WO2020238680A1

WO2020238680A1 - Building component forming robot

Info

Publication number: WO2020238680A1
Application number: PCT/CN2020/090852
Authority: WO
Inventors: 谭修成
Original assignee: 蓝贝湾(广东)科技有限公司
Priority date: 2019-05-29
Filing date: 2020-05-18
Publication date: 2020-12-03
Also published as: CN210256110U

Abstract

A building component forming robot, comprising a base (10), a traveling system (20), a frame body (30), a lifting system (40), at least one gripping leveling system (50), at least one auxiliary support system (60) and a fixing system (80), wherein the traveling system (20) and the fixing system (80) are disposed at the bottom part of the base (10); the frame body (30) is disposed on the base (10); the lifting system (40) comprises a lifting frame (41) which may be controlled to go up and down; the lifting frame (41) is slidably connected to the frame body (30); the gripping leveling system (50) comprises a base part (51) disposed on the lifting frame (41), and several telescopic rods (53) which are rotationally connected to the base part (51) and may be controlled to telescope; the auxiliary support system (60) comprises a telescopic support (61) which is rotationally arranged on the lifting frame (41) and may be controlled to telescope. By means of the present building component forming robot, vertical and horizontal components may be automatically spliced using templates, thus comprehensively achieving improved efficiency and cost reduction.

Description

Building component forming robot

Technical field

This application relates to the field of construction technology, in particular to a building component forming robot.

Background technique

At present, when building a house, the formwork is usually spliced and fixed manually to form the shape of a building component, and then concrete is poured into the formwork, and the required building component is obtained when the concrete is set and formed. Manual splicing of fixed formwork is more intensive and tiring, and requires more labor, and the work efficiency is not high. With the change of people's concept, more and more young people are unwilling to engage in the assembly work of building formwork, and the labor cost It is getting higher and higher, therefore, it is imperative to develop building component forming robots to realize automatic building component forming.

Application content

The purpose of the present application is to provide a building component molding robot that can realize automatic assembly of vertical and horizontal components using templates without manual assembly and high efficiency.

In order to achieve the above objectives, the present application provides a building component molding robot, including a base, a walking system, a frame, a lifting system, at least one grasping and leveling system, at least one auxiliary support system, and a fixing system, the walking system and The fixing system is arranged at the bottom of the base, the walking system is telescopic and controllable to have a supporting state and a contracted state, the frame is arranged on the base, and the lifting system includes a lifting frame that can be lifted and controlled, the lifting frame Slidably connected to the frame, the grasping and leveling system includes a base provided on the lifting frame and several telescopic rods that are rotatably connected to the base and controllable for extension, and the auxiliary support system includes The telescopic support of the lifting frame is controllable.

Compared with the prior art, in the construction process, the building component molding robot is moved to a desired position through the walking system, the walking system is operated to a contracted state, and the fixed system plays a supporting role. The lifting system drives the grasping and leveling system to move to a certain position, and the grasping and leveling system is used to fix the template at the required position. Not only can the vertical component template be automatically assembled, but also the horizontal component template can be automatically assembled to form a mold. Cavity, and then for pouring. At the same time, the telescopic and controllable telescopic bracket of the auxiliary support system abuts against the ground surface, so that the base and the frame body are more stable. Therefore, the present application can realize the automatic assembly of vertical and horizontal component templates, avoid the complexity and unevenness of manual assembly, reduce dependence on workers, reduce labor costs, reduce the incidence of worker accidents, improve construction progress, and shorten the construction period. Improving the forming accuracy of building components and promoting the process of smart construction and unmanned construction has good investment and social benefits.

Preferably, it further includes at least one telescopic and controllable mechanical arm slidably arranged on the lifting frame, and the building component forming robot includes two grasping and leveling systems, one of which is provided with the grasping and leveling system The protruding end of the robotic arm (70) in the vertical direction, wherein another grasping and leveling system is provided at the protruding end of the robotic arm in the horizontal direction.

Preferably, the building component molding robot includes five grasping and leveling systems, one of which the grasping and leveling system is arranged at the extension end of the robotic arm (70) in the vertical direction, and the other The four grasping and leveling systems are respectively arranged at the protruding end of the mechanical arm in the horizontal direction.

Preferably, both ends of the telescopic rod have spherical convex parts, and the base part is provided with a groove for the convex part to be rotated.

Preferably, the telescopic rod is provided with a clamping part for clamping the template at the end of the other convex part.

Preferably, the lifting system further includes a first hydraulic control device and a telescopic column, the telescopic column is connected to the lifting frame, and the first hydraulic control device drives the telescopic column to extend or retract to drive the The lifting frame rises or falls.

Preferably, the grasping and leveling system further includes a second hydraulic control device, and the second hydraulic control device drives the telescopic rod to extend or retract.

Preferably, the grasping and leveling system further includes a control system, and the control system controls the telescopic rod to rotate around the base.

Preferably, the grasping and leveling system includes a driving device, and the driving device drives the mechanical arm to move up or down on the lifting frame.

Preferably, the building component forming robot further includes a base with a telescopic and controllable telescopic brace arranged in a horizontal direction. When the telescopic brace and the telescopic support are in an extended state, the telescopic brace and the telescopic support And the telescopic column form a triangular structure.

Description of the drawings

Fig. 1 is a schematic diagram of the structure of the building component forming robot of the present application.

Fig. 2 is a front view of the building component forming robot shown in Fig. 1.

Fig. 3 is a schematic structural diagram of another embodiment of the building component forming robot of the present application. .

Fig. 4 is a front view of the building component forming robot shown in Fig. 3.

Fig. 5 is a schematic structural diagram of another embodiment of the building component molding robot of the present application.

Fig. 6 is a schematic structural diagram of the building component forming robot shown in Fig. 5 from another angle.

FIG. 7 is a schematic structural diagram of another embodiment of the building component molding robot of the present application.

Detailed ways

The embodiments of the present application will now be described with reference to the accompanying drawings. Similar element numbers in the accompanying drawings represent similar elements.

As shown in Figures 1 to 2, the building component molding robot 100 of the present application includes a base 10, a walking system 20, a frame 30, a lifting system 40, at least one grasping and leveling system 50, at least one auxiliary support system 60, and The fixed system 80, the walking system 20 and the fixed system 80 are arranged at the bottom of the base 10. The walking system 20 is telescopic and controllable and has a supporting state and a contracted state. The frame 30 is arranged on the base 10, and the lifting system 40 includes a lifting frame 41 that can be lifted and controlled , The lifting frame 41 is slidably connected to the frame body 30, the grasping and leveling system 50 includes a base 51 provided on the lifting frame 41 and a number of telescopic and controllable telescopic rods 53 rotatably connected to the base 51. The auxiliary support system 60 includes The telescopic support 61 of the lifting frame 41 is controllable for expansion and contraction. Wherein, when the walking system 20 is in the retracted state, the fixing system 80 plays a supporting role, and when the walking system 20 is in the supporting state, the walking system 20 plays a supporting role. In actual use, the walking system 20 is a universal wheel with a telescopic function, which can facilitate the movement of the building component molding robot 100. When moved to a desired position, the walking system 20 shrinks to a contracted state, so that the fixed system 80 resists the load. Therefore, the building component molding robot 100 can be stably supported to ensure that it will not move during work. In this embodiment, the grasping and leveling system 50 is arranged on the horizontal position of the lifting frame 41 and can be used for automatic assembly of the vertical member using the template 90.

Please refer to FIGS. 3 to 4, the building component molding robot 100 also includes at least one telescopic and controllable robotic arm 70 slidably arranged on the lifting frame 41. The building component molding robot includes two grasping and leveling systems 50, one of which is The grasping and leveling system 50 may be provided at the extension end of the mechanical arm 70 in the vertical direction, and another grasping and leveling system 50 may be provided at the extension end of the mechanical arm 70 in the horizontal direction. In this embodiment, one of the grasping and leveling systems 50 is set on the top of the lifting frame 41, which can be used for automated assembly of horizontal members using the template 90; the other grasping and leveling system 50 is set on the horizontal mechanical arm The protruding end of 70 can be used for automatic assembly of vertical components using template 90. That is to say, one of the grasping and leveling systems 50 is arranged along the vertical direction of the lifting frame 41, and the other grasping and leveling system 50 is arranged along the horizontal direction.

Please refer to Figures 1 to 4, the lifting system 40 also includes a first hydraulic control device and a telescopic column 43. The telescopic column 43 is connected to the lifting frame 41. The first hydraulic control device drives the telescopic column 43 to extend or retract to drive the lifting frame. 41 rise or fall. When the first hydraulic control device controls the telescopic column 43 to rise, the lifting frame 41 is driven to rise, so that the grasping and leveling system 50 located above the lifting frame 41 rises to grasp the template 90 to be in the design position. Further, the grasping and leveling system 50 further includes a second hydraulic control device, which drives the telescopic rod 53 to extend or retract. The second hydraulic control device is used to drive the movement of the telescopic rod so as to adjust the position of the template 90 and improve the accuracy. Furthermore, the grasping and leveling system 50 also includes a control system, which controls the telescopic rod 53 to rotate around the base 51. The control system is used to control the telescopic rod 53 to rotate around the base 51 flexibly and conveniently to achieve the purpose of adjustment. The control system can use general activity control methods, especially the big data collected by the Internet of Things to accurately adjust the position of the template 90. In order to facilitate the movement of the grasping and leveling system 50 located on the side of the lifting frame 41, the grasping and leveling system 50 includes a third hydraulic control device, which drives the mechanical arm 70 to extend or retract. The grasping and leveling system 50 also includes a driving device, which drives the telescopic mechanical arm 70 to move up or down on the lifting frame 41. In other words, when the lifting frame 41 rises to a certain position, the driving device drives the robotic arm 70 to move up or down on the lifting frame 41 to reach a more suitable position, and then use the third hydraulic control device to drive the telescopic robotic arm 70 Movement to facilitate grabbing and fixing the template 90. Specifically, the robotic arm 70 includes a telescopically controllable support arm 71, a grasping arm 73, and an auxiliary support arm 75. The support arm 71, the grasping arm 73, and the auxiliary support arm 75 are respectively controlled by different driving devices. The arm 73 grabs the template 90, and then uses the support arm 71 to fix the template 90 to extend the template 90 to the design position. When the width of the template 90 is large, the auxiliary support arm 75 assists in support to ensure the stability of the template 90.

Wherein, both ends of the telescopic rod 53 have spherical convex parts 531, and the base 51 is provided with a groove for one of the convex parts 531 to rotate. The convex portion 531 is rotated in the groove by hydraulic drive to facilitate adjustment of any angle. A groove for mounting the convex portion 531 is correspondingly provided on the back of the template 90 to facilitate docking and grasping. In order to grasp the template 90 stably, the telescopic rod 53 is provided with an engaging portion for engaging the template 90 at the end of the other convex portion 531. When the convex portion 531 of the telescopic rod 53 is located in the groove of the template 90, the engaging portion is used to lock the convex portion 531 in the groove of the template 90, and at the same time, it can rotate in the groove of the template 90. Realize any angle adjustment.

1, the auxiliary support system 60 also includes a fourth hydraulic control device, and the fourth hydraulic control device drives the telescopic support 61 to extend or retract. The fourth hydraulic control device is used to drive the telescopic support 61 to extend to abut the bearing surface. Further, the building component molding robot 100 further includes a base 10 provided with a telescopic controllable telescopic strut 11 along the horizontal direction. When the telescopic strut 11 and the telescopic bracket 61 are in an extended state, the telescopic strut 11, the telescopic bracket 61 and the telescopic column 43 forms a triangular structure. That is, the extension of the telescopic support 61 and the extension of the telescopic support rod 11 are controlled by hydraulic drive, and the two are connected to a certain position by snapping. The telescopic support rod 11 supports the ground surface through the fixing system 80. When the telescopic support rod 11, the telescopic support 61 and When the telescopic column 43 forms a triangular structure, the stability of the building component forming robot 100 during operation is further ensured. When the telescopic support 61 is not needed, the fourth hydraulic control device can drive the telescopic support 61 to retract, which reduces the occupied space and facilitates transportation and movement.

Please refer to Figures 5 to 6, in this embodiment, the building component molding robot includes three grasping and leveling systems 50, one of which is located at the extension of the robotic arm 70 in the vertical direction. At the output end, the other two grasping and leveling systems 50 are respectively arranged at the extension ends of the two horizontally divided mechanical arms 70, which can simultaneously complete the automatic assembly of vertical and horizontal components using the template 90. Please refer to FIG. 7, the building component molding robot includes five grasping and leveling systems 50, one of which is the grasping and leveling system 50 is set on the top of the lifting frame 41, that is, the extension of the mechanical arm 70 in the vertical direction At the end, the other four grasping and leveling systems 50 are respectively arranged at the protruding end of the robotic arm 70 in the horizontal position to simultaneously complete the automated assembly of multiple vertical and horizontal components using the template 90.

The working principle of this application is explained below in conjunction with Figures 1 to 7:

When the building component molding robot 100 is working, the walking system 20 can be used to conveniently move the building component molding robot 100 to a desired position, and then the walking system 20 shrinks, and the fixing system 80 is supported on the bearing surface for supporting. The first hydraulic control device drives the telescopic column 43 to extend to drive the lifting frame 41 to rise, thereby driving the grasping and leveling system 50 located on the top of the lifting frame 41 to realize the automatic assembly of horizontal members using the template 90. The third hydraulic control device drives the robot arm 70 to extend to drive the grasping and leveling system 50 installed at the extension end of the robot arm 70 to realize the automatic assembly of the vertical member using the template 90. The second hydraulic control device drives the telescopic rod 53 to extend or retract to adjust the position of the template 90. The control system controls the telescopic rod 53 to rotate around the base 51 to precisely adjust the position of the template 90.

Compared with the prior art, during the construction process, when the walking system 20 is in the supporting state, the building component forming robot 100 is moved to the desired position through the walking system 20, the operating walking system 20 is in the retracted state, and the fixing system 80 plays a supporting role . The lifting system 40 drives the grabbing and leveling system 50 to move to a certain position, and the grabbing and leveling system 50 is used to grab the template 90 and fix it at the desired position. Not only can the vertical components be automatically assembled using the template 90, but also The horizontal components can be automatically assembled using the template 90 to form a mold cavity, which is then used for pouring. At the same time, the telescopic and controllable telescopic bracket 61 of the auxiliary support system 60 abuts the ground surface, so that the base 10 and the frame 30 are more stable. Therefore, the present application can realize the automatic assembly of vertical and horizontal components using the template 90, avoid the complexity and instability of manual splicing, reduce dependence on workers, reduce labor costs, reduce the incidence of worker accidents, improve construction progress, and shorten The construction period can improve the forming accuracy of components and promote the process of smart construction and unmanned construction, which has good investment and social benefits.

The above-disclosed are only the preferred embodiments of this application, which of course cannot be used to limit the scope of rights of this application. Therefore, equivalent changes made in accordance with the scope of patent application of this application still fall within the scope of this application.

Claims

A building component molding robot, which is characterized by: comprising a base (10), a walking system (20), a frame (30), a lifting system (40), at least one grasping and leveling system (50), and at least one auxiliary support The system (60) and the fixing system (80), the walking system (20) and the fixing system (80) are arranged at the bottom of the base (10), and the walking system (20) is controllable for expansion and contraction with a support state and a contraction state , The frame (30) is arranged on the base (10), the lifting system (40) includes a lifting frame (41) that can be lifted and controlled, and the lifting frame (41) is slidably connected to the frame (30) The grasping and leveling system (50) includes a base (51) provided on the lifting frame (41) and a number of telescopic and controllable telescopic rods (53) rotatably connected to the base (51) The auxiliary support system (60) includes a telescopic and controllable telescopic bracket (61) rotatably arranged on the lifting frame (41).
The building component molding robot according to claim 1, further comprising at least one telescopic controllable manipulator (70) provided on the lifting frame (41), and the building component molding robot includes two grippers. The grasping and leveling system (50), one of the grasping and leveling systems (50) is arranged at the extension end of the mechanical arm (70) in the vertical direction, and the other of the grasping and leveling systems (50) The protruding end of the robot arm (70) arranged in the horizontal direction.
The building component molding robot according to claim 1, wherein the building component molding robot includes five grasping and leveling systems (50), one of which the grasping and leveling system (50) is set in The protruding end of the mechanical arm (70) in the vertical direction, and the other four grasping and leveling systems (50) are respectively arranged at the protruding end of the mechanical arm (70) in the horizontal direction.
The building component molding robot according to claim 1, characterized in that, both ends of the telescopic rod (53) have spherical convex portions (531), and the base portion (51) has a leveling function and is provided with The convex part (531) is a groove provided by rotation.
The building component molding robot according to claim 4, wherein the telescopic rod (53) is located at the end of the other convex portion (531) with a clamping portion for clamping the template.
The building component molding robot according to claim 1, wherein the lifting system (40) further comprises a first hydraulic control device and a telescopic column (43), the telescopic column (43) and the lifting frame ( 41) is connected, the first hydraulic control device drives the telescopic column (43) to extend or retract to drive the lifting frame (41) to rise or fall.
The building component molding robot according to claim 1, wherein the grasping and leveling system (50) further comprises a second hydraulic control device, and the second hydraulic control device drives the telescopic rod (53) to extend Out or retract.
The building component molding robot according to claim 1, wherein the grasping and leveling system (50) further comprises a control system, and the control system controls the telescopic rod (53) around the base (51) Perform a rotating movement.
The building component molding robot according to claim 3, wherein the grasping and leveling system (50) further comprises a driving device, and the driving device drives the mechanical arm (70) to the lifting frame (41). ) Perform an ascent or descend movement.
The building component molding robot according to claim 6, further comprising a base (10) provided with a telescopic and controllable telescopic strut (11) along the horizontal direction, and the telescopic strut (11) is connected to the telescopic strut When the support (61) is in an extended state, the telescopic brace (11), the telescopic support (61) and the telescopic column (43) form a triangular structure.