing base 84 is fixedly disposed on the fixing base carrier plate 90.
  • a bearing is provided between the fixing seat 84 and the transmission shaft 73.
  • the holder carrier plate 90 is further provided with two vertically disposed risers 91 and a rotary shaft fixing plate 92 provided on the riser 91.
  • the rotating shaft fixing plate 92 is parallel to the fixed bearing plate 90 at the upper end of the rotating shaft 391.
  • the rotating shaft 391 has a transverse through hole for the transmission shaft 73 to pass through to guide and fix the transmission shaft 73.
  • the brickwork fixture main body 80 is arranged above the jig 70 of the masonry brick to increase the stroke of the masonry brick, and the same can effectively overcome the roof or the beam and the wall.
  • the spacing between the upper surfaces of the body is smaller than the distance from the upper surface of the horizontal arm to the lower surface of the fixture body. The brickwork fixture body cannot enter the spacing to perform the problem of topping bricks, which greatly enhances the flexibility in practical applications.
  • the present invention can be applied to the field of building brickwork, which can realize the automatic masonry of building wall bricks.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot de pose de briques qui comporte un châssis mobile rotatif (10), un module de levage et d'abaissement (20) et un module supérieur de pose de briques (30) reliés successivement. Le châssis mobile rotatif (10) comprend une base (11), un premier élément d'entraînement (12), un train d'engrenages (13), un disque de support rotatif (14) et un mécanisme de déplacement (15). Le module de levage et d'abaissement (20) comprend un deuxième élément d'entraînement (21), une première tige filetée (22), une structure de rail de guidage longitudinal (23) et une pluralité de premières plaques fixes (24). Le module supérieur de pose de briques (30) comprend une plaque de support (31), une pluralité de secondes plaques fixes (32), une seconde tige filetée (33), un mécanisme de rail de guidage horizontal (34), un troisième élément d'entraînement (35), une pince de pose de briques (36) et un quatrième élément d'entraînement (37). Le module supérieur de pose de briques (30) coulisse sur le module de levage et d'abaissement (20) et effectue un mouvement circonférentiel au moyen du châssis mobile rotatif (10). Le robot de pose de briques présente une structure simple, une bonne stabilité et une grande efficacité de construction.
PCT/CN2017/112793 2016-11-29 2017-11-24 Robot de pose de briques WO2018099323A1 (fr)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN201621289304.5 2016-11-29
CN201611069571.6A CN106592991B (zh) 2016-11-29 2016-11-29 一种轻型、可移动的砌砖机器人
CN201611069571.6 2016-11-29
CN201621289304.5U CN206319635U (zh) 2016-11-29 2016-11-29 一种轻型、可移动的砌砖机器人
CN201711006365.5 2017-10-25
CN201721383556.9U CN207436520U (zh) 2017-10-25 2017-10-25 一种可砌顶皮砖的夹具及其砌砖机器人
CN201721383556.9 2017-10-25
CN201711006365.5A CN107642247B (zh) 2017-10-25 2017-10-25 一种砌砖机器人及其控制方法
CN201721383469.3 2017-10-25
CN201721383469.3U CN207332339U (zh) 2017-10-25 2017-10-25 一种砌墙安装洞口过梁用承载架及其砌砖机器人
CN201711006396.0A CN107892170B (zh) 2017-10-25 2017-10-25 一种砌砖机器人及控制方法
CN201711006396.0 2017-10-25

Publications (1)

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WO2018099323A1 true WO2018099323A1 (fr) 2018-06-07

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WO (1) WO2018099323A1 (fr)

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US10635758B2 (en) 2016-07-15 2020-04-28 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
CN113585771A (zh) * 2020-04-30 2021-11-02 广东博智林机器人有限公司 砌砖机器人
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
WO2023052834A1 (fr) * 2021-09-29 2023-04-06 General Systems Sg Pte Ltd Système robotique de pose de matériau
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system

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AU2004200115A1 (en) * 2003-07-23 2005-07-28 Preston Holdings Pty Ltd Machine for bricklaying
CN103406527A (zh) * 2013-01-09 2013-11-27 中国第一重型机械股份公司 用于钢包工作衬砌筑的装置
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US10635758B2 (en) 2016-07-15 2020-04-28 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
US10876308B2 (en) 2016-07-15 2020-12-29 Fastbrick Ip Pty Ltd Boom for material transport
US11106836B2 (en) 2016-07-15 2021-08-31 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US11299894B2 (en) 2016-07-15 2022-04-12 Fastbrick Ip Pty Ltd Boom for material transport
US11687686B2 (en) 2016-07-15 2023-06-27 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US11842124B2 (en) 2016-07-15 2023-12-12 Fastbrick Ip Pty Ltd Dynamic compensation of a robot arm mounted on a flexible arm
US11441899B2 (en) 2017-07-05 2022-09-13 Fastbrick Ip Pty Ltd Real time position and orientation tracker
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
CN113585771A (zh) * 2020-04-30 2021-11-02 广东博智林机器人有限公司 砌砖机器人
WO2023052834A1 (fr) * 2021-09-29 2023-04-06 General Systems Sg Pte Ltd Système robotique de pose de matériau

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