WO2023274137A1 - 抹浆设备及砌砖系统 - Google Patents

抹浆设备及砌砖系统 Download PDF

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Publication number
WO2023274137A1
WO2023274137A1 PCT/CN2022/101473 CN2022101473W WO2023274137A1 WO 2023274137 A1 WO2023274137 A1 WO 2023274137A1 CN 2022101473 W CN2022101473 W CN 2022101473W WO 2023274137 A1 WO2023274137 A1 WO 2023274137A1
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WIPO (PCT)
Prior art keywords
carriage
horizontal direction
head
vertical
bricks
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PCT/CN2022/101473
Other languages
English (en)
French (fr)
Inventor
谢军
徐龙
阳跃武
刘剑秋
郭崇
王荣荣
Original Assignee
广东博智林机器人有限公司
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Publication of WO2023274137A1 publication Critical patent/WO2023274137A1/zh

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    • 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
    • E04G21/20—Tools or apparatus for applying mortar
    • 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
    • E04G21/20—Tools or apparatus for applying mortar
    • E04G2021/208—Tools or apparatus for applying mortar on a vertical joint

Definitions

  • the present application relates to the technical field of building construction equipment, for example, to a grouting equipment and a bricklaying system.
  • building walls is a construction operation process with high labor intensity and high technical level. After the pouring of the concrete frame is completed, the non-load-bearing partition walls of the building are built with pressurized aerated concrete block bricks to achieve space isolation. Faced with the increase of labor costs and the shortage of labor resources in the construction industry, mechanized construction operations have gradually appeared in the field of construction.
  • the wall-building robot in the related art takes up a lot of space and has high cost.
  • the application provides a troweling equipment and a bricklaying system.
  • the troweling equipment has low cost and saves installation space.
  • the embodiment of the present application provides a kind of slurry equipment, including:
  • the vertical frame is arranged on the chassis, the vertical frame includes two vertical beams, a top beam connecting the two vertical beams along the first horizontal direction, and a fixing seat installed on the top beam;
  • the bearing platform is arranged on two vertical beams, and the bearing platform is set as bearing bricks;
  • the sliding frame, the back of the sliding frame is slidably matched with the fixed seat, and the sliding frame can be displaced from the first position along the first horizontal direction to the second position relative to the fixed seat;
  • the slurry head is arranged on the front of the carriage so as to be movable along the first horizontal direction;
  • the first end of the sliding frame along the first horizontal direction protrudes relative to the bricks carried by the bearing platform with a first dimension, and the protruding part of the sliding frame is configured to accommodate the grouting head. Projection in the vertical direction, the trowel head does not touch the bricks, and the second end of the carriage along the first horizontal direction does not exceed the edge of the chassis;
  • the grouting head can be displaced along the first horizontal direction, and the upper surface of the bricks carried by the grouting platform, during the process of grouting the grouting head along the first horizontal direction, the carriage moves to the second position in the same direction, which is located at the second position.
  • the second end of the carriage at the second position is relatively protruding from the edge of the chassis and relatively protruding from the second dimension of the brick.
  • the protruding part of the carriage can accommodate the troweling head after plastering, the projection in the vertical direction, and the troweling The head does not touch the brick.
  • the embodiment of the present application also provides a bricklaying system, including the above-mentioned troweling equipment.
  • Fig. 1 is a schematic diagram of a carriage of a slurrying equipment provided in an embodiment of the present application in a first position;
  • Fig. 2 is a schematic diagram of the carriage of the slurry equipment provided in an embodiment of the present application in a third position;
  • Fig. 2A is a schematic diagram of a third position of the carriage of the troweling equipment provided by another embodiment of the present application.
  • Fig. 3 is a schematic diagram of the state where the trowel head of the trowel equipment provided by an embodiment of the present application is troweling on the upper surface of a brick;
  • Fig. 4 is a schematic diagram of the carriage of the slurry equipment provided in an embodiment of the present application in a second position;
  • Fig. 5 is a schematic structural view of a slurrying equipment provided by an embodiment of the present application.
  • Fig. 5A is a schematic structural diagram of a slurrying equipment provided by another embodiment of the present application.
  • Fig. 6 is an enlarged view of place A of Fig. 5;
  • Fig. 7 is a schematic diagram of the state where the trowel head of the trowel equipment provided by an embodiment of the present application is troweling on the first end face of the brick;
  • Fig. 7A is a schematic diagram of the state of the grouting head of the grouting equipment provided by another embodiment of the present application grouting on the first end face of the brick;
  • Fig. 8 is a schematic structural diagram of a slurrying equipment provided by an embodiment of the present application.
  • Fig. 9 is a partial structural diagram of a slurrying equipment provided by an embodiment of the present application.
  • Icon 100-slurry equipment; 10-chassis; 11-overflow collection box; 20-vertical frame; 21-vertical beam; 22-top beam; 23-fixed seat; 231-first slider; 24- The third slide rail; 25-the third driving mechanism; 30-carrying platform; 31-clamping mechanism; 311-the first splint; 312-the second splint; 32-the fourth slide rail; -Giving space; 35-through hole; 40-sliding frame; 41-first end; 42-second end; 43-first slide rail; 44-second slide rail; 45-first drive mechanism; 50- Slurry head; 51-Main bin; 52-Spatula; 60-Installation seat; 61-Second slider; 71-Second drive mechanism; 712-First belt transmission assembly; 713-First lead screw; 714- The first nut; 80-brick; 81-the first end face; 82-the second end face; 90-vertical part; 91-accommodating space; ;Z-
  • the grouting equipment 100 includes: a chassis 10 , a vertical frame 20 , a carrying platform 30 , a carriage 40 and a grouting head 50 .
  • the slurry head 50 includes a silo 51, a material cavity is formed in the material silo 51 for accommodating the slurry, the upper end of the material cavity is communicated with a feed pipe, and the feed pipe is communicated with the feed pump, thereby The feed pump feeds the slurry into the material cavity, and the lower end of the material cavity is open to form a material outlet.
  • the grouting head has a spatula 52, which is arranged on the edge of the discharge port, and is used to apply the grout to the objects to be plastered (such as bricks 80).
  • the silo 51 is in the shape of tapered thickness from top to bottom and increasing width from top to bottom, and the defined material cavity is in the shape of increasing width from top to bottom so that the discharge port has a larger width.
  • the defined The silo 51 is tapered in thickness from top to bottom, which ensures that the discharge port has a larger width and does not reduce the pressure of the slurry, ensuring the stability of the discharge.
  • the spatula 52 is installed on the wide side of the discharge port, and the spatula 52 has a tooth, which is positioned below the discharge port to form a tooth-shaped slurry layer on the surface of the object to be wiped.
  • the tooth in this embodiment It can be square, arc-shaped, trapezoidal or cone-toothed.
  • the chassis 10 functions as a positioning support and can support other components.
  • the vertical frame 20 is arranged on the chassis 10, the vertical frame 20 includes two vertical beams 21, a top beam 22 connecting the two vertical beams 21 along the first horizontal direction X, and a top beam 22 installed on the top
  • the carrying platform 30 is set on two vertical beams 21 , and the carrying platform 30 is set to carry the bricks 80 , and plays a role of positioning and supporting the bricks 80 .
  • the back side of the carriage 40 is slidingly fitted with the fixed seat 23, and the carriage 40 can be displaced from the first position (as shown in FIG. 1 ) to the second position ( As shown in FIG. 4 ), that is, the carriage 40 can move from the first position to the second position along the first horizontal direction X, so as to realize switching between two different positions.
  • the trowel head 50 is disposed on the front of the carriage 40 so as to be movable along the first horizontal direction X, and the trowel head 50 can move along the first horizontal direction X relative to the carriage 40 .
  • the first end 41 of the sliding frame 40 along the first horizontal direction X protrudes from the brick 80 carried by the carrying platform 30 with the first dimension D1, and the protruding part of the sliding frame 40 is It is configured to place the grout head 50, the projection on the vertical direction Z, the grout head 50 does not touch the brick 80, and the second end 42 of the carriage 40 along the first horizontal direction X does not exceed the edge of the chassis 10 .
  • the grouting head 50 can be displaced along the first horizontal direction X.
  • the upper surface of the brick 80 carried by the grouting platform 30 is displaceable in the same direction as the grouting head 50 is grouting along the first horizontal direction X.
  • the second end 42 of the sliding frame 40 at the second position is relatively protruding from the edge of the chassis 10, and relatively protruding from the brick 80 with the second dimension D2, and the protruding part of the sliding frame 40 can be placed after grouting
  • the projection of the grouting head 50 in the vertical direction Z, the grouting head 50 is not in contact with the brick 80.
  • the front of the carriage 40 may refer to the side of the carriage 40 facing the operator, and the back of the carriage 40 may refer to the side of the carriage 40 facing away from the operator; or, the front of the carriage 40 may also be refers to the side of the carriage 40 facing away from the operator, and the back of the carriage 40 may also refer to the side of the carriage 40 facing the operator.
  • the carriage 40 when the carriage 40 is in the first position, the second end 42 of the carriage 40 does not protrude from the edge of the chassis 10 .
  • the carriage 40 when the grouting head 50 is grouting the upper surface of the brick 80 along the first horizontal direction X, the carriage 40 can be displaced to the second position, and when the carriage 40 is in the second position, the carriage 40 40 protrudes from the edge of chassis 10 and protrudes relative to brick 80 by a second dimension D2.
  • the length of the carriage 40 can be relatively short, and the two non-working positions of the slurry head 50 can be arranged by using the carriage 40 with a short length.
  • the long-stroke troweling operation of the trowel head 50 is realized, and the cost is low. Low, save installation space, easy to walk in narrow environment, avoid interference with other components.
  • first horizontal direction X may be the left-right direction;
  • front-rear direction may be the direction in which the front and back of the carriage 40 are opposite, that is, the direction indicated by Y in the figure.
  • the first dimension D1 is the same as the second dimension D2. That is, when the carriage 40 is in the first position, the first end 41 of the carriage 40 protrudes relative to the brick 80, which is opposite to the second end 42 of the carriage 40 when the carriage 40 is in the second position. Since the protruding dimensions of the bricks 80 are the same, the installation space can be reasonably utilized to avoid space waste.
  • the fixed seat 23 is provided with a first slider 231
  • the back of the slider 40 is provided with a first slide rail 43 corresponding to the first slider 231.
  • a sliding rail 43 extends along the first horizontal direction X
  • the first sliding block 231 is slidingly engaged with the first sliding rail 43 .
  • the grouting equipment 100 further includes a first driving mechanism 45 configured to drive the carriage 40 to move along the first horizontal direction X relative to the fixed base 23 . Through the sliding cooperation between the first sliding block 231 and the first sliding rail 43 , it is ensured that the sliding frame 40 moves stably relative to the fixing seat 23 .
  • the first driving mechanism 45 can be a drive mode in which the drive motor cooperates with a rack and pinion transmission structure, or can be a drive mode in which the drive motor cooperates with a screw nut transmission structure, or can be a linear drive mode with other telescopic structures, which are not described in this application. limited.
  • the fixed seat 23 is a fixed structure, the carriage 40 moves relative to the fixed seat 23, in order to ensure that the carriage 40 moves stably relative to the fixed seat 23, the first slide rail 43 is arranged on the carriage 40, and the first slide The block 231 is disposed on the fixing base 23 , so that the fixing base 23 can ensure the stable movement of the sliding frame 40 relative to the fixing base 23 without occupying a large installation space.
  • the slurry head 50 is arranged on the front of the carriage 40 through the mounting seat 60, the mounting seat 60 is provided with a second slider 61, and the front of the carriage 40 is provided with a
  • the second sliding block 61 corresponds to the second sliding rail 44, the second sliding rail 44 extends along the first horizontal direction X, the second sliding block 61 is slidingly matched with the second sliding rail 44, and the second sliding block 61 can slide along the second sliding rail 44 moves.
  • the troweling equipment 100 further includes a second driving mechanism 71 configured to drive the mounting base 60 to move relative to the carriage 40 along the first horizontal direction X. Through the sliding cooperation between the second sliding block 61 and the second sliding rail 44 , it is ensured that the slurry head 50 moves stably relative to the sliding frame 40 .
  • the carriage 40 is provided with a first slide rail 43 and a second slide rail 44 , and the grout head 50 is slidably fitted with the carriage 40 through the mounting seat 60 , so that the grout head 50 can be positioned at the length of the first slide rail 43 relative to the fixed seat 23 . It has a different position from the length of the second slide rail 44, so as to increase the moving length of the trowel head 50, and realize long-distance movement when the length of the carriage 40 is short, so as to meet the troweling requirements of the brick 80 ,cut costs.
  • the second driving mechanism 71 may be a manner in which a driving motor cooperates with a screw nut transmission structure.
  • the second drive mechanism 71 may include a first drive motor (not shown), a first belt drive assembly 712, a first lead screw 713, a first nut 714, the first drive motor is installed On the carriage 40; the first belt drive assembly 712 is connected to the first driving motor and the first lead screw 713, and is configured to transmit the power of the first drive motor to the first lead screw 713; the first lead screw 713 is along the first horizontal direction In the X configuration, the first nut 714 is sheathed on the first lead screw 713 and threadedly engaged with the first lead screw 713 , and the mounting base 60 is connected to the first nut 714 .
  • the first drive motor When the first drive motor works, the first drive motor transmits power to the first lead screw 713 through the first belt drive assembly 712, the first lead screw 713 rotates, and the first nut 714 moves along the first lead screw 713, so that The mounting base 60 and the second sliding block 61 move along the first horizontal direction X to realize the movement of the slurry head 50 relative to the carriage 40 along the first horizontal direction X.
  • the second transmission mechanism may also be a drive mode in which a driving motor cooperates with a rack and pinion transmission structure, or may be a linear drive mode of other telescopic structures.
  • the grouting head 50 is rotatably matched with the mounting base 60, as shown in Fig. 1 and Fig. 5, the grouting head 50 can rotate around the first rotation axis L1 relative to the mounting base 60, the first rotation axis L1 is arranged perpendicular to the first horizontal direction X.
  • the position and posture of the grouting head 50 can be adjusted so that the grouting head 50 can grout on the surface of the brick 80 .
  • the first rotation axis L1 is set horizontally, and both the first rotation axis L1 and the first horizontal direction X are located in the horizontal plane.
  • the trowel head 50 rotates around the first rotation axis L1, the trowel head 50 Can change its posture to adapt to different surfaces of the brick 80 .
  • the trowel head 50 can also rotate around the second rotation axis L2 relative to the mounting base 60 , and the second rotation axis L2 is perpendicular to the first rotation axis L1 .
  • the troweling head 50 can rotate around the first rotation axis L1 and the second rotation axis L2 respectively, so as to realize multi-angle adjustment and adapt to the troweling in different positions.
  • first rotation axis L1 and the second rotation axis L2 are arranged on different planes.
  • the second rotation axis L2 may be the vertical centerline of the trowel head 50 along the vertical direction Z.
  • the loading platform 30 is provided with a clamping mechanism 31, and the clamping mechanism 31 is configured to clamp the brick 80 carried by the loading platform 30 along the second horizontal direction Y, and the second The horizontal direction Y is perpendicular to the first horizontal direction X.
  • the brick 80 is clamped in the second horizontal direction Y by the clamping mechanism 31, so that the two surfaces opposite to the second horizontal direction Y of the brick 80 are clamped by the clamping mechanism 31, reducing the contact surface with the brick 80, and the brick
  • the remaining surface of the block is the non-clamped side to facilitate grouting on the non-clamped side of the block 80 . That is, the rest of the non-clamped surfaces of the bricks 80 except the surface of the bricks 80 carried by the carrying table 30 can be grouted.
  • the clamping mechanism 31 clamps the brick 80 along the width direction of the brick 80 , that is, the second horizontal direction Y is the width direction of the brick 80 .
  • the clamping mechanism 31 includes a first clamping plate 311 and a second clamping plate 312 spaced apart from each other, and the first clamping plate 311 and the second clamping plate 312 are vertically opposite to the first The centerlines M1 move closer to each other to secure the bricks 80 or move away from each other to release the bricks 80 .
  • the trowel head 50 has a second vertical centerline M2 along the vertical direction Z, and the first vertical centerline M1 and the second vertical centerline M2 are coplanarly arranged.
  • the second vertical centerline M2 (the vertical centerline of the grout) is coplanar with the first vertical centerline M1 (the centerline of the clamping mechanism 31), so that the clamping mechanism 31 clamps different widths of bricks 80.
  • troweling head 50 is plastered, all along the center line of the width direction of brick 80 smears the surface of brick 80, avoids the phenomenon that brick 80 surface smears unevenly when avoiding changing brick 80 width;
  • trowel The axis of rotation of the head 50 is its vertical centerline, so that when the left and right sides are grouted, the grout head 50 is applied along the center of the brick 80 to ensure that the surface of the brick 80 is evenly smeared.
  • the second vertical centerline M2 may be the second rotation axis L2.
  • the first vertical centerline M1 is the connection between the first clamping plate 311 and the second clamping plate 312 in the second horizontal direction Y.
  • the centerline of the width direction of the brick 80 coincides with the first vertical centerline M1 in the first horizontal direction X.
  • the distance from the plane to the first clamping plate 311 is equal to the distance from the plane to the second clamping plate 312 .
  • the second vertical centerline M2 is the vertical center of the grouting head 50
  • the width direction of the grouting head 50 is parallel to the second horizontal direction Y
  • the extending direction of the grouting work surface of the grouting head 50 is the same as that of the bricks.
  • the width direction of 80 is parallel, and the surface of brick 80 is all applied along the width direction center line of brick 80 when trowel head 50 is troweled, guarantees that trowel is even.
  • the grouting equipment 100 further includes a fourth driving mechanism (not shown in the figure), and the fourth driving mechanism is configured to drive the first clamping plate 311 and the second clamping plate 312 to approach or move away from each other along the second horizontal direction Y.
  • the carrying platform 30 is provided with a fourth slide rail 32 extending along the second horizontal direction Y, the first clamping plate 311 and the second clamping plate 312 are both slidingly fitted with the fourth slide rail 32, and the fourth driving mechanism can drive the first clamping plate 311 and the second clamping plate 311.
  • the second clamping plate 312 moves along the fourth slide rail 32 to change the distance between the first clamping plate 311 and the second clamping plate 312 .
  • the fourth driving mechanism can be a drive mode in which the drive motor cooperates with the rack and pinion transmission structure, or can be a drive mode in which the drive motor cooperates with the screw nut transmission structure, or can be a linear drive mode with other telescopic structures, which is not limited in this application .
  • the carrying platform 30 is liftably arranged on the two vertical beams 21. After the carrying platform 30 carries the bricks 80 and moves to the position to be grouted, the grouting head 50 can move along the first horizontal direction.
  • the X displacement is used to plaster the upper surface of the brick 80; when the carriage 40 is in the first position, the trowel head 50 mounted on the first end 41 of the carriage 40 allows the loading table 30 to lift and lower the brick 80 without contact with the brick 80 contact; when the carriage 40 is in the second position, the trowel head 50 mounted on the second end 42 of the carriage 40 allows the platform 30 to lift and lower the brick 80 without contacting the brick 80 .
  • the carrying platform 30 is mounted on the vertical beam 21 in a liftable manner, so as to facilitate the plastering of bricks 80 of different specifications, and has good adaptability to meet different plastering requirements.
  • the movement of the carrying platform 30 carrying the bricks 80 refers to the movement of the carrying platform 30 carrying and transporting the bricks 80 .
  • the trowel head 50 mounted on the first end 41 of the carriage 40 is configured to carry bricks 80 on the loading platform 30
  • the first end surface 81 of the brick 80 along the first horizontal direction X can be grouted during lifting and lowering.
  • the trowel head 50 mounted on the second end 42 of the carriage 40 is configured to be capable of correcting the movement of the brick 80 when the carriage 30 carries the brick 80 up and down.
  • the second end surface 82 along the first horizontal direction X is grouted.
  • the first end surface 81 and the second end surface 82 are oppositely arranged, the first end surface 81 is arranged close to the first end 41 , and the second end surface 82 is arranged close to the second end 42 .
  • the two end surfaces of the brick 80 can be troweled when the brick 80 is raised and lowered, so as to facilitate the fulfillment of the troweling requirements of different surfaces of the brick 80.
  • the grouting head 50 grouts the end faces of the bricks 80 through the lifting of the bearing table 30 , the installation space is rationally utilized, the structure is simple, and the height of the grouting head 50 does not need to be changed.
  • a third slide block 33 is provided on the side of the carrying table 30 close to the two vertical beams 21, and the two vertical beams 21 are provided with the third sliding block 33.
  • the third slide rail 24 corresponding to the slide block 33, the third slide block 33 is slidingly matched with the third slide rail 24;
  • the slurry equipment 100 also includes a third drive mechanism 25, and the third drive mechanism 25 is configured to drive the bearing table 30 relative to Two vertical beams 21 are raised and lowered.
  • the carrying platform 30 and the grouting head 50 are located on the same side of the carriage 40 , so that the grouting head 50 grouts the bricks 80 carried by the carrying platform 30 . That is, the third sliding block 33 is disposed on the back of the carrying platform 30 .
  • the third driving mechanism 25 can be a drive mode in which the drive motor cooperates with the screw nut transmission structure, or can be a drive mode in which the drive motor cooperates with the rack and pinion transmission structure, or can be a telescopic linear drive mode, which is not limited in this application.
  • the chassis 10 is an automatic guided vehicle (Automated Guided Vehicle, AGV) chassis, and the AGV chassis has an automatic navigation function, which is convenient for docking and collaborative operations with other robots, and improves the degree of automation.
  • AGV Automated Guided Vehicle
  • the grouting equipment 100 further includes a vertical part 90, the vertical part 90 and the vertical frame 20 are arranged at intervals along the first horizontal direction X, and the lower end of the vertical part 90 Installed on the chassis 10, the vertical part 90 is provided with an accommodating space 91, the accommodating space 91 is located between the upper end and the lower end of the vertical part 90, and the accommodating space 91 is used for accommodating the slurry cylinder 92 and when the accommodating slide frame 40 is in the first position.
  • the slurry head 50 at the first end 41 of the carriage 40 .
  • the slurry tank 92 is configured to receive slurry to provide the slurry to the trowel head 50 .
  • the accommodating space 91 accommodates the slurry cylinder 92 and the troweling head 50 installed on the carriage 40 when the carriage 40 is in the first position, rationally utilizes the structural space, and protects the troweling head 50 when the troweling equipment 100 moves.
  • the edges of the corresponding ends make the size of the chassis 10 in the first horizontal direction X smaller, saving space, and the overall structure of the troweling equipment 100 is compact.
  • the overflow material collection box 11 is installed on the chassis 10, and the side of the carrying platform 30 has a space 34, when the carrying platform 30 is in When it is in a low position, the overflow collecting box 11 is accommodated in the relief space 34 .
  • a through hole 35 is formed through the upper surface of the carrying platform 30 .
  • the grout head 50 rotates toward the first end surface 81 of the brick 80, and the grout head 50 is adjusted to The side grouting posture is to grout the side of the brick 80.
  • the feed valve of the grout head 50 is in an open state, and the grout overflows from the grout head 50.
  • some The slurry falls. The part of the dropped slurry is recycled into the overflow collection box 11 through the through hole 35 above the carrying platform 30, thereby effectively preventing slurry contamination and increasing the service life of the device.
  • the first end 41 of the carriage 40 is located in the accommodation space 91, and the second end 42 of the carriage 40 does not exceed the edge of the chassis 10, which is convenient for the troweling equipment 100 to walk in a narrow space, Avoid interference with other components.
  • the working principle of the grouting equipment 100 according to the embodiment of the present application is as follows:
  • the carriage 40 is in the first position, and the slurry head 50 is mounted on the first end 41 of the carriage 40;
  • the brick 80 can be placed on the carrier platform 30 in advance, and the carrier platform 30 is driven to rise to a predetermined height.
  • the lower end surface of the brick 80 is higher than The height of the trowels of the spatula 52 in the vertical state
  • the carriage 40 carries the trowel head 50 to move along the first horizontal direction X to a third position, and the third position is located between the first position and the second position.
  • the trowel head 50 is rotated towards the first end surface 81 of the brick 80, and the attitude of the trowel head 50 is adjusted until the trowels of the trowel 52 are located directly below the lower edge of the first end surface 81 of the brick 80 or at the bottom of the trowel 52.
  • the trowels are flush with the lower edge of the first end surface 81 (please refer to FIG. 2 ), and the bearing platform 30 is driven down, and the trowel head 50 grouts the first end surface 81 of the brick 80 from bottom to top.
  • the unloaded carrying platform 30 is raised to a predetermined height, and the carrying platform 30 at the predetermined height accepts the bricks 80 transferred from the outside, and the lower end surface of the bricks 80 at the predetermined height is higher than that in the vertical state.
  • the height of the trowels of the spatula 52, the trowel head 50 is rotated towards the first end surface 81 of the brick 80, and the attitude of the trowel head 50 is adjusted until the trowels of the trowel 52 are positioned at the first end surface 81 of the brick 80.
  • the bearing platform 30 is driven down, and the trowel head 50 grouts the first end surface 81 of the brick 80 from bottom to top.
  • the posture of the grouting head 50 is adjusted as follows: the grouting head 50 is rotated 180° along the second axis L2, so that the grouting head of the second end face 82 of the grout is aligned with the first end face of the grouting
  • the trowel head 81 is arranged symmetrically; the adjustment of the height of the brick 80 is as follows: the brick 80 is higher than the trowel 52 of the trowel head 50 by lifting and lowering the bearing platform 30, and the trowel 52 of the trowel head 50 is driven to descend, and the trowel head 50 is aligned with the brick.
  • the second end surface 82 of the block 80 is grouted from the bottom up.
  • the trowel 52 of the trowel head 50 points to one direction, and can only trowel in this direction; moreover, not every brick 80 needs to be troweled with the second end surface 82, only a few bricks
  • the two end faces of the brick 80 need to be grouted when the block 80 is laid, therefore, the second end face 82 is optional.
  • the present application provides a bricklaying system, which includes the above-mentioned troweling equipment 100 .
  • the bricklaying system can also include a bricklaying robot, and the bricklaying robot and the troweling equipment 100 cooperate with each other, and the plastering equipment 100 provides the bricklaying robot with the bricks 80 after plastering, and the bricklaying robot puts the bricks after the plastering 80 build walls.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Coating Apparatus (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

本申请涉及一种抹浆设备及砌砖系统。抹浆设备包括：底盘；竖直架，竖直架设置于底盘上，竖直架包括两个竖直梁、顶梁、以及固定座；承载台，设置于两个竖直梁；滑架，滑架的背面与固定座滑动配合，滑架可相对于固定座自第一位置沿第一水平方向位移至第二位置；抹浆头，可沿第一水平方向移动地设于滑架的正面。

Description

抹浆设备及砌砖系统
本申请要求在2021年6月28日提交中国专利局、申请号为202110718651.4受理的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑施工设备技术领域，例如涉及一种抹浆设备及砌砖系统。
背景技术
在建筑施工领域，砌墙是一项劳动强度大、技术水平要求高的施工作业工序。在混凝土框架浇注完成之后，建筑非承重隔墙采用增压加气混凝土砌块砖砌筑，以实现空间的隔离。面临着人力成本的提高和建筑行业劳动力资源的紧缺，机械化施工作业逐渐在建筑施工领域出现。相关技术中的砌墙机器人占用空间大，成本高。
发明内容
本申请提供一种抹浆设备及砌砖系统。该抹浆设备，成本低，节省安装空间。
本申请是通过下述技术方案实现的：
第一方面，本申请实施例提供了一种抹浆设备，包括：
底盘；
竖直架，竖直架设置于底盘上，竖直架包括两个竖直梁、沿第一水平方向连接两个竖直梁的顶梁、以及安装于顶梁的固定座；
承载台，设置于两个竖直梁，承载台设置为承载砖块；
滑架，滑架的背面与固定座滑动配合，滑架可相对于固定座自第一位置沿第一水平方向位移至第二位置；
抹浆头，可沿第一水平方向移动地设于滑架的正面；
当滑架位于第一位置时，滑架的沿第一水平方向的第一端以第一尺寸相对凸出承载台承载的砖块，凸出的部分滑架被构造成安置抹浆头，在竖直方向上的投影，抹浆头与砖块不相接，滑架的沿第一水平方向的第二端不超出底盘的边缘；
抹浆头可沿着第一水平方向位移以抹浆承载台承载的砖块上表面，于抹浆头沿第一水平方向抹浆的过程中，滑架同向位移至第二位置，位于第二位置的滑架的第二端相对凸出底盘边缘且相对凸出砖块第二尺寸，凸出的部分滑架可安置抹浆后的抹浆头，在竖直方向上的投影，抹浆头不与砖块相接。
第二方面，本申请实施例还提供了一种砌砖系统，包括上述的抹浆设备。
附图说明
图1为本申请一实施例提供的抹浆设备的滑架处于第一位置的示意图；
图2为本申请一实施例提供的抹浆设备的滑架处于第三位置的示意图；
图2A为本申请另一实施例提供的抹浆设备的滑架处于第三位置的示意图；
图3为本申请一实施例提供的抹浆设备的抹浆头在砖块的上表面抹浆的状态示意图；
图4为本申请一实施例提供的抹浆设备的滑架处于第二位置的示意图；
图5为本申请一实施例提供的抹浆设备的结构示意图；
图5A为本申请另一实施例提供的抹浆设备的结构示意图；
图6为图5的A处放大图；
图7为本申请一实施例提供的抹浆设备的抹浆头在砖块的第一端面抹浆的状态示意图；
图7A为本申请另一实施例提供的抹浆设备的抹浆头在砖块的第一端面抹浆的状态示意图；
图8为本申请一实施例提供的抹浆设备的结构简图；
图9为本申请一实施例提供的抹浆设备的局部结构简图。
图标：100-抹浆设备；10-底盘；11-溢料收集盒；20-竖直架；21-竖直梁；22-顶梁；23-固定座；231-第一滑块；24-第三滑轨；25-第三驱动机构；30-承载台；31-夹持机构；311-第一夹板；312-第二夹板；32-第四滑轨；33-第三滑块；34-让位空间；35-通孔；40-滑架；41-第一端；42-第二端；43-第一滑轨；44-第二滑轨；45-第一驱动机构；50-抹浆头；51-料仓；52-抹刀；60-安装座；61-第二滑块；71-第二驱动机构；712-第一带传动组件；713-第一丝杠；714-第一螺母；80-砖块；81-第一端面；82-第二端面；90-立式部；91-容纳空间；92-浆筒；X-第一水平方向；Y-第二水平方向；Z-竖直方向；D1-第一尺寸；D2-第二尺寸；L1-第一转动轴线；L2-第二转动轴线；M1-第一竖直中心线；M2-第二竖直中心线。
具体实施方式
下面结合附图和实施例对本申请的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本申请的原理，但不能用来限制本申请的范围，即本申请不限于所描述的实施例。
在本申请的描述中，需要说明的是，除非另有说明，“多个”的含义是两个以上；术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。“垂直”并不是严格意义上的垂直，而是在误差允许范围之内。“平行”并不是严格意义上的平行，而是在误差允许范围之内。
下述描述中出现的方位词均为图中示出的方向，并不是对本申请的具体结构进行限定。在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、 “连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。
下面参考图描述根据本申请第一方面实施例的抹浆设备。
如图1-图8所示，根据本申请实施例的抹浆设备100，包括：底盘10、竖直架20、承载台30、滑架40及抹浆头50。
如图1所示，抹浆头50包括一个料仓51，料仓51内形成有料腔，用于收容浆料，料腔上端与一供料管连通，供料管与供料泵连通，从而使得供料泵将浆料供至料腔内，料腔下端开口，形成出料口。抹浆头具有一抹刀52，抹刀52设于出料口的边缘，用以将浆料涂抹于待抹物体(例如砖块80)。料仓51呈自上而下厚度渐缩且自上而下宽度渐增的形状，限定料腔呈自上而下宽度渐增的形状从而使得出料口具有较大宽度，与此同时，限定料仓51自上而下厚度渐缩，保证了出料口具有较大宽度的同时不会减小浆料的压力，保证了出料的稳定。抹刀52安装于出料口的宽边，抹刀52具有抹齿，位于出料口的下方用以将浆料在待抹物体表面上成型齿状浆料层，本实施例中的抹齿可以是方状、圆弧状、梯形状或者锥齿状。
例如，底盘10起到定位支撑的作用，能够支撑其他部件。如图1所示，竖直架20设置于底盘10上，竖直架20包括两个竖直梁21、沿第一水平方向X连接两个竖直梁21的顶梁22、以及安装于顶梁22的固定座23(如图5所示)，也即，竖直梁21沿竖直方向Z设置，顶梁22连接于两个竖直梁21的顶端，竖直梁21的底端连接于底盘10。如图1所示，承载台30设置于两个竖直梁21，承载台30设置为承载砖块80，起到定位支撑砖块80的作用。如图5所示，滑架40的背面与固定座23滑动配合，滑架40能够相对于固定座23自第一位置(如图1所示)沿第一水平方向X位移至第二位置(如图4所示)，也即，滑架40能够沿第一水平方向X自第一位置移动至第二位置，实现两个不同位置的切换。抹浆头50可沿第一水平方向X移动地设于滑架40的正面，抹浆头50能够相对于滑架40沿第一水平方向X移动。当滑架40位于第一位置时，滑架40的沿第一水平方向X的第一端41以第一尺寸D1相对凸出承载台30承载的砖块80，凸出的部分滑架40被构造成安置抹浆头50，在竖直方向Z上的投影，抹浆头50与砖块80不相接，滑架40的沿第一水平方向X的第二端42不超出底盘10的边缘。抹浆头50能够沿着第一水平方向X位移以抹浆承载台30承载的砖块80上表面，于抹浆头50沿第一水平方向X抹浆的过程中，滑架40同向位移至第二位置，位于第二位置的滑架40的第二端42相对凸出底盘10边缘，且以第二尺寸D2相对凸出砖块80，凸出的部分滑架40可安置抹浆后的抹浆头50，在竖直方向Z上的投影，抹浆头50不与砖块80相接。
需要指出的是，滑架40的正面可以是指滑架40的面向操作人员的一面，滑架40的背面可以是指滑架40的背离操作人员的一面；或者，滑架40的正面也可以是指滑架40的背离操作人员的一面，滑架40的背面也可以是指滑架40的面向操作人员的一面。
请参阅图1，根据本申请实施例的抹浆设备100，在滑架40处于第一位置时，滑架40的第二端42不凸出底盘10的边缘。请参阅图4，在抹浆头50沿第一水平方向X在砖块80的 上表面抹浆时，滑架40能够位移至第二位置，并且在滑架40处于第二位置时，滑架40凸出底盘10的边缘且以第二尺寸D2相对砖块80凸出。滑架40的长度可以较短，利用较短长度的滑架40可以安置抹浆头50的两个非工位状态位置。通过滑架40相对于固定座23沿第一水平方向X的移动以及抹浆头50相对于滑架40沿第一水平方向X的移动，实现抹浆头50的长行程的抹浆操作，成本低，节省安装空间，便于行走于狭窄的环境，避免与其他部件干涉。
需要指出的是，第一水平方向X可以为左右方向；前后方向可以为滑架40的正面和反面相对的方向，也即图中的Y所指代的方向。
根据本申请的一些实施例，第一尺寸D1与第二尺寸D2相同。也即，在滑架40处于第一位置时，滑架40的第一端41相对于砖块80的凸出尺寸，与在滑架40处于第二位置时滑架40的第二端42相对于砖块80的凸出尺寸相同，合理利用安装空间，避免空间浪费。
根据本申请的一些实施例，如图5和图9所示，固定座23设置有第一滑块231，滑架40的背面设置有与第一滑块231对应的第一滑轨43，第一滑轨43沿第一水平方向X延伸，第一滑块231与第一滑轨43滑动配合。抹浆设备100还包括第一驱动机构45，第一驱动机构45设置为驱动滑架40相对于固定座23沿第一水平方向X移动。通过第一滑块231与第一滑轨43的滑动配合，保证滑架40相对于固定座23移动稳定。
第一驱动机构45可以为驱动电机和齿轮齿条传动结构配合的驱动方式，也可以为驱动电机和丝杠螺母传动结构配合的驱动方式，还可以为其他伸缩结构的直线驱动方式，本申请不作限定。
需要指出的是，由于固定座23为固定结构，滑架40相对于固定座23移动，为了保证滑架40相对于固定座23移动稳定，第一滑轨43设置于滑架40，第一滑块231设置于固定座23，使得固定座23无需占用较大的安装空间，即可保证滑架40相对于固定座23移动稳定。
根据本申请的一些实施例，如图5所示，抹浆头50通过安装座60设于滑架40的正面，安装座60设置有第二滑块61，滑架40的正面设置有与第二滑块61对应的第二滑轨44，第二滑轨44沿第一水平方向X延伸，第二滑块61与第二滑轨44滑动配合，第二滑块61能够沿第二滑轨44移动。抹浆设备100还包括第二驱动机构71，第二驱动机构71设置为驱动安装座60相对于滑架40沿第一水平方向X移动。通过第二滑块61与第二滑轨44的滑动配合，保证抹浆头50相对于滑架40移动稳定。
滑架40设置第一滑轨43和第二滑轨44，抹浆头50通过安装座60与滑架40滑动配合，使得抹浆头50能够相对于固定座23在第一滑轨43的长度和第二滑轨44的长度上具有不同的位置，以便于增加抹浆头50的移动长度，在滑架40的长度较短的情况下实现长距离的移动，满足砖块80的抹浆需求，节省成本。
根据本申请的一些实施例，第二驱动机构71可以为驱动电机和丝杠螺母传动结构配合的方式。例如，如图5所示，第二驱动机构71可以包括第一驱动电机(图中未示出)、第一带传动组件712、第一丝杠713、第一螺母714，第一驱动电机安装于滑架40；第一带传动组件 712连接第一驱动电机和第一丝杠713，设置为将第一驱动电机的动力传递至第一丝杠713；第一丝杠713沿第一水平方向X设置，第一螺母714套设于第一丝杠713且与第一丝杠713螺纹配合，安装座60与第一螺母714连接。当第一驱动电机工作时，第一驱动电机通过第一带传动组件712将动力传递至第一丝杠713，第一丝杠713转动，第一螺母714沿第一丝杠713移动，从而使得安装座60及第二滑块61沿第一水平方向X移动，实现抹浆头50相对于滑架40沿第一水平方向X移动。在本申请的其他实施例中，第二传动机构也可以为驱动电机和齿轮齿条传动结构配合的驱动方式，还可以为其他伸缩结构的直线驱动方式。
根据本申请的一些实施例，抹浆头50与安装座60转动配合，如图1和图5所示，抹浆头50能够相对于安装座60绕第一转动轴线L1转动，第一转动轴线L1与第一水平方向X垂直设置。当抹浆头50相对于安装座60转动时，能够调整抹浆头50的位置姿态，以便于抹浆头50在砖块80的表面进行抹浆。
例如，如图5所示，第一转动轴线L1为水平设置，第一转动轴线L1和第一水平方向X均位于水平面内，抹浆头50绕第一转动轴线L1转动时，抹浆头50能够改变自身的姿态，以适应砖块80的不同表面。
根据本申请的一些实施例，如图1和图5所示，抹浆头50还能够相对于安装座60绕第二转动轴线L2转动，第二转动轴线L2与第一转动轴线L1垂直设置。抹浆头50能够分别绕第一转动轴线L1和第二转动轴线L2转动，实现多角度调节，适应于不同位置的抹浆。
为了便于实现多角度调节、以及避免部件之间的干涉，第一转动轴线L1和第二转动轴线L2异面设置。
为了保证抹浆头50抹浆均匀，第二转动轴线L2可以为抹浆头50的沿竖直方向Z的竖直中心线。
根据本申请的一些实施例，如图5所示，承载台30设置有夹持机构31，夹持机构31设置为沿第二水平方向Y夹持被承载台30承载的砖块80，第二水平方向Y与第一水平方向X垂直。通过夹持机构31在第二水平方向Y夹持砖块80，使得砖块80的第二水平方向Y相对的两个表面被夹持机构31夹持，减少与砖块80的接触面，砖块的其余的表面为未被夹持面，便于在砖块80的未被夹持面进行抹浆。也即，砖块80的除了砖块80的被承载台30承载的表面外的其余未被夹持面均能够进行抹浆。
为了保证夹持机构31对砖块80的夹持稳定，夹持机构31沿砖块80的宽度方向夹持砖块80，也即，第二水平方向Y为砖块80的宽度方向。
根据本申请的一些实施例，如图5和图6所示，夹持机构31包括相互间隔的第一夹板311和第二夹板312，第一夹板311和第二夹板312相对于第一竖直中心线M1彼此靠近以固定砖块80或者彼此远离以释放砖块80。抹浆头50沿着竖直方向Z具有第二竖直中心线M2，第一竖直中心线M1与第二竖直中心线M2共面设置。第二竖直中心线M2(抹浆的竖直中心线)与第一竖直中心线M1(夹持机构31的中心线)共面，从而使得夹持机构31夹持不同宽度砖块80的时候，抹浆头50抹浆时均沿着砖块80的宽度方向的中心线涂抹砖块80的表面，避 免更换砖块80宽度时造成砖块80表面涂抹不均的现象；另外，抹浆头50自转的轴线为其竖直中心线，从而使得左右侧面进行抹浆时，抹浆头50均沿着砖块80的中心涂抹，保证砖块80表面涂抹均匀。需要指出的是，第二竖直中心线M2可以为第二转动轴线L2。
例如，当第一夹板311和第二夹板312沿第二水平方向Y相互靠近或远离时，第一竖直中心线M1为第一夹板311和第二夹板312在第二水平方向Y上的连线的垂线，同时，在第一夹板311和第二夹板312夹持砖块80时，砖块80的宽度方向的中心线与第一竖直中心线M1在第一水平方向X上重合。当第一竖直中心线M1和第二竖直中心线M2构成一平面时，沿第二水平方向Y，该平面到第一夹板311的距离与该平面到第二夹板312的距离相等。由于第二竖直中心线M2为抹浆头50的竖直中心，当抹浆头50的宽度方向与第二水平方向Y平行时，抹浆头50的抹浆作业面的延伸方向与砖块80的宽度方向平行，抹浆头50抹浆时均沿着砖块80的宽度方向中心线涂抹砖块80的表面，保证抹浆均匀。
需要指出的是，抹浆设备100还包括第四驱动机构(图中未示出)，第四驱动机构设置为驱动第一夹板311和第二夹板312沿第二水平方向Y相互靠近或远离。承载台30设置有沿第二水平方向Y延伸的第四滑轨32，第一夹板311和第二夹板312均与第四滑轨32滑动配合，第四驱动机构能够驱动第一夹板311和第二夹板312沿第四滑轨32移动，以改变第一夹板311和第二夹板312之间的距离。第四驱动机构可以为驱动电机和齿轮齿条传动结构配合的驱动方式，也可以为驱动电机和丝杠螺母传动结构配合的驱动方式，还可以为其他伸缩结构的直线驱动方式，本申请不作限定。
根据本申请的一些实施例，承载台30可升降地设置于两个竖直梁21，待承载台30载运砖块80移动至待抹浆位置后，抹浆头50能够沿着第一水平方向X位移以抹浆砖块80的上表面；当滑架40位于第一位置时，安装于滑架40的第一端41的抹浆头50容许承载台30升降砖块80且不与砖块80接触；当滑架40位于第二位置时，安装于滑架40的第二端42的抹浆头50容许承载台30升降砖块80且不与砖块80接触。承载台30可升降地设置于竖直梁21，以便于对不同规格的砖块80抹浆，适应性好，满足不同的抹浆需求。
需要指出的是，承载台30载运砖块80移动是指，承载台30承载并运输砖块80移动。
根据本申请的一些实施例，如图7所示，当滑架40位于第一位置时，安装于滑架40的第一端41的抹浆头50被配置为在承载台30载运砖块80升降时能够对砖块80的沿第一水平方向X的第一端面81进行抹浆。如图4所示，当滑架40位于第二位置时，安装于滑架40的第二端42的抹浆头50被配置为在承载台30载运砖块80升降时能够对砖块80的沿第一水平方向X的第二端面82进行抹浆。第一端面81和第二端面82相对设置，第一端面81靠近第一端41设置，第二端面82靠近第二端42设置。通过承载台30与抹浆头50的配合，实现砖块80升降时对砖块80的两个端面进行抹浆，便于实现砖块80的不同面的抹浆需求。
通过承载台30的升降，抹浆头50对砖块80的端面进行抹浆，合理利用安装空间，结构简单，无需改变抹浆头50的高度。
根据本申请的一些实施例，如图5和图9所示，承载台30的靠近两个竖直梁21的一侧 设置有第三滑块33，两个竖直梁21设置有与第三滑块33对应的第三滑轨24，第三滑块33与第三滑轨24滑动配合；抹浆设备100还包括第三驱动机构25，第三驱动机构25设置为驱动承载台30相对于两个竖直梁21升降。通过第三滑块33与第三滑轨24的滑动配合，保证承载台30相对于两个竖直梁21升降稳定。
如图5所示，承载台30与抹浆头50均位于滑架40的同一侧，以便于抹浆头50对承载台30承载的砖块80抹浆。也即，第三滑块33设置于承载台30的背面。
第三驱动机构25可以为驱动电机和丝杠螺母传动结构配合的驱动方式，也可以为驱动电机和齿轮齿条传动结构配合的驱动方式，还可以为伸缩式直线驱动方式，本申请不作限定。
根据本申请的一些实施例，底盘10为自动导向车(Automated Guided Vehicle，AGV)底盘，AGV底盘具有自动导航功能，便于与其他机器人对接协同作业，提高了自动化程度。
根据本申请的一些实施例，如图8所示，抹浆设备100还包括立式部90，立式部90与竖直架20沿第一水平方向X间隔排布，立式部90的下端安装于底盘10，立式部90设置有容纳空间91，容纳空间91位于立式部90的上端和下端之间，容纳空间91用于收容浆筒92以及收容滑架40位于第一位置时安装于滑架40的第一端41的抹浆头50。浆筒92设置为收容浆料，以为抹浆头50提供浆料。通过容纳空间91收容浆筒92及滑架40处于第一位置时安装于滑架40的抹浆头50，合理利用结构空间，在抹浆设备100移动时保护抹浆头50。
为了节省空间，如图8所示，立式部90和竖直架20位于底盘10的沿第一水平方向X的相对的两端，并且立式部90和竖直架20均靠近底盘10的对应的端部的边缘，使得底盘10的第一水平方向X的尺寸较小，节省空间，抹浆设备100整体结构紧凑。
根据本申请的一些实施例，如图2A，图5A和图7A所示，底盘10上安装有溢料收集盒11，承载台30的侧面具有一个让位空间34，当所述承载台30处于低位时，溢料收集盒11收容于所述让位空间34内。
承载台30的上表面贯穿设置有通孔35。如图2A所示，当滑架40载运抹浆头50沿着第一水平方向X移动至第三位置，抹浆头50转动至朝向砖块80的第一端面81，抹浆头50调整成侧面抹浆姿态以抹浆于砖块80的侧面，此时抹浆头50的供料阀门处于开启状态，浆料从抹浆头50溢出，当抹浆头50侧面抹浆的过程中，部分的浆料掉落。该部分掉落的浆料通过承载台30上方的通孔35回收溢料收集盒11内，从而有效地放置浆料污染，增加了设置的使用寿命。
当滑架40处于第一位置时，滑架40的第一端41位于容纳空间91内，滑架40的第二端42不超过底盘10的边缘，便于抹浆设备100行走与狭窄的空间，避免与其他部件干涉。
根据本申请实施例的抹浆设备100的工作原理为：
初始时，滑架40处于第一位置，抹浆头50安装于滑架40的第一端41；
对砖块80的第一端面81抹浆，如图1所示，可以是预先将砖块80放置承载台30上，驱动承载台30上升到预定高度，此时的砖块80下端面高于竖直状态下的抹刀52的抹齿的高度，滑架40载运抹浆头50沿着第一水平方向X移动至第三位置，第三位置位于第一位置和 第二位置之间。抹浆头50转动至朝向砖块80的第一端面81，调整抹浆头50的姿态，至抹刀52的抹齿位于砖块80第一端面81的下边缘的正下方或者抹刀52的抹齿与第一端面81的下边缘齐平(请参阅图2)，驱动承载台30下降，抹浆头50对砖块80的第一端面81自下而上抹浆。又或者，将空载的承载台30上升至预定高度，在该预定高度的承载台30承接自外转运而来的砖块80，位于预定高度的砖块80的下端面高于竖直状态下的抹刀52的抹齿的高度，抹浆头50转动至朝向砖块80的第一端面81，调整抹浆头50的姿态，至抹刀52的抹齿位于砖块80第一端面81的下边缘的正下方或者抹刀52的抹齿与第一端面81的下边缘齐平，驱动承载台30下降，抹浆头50对砖块80的第一端面81自下而上抹浆。
对砖块80的上表面抹浆，如图3所示，调整抹浆头50的姿态及砖块80的高度，待承载台30载运砖块80移动至抹浆头50与砖块80的上表面对应时，抹浆头50沿第一水平方向X从滑架40的第一端41朝向第二端42移动，同时，滑架40沿第一水平方向X从第一位置移动至第二位置，完成对砖块80的上表面抹浆。
对砖块80的第二端面82抹浆，如图4所示，当滑架40处于第二位置时，将抹浆头50安装于滑架40的第二端42，调整抹浆头50的姿态及砖块80的高度，抹浆头50的姿态调整如下：将抹浆头50沿着第二轴线L2旋转180°，从而使得抹浆第二端面82的抹浆头与抹浆第一端面81的抹浆头呈对称设置；砖块80的高度的调整如下：通过承载台30升降使得砖块80高于抹浆头50的抹刀52，驱动承载台30下降，抹浆头50对砖块80的第二端面82自下而上抹浆。
需要指出的是，抹浆头50的抹刀52朝向指向一个方向，只能在这个方向上抹浆；而且，第二端面82抹浆并不是每一块砖块80都需要抹浆，只有少数砖块80砌筑时才需要对砖块80的两个端面抹浆，因此，第二端面82抹浆是可选的。
根据本申请实施例的第二方面，本申请提供了一种砌砖系统，该砌砖系统包括上述的抹浆设备100。
例如，砌砖系统还可以包括砌砖机器人，砌砖机器人与抹浆设备100协同作业，抹浆设备100为砌砖机器人提供抹浆后的砖块80，砌砖机器人将抹浆后的砖块80砌墙。

Claims (14)

  1. 一种抹浆设备，包括：
    底盘；
    竖直架，所述竖直架设置于所述底盘上，所述竖直架包括两个竖直梁、沿第一水平方向连接两个所述竖直梁的顶梁、以及安装于所述顶梁的固定座；
    承载台，设置于两个所述竖直梁，所述承载台设置为承载砖块；
    滑架，所述滑架的背面与所述固定座滑动配合，所述滑架可相对于所述固定座自第一位置沿所述第一水平方向位移至第二位置；
    抹浆头，可沿所述第一水平方向移动地设于所述滑架的正面；
    当所述滑架位于所述第一位置时，所述滑架沿所述第一水平方向的第一端以第一尺寸相对所述承载台承载的所述砖块凸出，凸出的部分所述滑架被构造成安置所述抹浆头；在竖直方向上的投影，所述抹浆头与所述砖块不相接，所述滑架沿所述第一水平方向的第二端不超出所述底盘的边缘；
    所述抹浆头可沿着所述第一水平方向位移以抹浆所述承载台承载的所述砖块上表面，于所述抹浆头沿所述第一水平方向抹浆的过程中，所述滑架同向位移至所述第二位置，位于所述第二位置的所述滑架的第二端相对凸出所述底盘边缘，且以第二尺寸相对所述砖块凸出，凸出的部分所述滑架可安置抹浆后的所述抹浆头；在竖直方向上的投影，所述抹浆头不与所述砖块相接。
  2. 根据权利要求1所述的抹浆设备，其中，所述固定座设置有第一滑块，所述滑架的背面设置有与所述第一滑块对应的第一滑轨，所述第一滑轨沿所述第一水平方向延伸，所述第一滑块与所述第一滑轨滑动配合，所述抹浆设备还包括：
    第一驱动机构，所述第一驱动机构设置为驱动所述滑架相对于所述固定座沿所述第一水平方向移动。
  3. 根据权利要求1所述的抹浆设备，其中，所述抹浆头通过安装座设于所述滑架的正面，所述安装座设置有第二滑块，所述滑架的正面设置有与所述第二滑块对应的第二滑轨，所述第二滑轨沿所述第一水平方向延伸，所述第二滑块与所述第二滑轨滑动配合，所述抹浆设备还包括：
    第二驱动机构，所述第二驱动机构设置为驱动所述安装座相对于所述滑架沿所述第一水平方向移动。
  4. 根据权利要求3所述的抹浆设备，其中，所述抹浆头与所述安装座转动配合，所述抹浆头可相对于所述安装座绕第一转动轴线转动，所述第一转动轴线与所述第一水平方向垂直设置。
  5. 根据权利要求4所述的抹浆设备，其中，所述抹浆头还可相对于所述安装座绕第二转动轴线转动，所述第二转动轴线与所述第一转动轴线垂直设置。
  6. 根据权利要求1所述的抹浆设备，其中，所述第一尺寸与所述第二尺寸相同。
  7. 根据权利要求1所述的抹浆设备，其中，所述承载台设置有夹持机构，所述夹持机构 设置为沿第二水平方向夹持被所述承载台承载的砖块，所述第二水平方向与所述第一水平方向垂直。
  8. 根据权利要求7所述的抹浆设备，其中，所述夹持机构包括相互间隔的第一夹板和第二夹板，所述第一夹板和所述第二夹板相对于第一竖直中心线彼此靠近以固定砖块或者彼此远离以释放砖块；
    所述抹浆头沿竖直方向具有第二竖直中心线，所述第一竖直中心线和所述第二竖直中心线共面设置。
  9. 根据权利要求1所述的抹浆设备，其中，所述承载台可升降地设置于两个所述竖直梁，待所述承载台载运所述砖块移动至待抹浆位置后，所述抹浆头可沿所述第一水平方向位移以抹浆所述砖块的上表面，当所述滑架位于所述第一位置时，安装于所述滑架的第一端的所述抹浆头容许所述承载台升降所述砖块且不与所述砖块接触，当所述滑架位于所述第二位置时，安装于所述滑架的第二端的所述抹浆头容许所述承载台升降所述砖块且不与所述砖块接触。
  10. 根据权利要求9所述的抹浆设备，其中，当所述滑架位于所述第一位置时，安装于所述滑架的第一端的所述抹浆头被配置为在所述承载台载运所述砖块升降时可对所述砖块的沿所述第一水平方向的第一端面进行抹浆；
    当所述滑架位于所述第二位置时，安装于所述滑架的第二端的所述抹浆头被配置为在所述承载台载运所述砖块升降时可对所述砖块的沿所述第一水平方向的第二端面进行抹浆；
    所述第一端面与所述第二端面相对设置，所述第一端面靠近所述第一端设置，所述第二端面靠近所述第二端设置。
  11. 根据权利要求1所述的抹浆设备，其中，所述承载台靠近两个所述竖直梁的一侧设置有第三滑块，两个所述竖直梁设置有与所述第三滑块对应的第三滑轨，所述第三滑块与所述第三滑轨滑动配合，所述抹浆设备还包括：
    第三驱动机构，所述第三驱动机构设置为驱动所述承载台相对于所述两个竖直梁升降。
  12. 根据权利要求1所述的抹浆设备，其中，所述底盘为自动导向车AGV底盘。
  13. 根据权利要求1所述的抹浆设备，还包括：
    立式部，所述立式部与所述竖直架沿所述第一水平方向间隔排布，所述立式部的下端安装于所述底盘，所述立式部设置有容纳空间，所述容纳空间位于所述立式部的上端和下端之间，所述容纳空间用于收容浆筒以及收容所述滑架位于所述第一位置时安装于所述滑架的第一端的所述抹浆头。
  14. 一种砌砖系统，包括如权利要求1-13任一项所述的抹浆设备。
PCT/CN2022/101473 2021-06-28 2022-06-27 抹浆设备及砌砖系统 WO2023274137A1 (zh)

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