CN111910937A - Wall building robot with telescopic arm and wall building method thereof - Google Patents
Wall building robot with telescopic arm and wall building method thereof Download PDFInfo
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- CN111910937A CN111910937A CN201910381392.3A CN201910381392A CN111910937A CN 111910937 A CN111910937 A CN 111910937A CN 201910381392 A CN201910381392 A CN 201910381392A CN 111910937 A CN111910937 A CN 111910937A
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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
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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
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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Abstract
The invention discloses a wall building robot with a telescopic arm, which comprises a rotary base, a machine body main body, a vertical moving module, a platform plate, the telescopic arm, a telescopic power assembly, a clamp assembly and a slurry cup assembly, wherein the vertical moving module, the platform plate, the telescopic arm, the telescopic power assembly, the clamp assembly and the slurry cup assembly are arranged on the machine body main body; the telescopic arm is fixed above the track sliding block, the telescopic power assembly is arranged in the telescopic arm, and the telescopic power assembly controls the telescopic arm to horizontally move along the sliding track; the clamp assembly and the slurry cup assembly are respectively arranged at two side ends of the telescopic arm, the clamp assembly comprises a clamp and a first motor set, and the slurry cup assembly comprises a slurry cup and a second motor set. The telescopic arm is arranged, so that the brick laying machine is more flexible to use, and can clamp bricks and mortar simultaneously, so that the bricks can be laid synchronously after plastering, the wall laying process is simplified, the integral masonry efficiency is improved, and the mortar is prevented from being solidified in the masonry process.
Description
Technical Field
The invention relates to the technical field of wall building robots, in particular to a wall building robot with a telescopic arm and a wall building method thereof.
Background
The existing wall building robot is only provided with one mechanical arm for clamping bricks, and after the brick is built by the wall building robot, the mortar spraying or plastering needs to be carried out through other procedures.
The invention patent with the patent number 201710479452.6 discloses an automatic wall building system, which is characterized in that wall bricks are firstly plastered and then conveyed to a brick building robot, the brick building robot grabs the mortar plastered wall bricks for building, the plastering time needs to be controlled by the wall building system, the mortar is prevented from solidifying in the building process, the mortar needs to be fixed on the wall bricks through a mortar hanging net, the mortar is prevented from flowing and falling, the whole system occupies a large space, and the operation is inconvenient.
Disclosure of Invention
The invention aims to provide a wall building robot with a telescopic arm and a wall building method thereof, which simplify the wall building process and improve the wall building efficiency. In order to achieve the purpose, the invention adopts the following technical scheme:
a wall building robot with a telescopic arm comprises a rotary base, a machine body main body, a vertical moving module, a platform plate, the telescopic arm, a telescopic power assembly, a clamp assembly and a slurry cup assembly, wherein the machine body main body is arranged on the rotary base and can rotate along the rotary base; the telescopic arm is fixed above the track sliding block, the telescopic power assembly is arranged in the telescopic arm, and the telescopic power assembly controls the telescopic arm to horizontally move along the sliding track; the clamp assembly and the slurry cup assembly are respectively arranged at two side ends of the telescopic arm, the clamp assembly comprises a clamp for clamping a wall brick and a first motor group for controlling the clamp to move, and the slurry cup assembly comprises a slurry cup for clamping mortar and a second motor group for controlling the slurry cup to move.
Wherein, erect and move the module and include guide rail, guide rail slider, slide frame, lift box, first lead screw, lead screw motor and two nut sliders, the guide rail fix in the fuselage main part, guide rail slider install on the guide rail, two nut sliders be connected with lift box and landing slab respectively, first lead screw pass the nut slider and install in the fuselage main part, lead screw motor install at first lead screw axle head control first lead screw rotatory, the frame that slides be located the fuselage main part outside and lift box rigid coupling, the frame inner wall that slides is installed on guide rail slider, the landing slab with slide frame lower extreme rigid coupling.
Preferably, the lifting box is formed by assembling two groups of vertical plates and a group of transverse plates, and the vertical plates are provided with convex blocks; the sliding frame is a rectangular frame formed by assembling two mounting plates and two supporting plates, clamping grooves matched with the convex blocks are formed in the mounting plates, the supporting plates are connected with two sets of mounting plates, the inner walls of the mounting plates are fixedly connected with the guide rail sliding blocks, and the end parts of the sliding tracks of the platform plates are provided with limiting blocks.
The support plate of the sliding frame is suspended out of an extension section of the mounting plate, and the extension section is fixed on the platform plate.
The telescopic power assembly comprises a mounting seat, a second lead screw, a telescopic control motor, a lead screw sliding block and a track connecting piece, wherein the mounting seat is fixed on the telescopic arm, the second lead screw is rotatably connected with the mounting seat, the telescopic control motor is in shaft connection with the second lead screw, the lead screw sliding block is installed on the second lead screw, and the track connecting piece is connected with the lead screw sliding block and the track sliding block.
Preferably, the telescopic arm is further provided with a lower rail, a lower sliding block is arranged below the screw rod sliding block, and the lower sliding block is installed on the lower rail.
Preferably, the device also comprises a horizontal moving module, the telescopic arm is provided with a strip-shaped slot below one side of the clamp assembly or one side or two sides of the slurry cup assembly, the horizontal moving module is arranged in the strip-shaped slot, and the clamp or the slurry cup is arranged below the horizontal moving module and moves horizontally along the strip-shaped slot.
Further, still include multi-functional hoisting device, multi-functional hoisting device including fortune brick frame, fortune thick liquid frame, thick liquid bucket and brick platform, fortune brick frame and fortune thick liquid frame vertically install on the base both sides, fortune brick frame on be provided with first vertical slip table, the brick platform install on first vertical slip table, fortune thick liquid frame on be provided with the vertical slip table of second, the thick liquid bucket install on the vertical slip table of second.
The multifunctional lifting device further comprises two groups of movable pressure arm frames and four groups of tensioners, wherein the two groups of movable pressure arm frames are respectively positioned above the brick conveying frame and the slurry conveying frame, and two ends of each movable pressure arm frame are connected with the brick conveying frame or the slurry conveying frame through the tensioners.
The multifunctional lifting device further comprises two groups of diagonal draw bar assemblies, each group of diagonal draw bar assemblies comprises two diagonal draw bars which are arranged in a crossed mode, one end of one diagonal draw bar is connected with the upper end of the brick conveying frame, the other end of the diagonal draw bar is connected with the lower end of the brick conveying frame, one end of the other diagonal draw bar is connected with the upper end of the brick conveying frame, the other end of the diagonal draw bar is connected with the lower end of the brick conveying frame, each diagonal draw bar comprises two sections of rod bodies and an intermediate flange for connecting the two sections of rod bodies, and the connecting length of the two sections.
The invention also discloses a wall building method, which is characterized by comprising the following steps: the wall building robot with the telescopic arm is used for building a wall body, and the building method comprises the following steps:
s1, leveling ground mortar of a wall position where a wall brick needs to be built; the machine body main body rotates through the rotating base, the telescopic arm moves downwards on the vertical moving module and moves horizontally on the platform plate, the clamp assembly is adjusted to be right above the brick block, and after the first motor unit controls the clamp to take the brick, the brick block is placed on the leveled ground to build a first leather brick;
s2, moving the telescopic arm to the position above a grouting machine, controlling a mortar cup to suck or grab the grouting machine by a second motor group, and placing the grouting machine on a laid brick block; or the first motor group controls the clamp to clamp the grouting machine, and the grouting machine is placed on the laid bricks;
s3, synchronously and respectively moving the clamp and the slurry cup to clamp bricks and clamp mortar;
s4, moving the telescopic arm to the position above a grouting machine, moving the slurry cup to the cavity of the grouting machine, and inversely placing the mortar on the surface of a brick in the cavity of the grouting machine;
s5, grouting mortar in vertical joints among bricks and plastering the surfaces of the bricks by using a grouting machine to uniformly distribute the mortar on the surfaces of the bricks;
s6, moving the telescopic arm to the position above the plastered mortar surface, and controlling the clamp by the first motor set to lay bricks above the plastered mortar surface;
s7, repeating the steps S2-S6 until the masonry of the wall is completed.
The wall building robot with the telescopic arm comprises a multifunctional lifting device, wherein the multifunctional lifting device comprises a brick conveying frame, a mortar barrel and a brick platform, the brick conveying frame and the mortar conveying frame are vertically arranged on two sides of a base, a first vertical sliding table is arranged on the brick conveying frame, the brick platform is arranged on the first vertical sliding table, a second vertical sliding table is arranged on the mortar conveying frame, and the mortar barrel is arranged on the second vertical sliding table; placing the bricks on a brick platform, pouring mortar into the mortar barrel, in step S3, rotating the telescopic arm to the positions above the brick platform and the mortar barrel, moving the clamp to the position above the brick platform to clamp the bricks, and moving the mortar cup to the position above the mortar barrel to clamp the mortar.
The multifunctional lifting device also comprises two groups of movable pressure arm frames and four groups of tensioners, wherein the two groups of movable pressure arm frames are respectively positioned above the brick conveying frame and the slurry conveying frame, and two ends of each movable pressure arm frame are connected with the brick conveying frame or the slurry conveying frame through the tensioners; when the wall bricks are built to the limit height of the machine body, the height of the machine body main body is adjusted according to the following steps:
(1) and moving the telescopic arm to the upper end of the vertical moving module, respectively placing two ends of the telescopic arm above the brick conveying frame and the slurry conveying frame, installing a movable pressure arm frame, and closing the tensioner.
(2) The connecting part of the machine body and the rotating base is disassembled, so that the machine body is separated from the rotating base.
(3) And controlling the action of the vertical moving module, lifting the machine body to the upper part, and installing a support standard knot between the machine body and the rotating base.
(4) And opening the tensioner and disassembling the movable pressure arm support.
Due to the adoption of the structure, the invention has the following beneficial effects:
1. according to the invention, the telescopic arm is arranged, the brick clamping assembly and the mortar taking assembly are arranged on two sides of the telescopic arm, and the brick clamping assembly and the mortar are clamped in a moving mode, so that bricks can be laid synchronously after mortar is applied, the wall laying process is simplified, the integral masonry efficiency is improved, and the mortar is prevented from being solidified in the masonry process. The telescopic arm is moved to realize brick laying or mortar plastering, so that the functions of two arms are realized, and the total length of the two arms is reduced by adopting the telescopic arm mode, so that the telescopic arm type mortar trowel is more flexible and convenient to use.
2. Through setting up the lift box, realize that two nut sliders move on the lead screw, drive flexible arm and reciprocate, stability is high.
3. Through setting up multi-functional hoisting device, can realize the automatic lifting to thick liquid bucket and brick platform.
4. The multifunctional lifting device comprises two groups of pressure arm frames and four groups of tensioners, and can lift the body main body of the wall building robot.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a schematic view illustrating a state in which the body of fig. 1 is rotated.
Fig. 3 is an assembly diagram of the main body, the vertical moving module, the platform plate, the telescopic power assembly and the telescopic arm of the present invention.
Fig. 4 is a schematic structural diagram of the hidden cloud telescopic arm in fig. 3.
Fig. 5 is an assembly schematic diagram of the telescopic power assembly, the telescopic arm and the platform plate of the invention.
FIG. 6 is an assembly view of the sliding frame, the lifting box, the platform plate, the telescopic power assembly and the telescopic arm of the present invention.
Fig. 7 is an exploded schematic view of fig. 6.
Fig. 8 is a schematic structural view of the second main body of the lift-up device according to the embodiment of the present invention.
Fig. 9 is a state diagram illustrating a two-body lifting process according to the embodiment.
Fig. 10 is a state diagram illustrating a two-body lifting process according to the embodiment.
FIG. 11 is a schematic view of the second body after the second body is lifted.
Fig. 12 is a schematic front view of the second embodiment.
Fig. 13 is a schematic structural view of the multifunctional lifting device.
Description of the main component symbols:
1: rotating base, 11: a traveling wheel is arranged on the front end of the frame,
2: a main body of the machine body,
3: vertical movement module, 31: guide rail, 32: rail block, 33: sliding frame, 331: mounting plate, 332: support plate, 333: card slot, 334: extension, 34: lifting box, 341: riser, 342: a transverse plate 343: bump, 35: first lead screw, 36: screw motor, 37: a nut slide block is arranged on the upper surface of the shell,
4: platform plate, 41: slip track, 42: track slider, 43: a limiting block is arranged on the upper portion of the frame,
5: telescopic arm, 51: lower rail, 52: elongated slot
6: telescopic power assembly, 61: mount, 62: second screw, 63: telescoping control motor, 64: screw rod slider, 65: rail connector, 66: lower slide block
71: first motor group, 72: jig, 73: second motor group, 74: slurry cup, 8: multifunctional lifting device, 81: brick conveying frame, 811: first vertical slide table, 82: slurry conveying rack, 821: second vertical slide, 83: pulp barrel, 84: brick stand, 85: movable pressure arm support, 86: tensioner, 87: diagonal member, 871: the body of rod, 872: a middle flange is arranged at the middle part of the main body,
9: and supporting the standard knot.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in figure 1, the invention discloses a wall building robot with a telescopic arm, which comprises a rotating base 1, a machine body main body 2, a vertical moving module 3, a platform plate 4, a telescopic arm 5, a telescopic power assembly 6, a clamp assembly and a slurry cup assembly.
As shown in fig. 2, the main body 2 is disposed on the rotating base 1, and a rotating motor (not shown) is disposed on the rotating base 1 and controls the main body 2 to rotate 360 degrees along the rotating base 1. The travelling wheels 11 are arranged below the rotating base 1 so as to be convenient for integral movement.
As shown in fig. 3 and 4, the vertical movement module 3 includes a guide rail 31, a guide rail slider 32, a sliding frame 33, a lifting box 34, a first lead screw 35, a lead screw motor 36, and two nut sliders 37. The guide rail 31 is fixed on the machine body 2, the guide rail slider 32 is installed on the guide rail 31, and the two nut sliders 37 are respectively connected with the lifting box 34 and the platform plate 4, as shown in fig. 7. The first lead screw 35 is installed in the body 2 through the nut slider 37. The screw motor 36 is installed at the shaft end of the first screw 35 to control the rotation of the first screw 35.
As shown in fig. 6 and 7, the lifting box 34 is composed of two sets of vertical plates 341 and a set of horizontal plates 342. The vertical plate 341 has a protrusion 343. The sliding frame 33 is located outside the main body 2 and is fixedly connected with the lifting box 34, and the sliding frame 33 is a rectangular frame formed by assembling two mounting plates 331 and two support plates 332. The mounting plates 331 are provided with clamping grooves 333 matched with the convex blocks 343, the support plate 332 is connected with the two groups of mounting plates 331, and the inner walls of the mounting plates 331 are fixedly connected with the guide rail sliding blocks 32. The support plate 332 of the sliding frame 33 overhangs the mounting plate 331 by an extension 334, and the extension 334 is fixed on the platform plate 4. The platform plate 4 is provided with a sliding track 41 and a track slider 42 arranged along the sliding track 41, and the end part of the sliding track 41 of the platform plate 4 is provided with a limiting block 43.
As shown in fig. 4 and 5, the telescopic arm 5 is fixed above the track slider 41. The telescopic arm 5 is also provided with a lower track 51. The telescopic power assembly 6 is arranged in the telescopic arm 5, and the telescopic power assembly 6 comprises an installation seat 61, a second screw rod 62, a telescopic control motor 63, a screw rod sliding block 64 and a track connecting piece 65. The mounting seat 61 is fixed on the telescopic arm 5, and the second screw rod 62 is rotatably connected with the mounting seat 61. The expansion control motor 63 is coupled to the second lead screw 62. The screw rod slide block 64 is installed on the second screw rod 62, a lower slide block 66 is arranged below the screw rod slide block 64, and the lower slide block 66 is installed on the lower rail 51. A track link 65 connects the lead screw slide 64 with the track slide 42. When the telescopic control motor 63 is started, the second lead screw 62 rotates, and the lead screw slider 64 drives the track slider 42 to horizontally move along the sliding track 41, so that the whole telescopic boom 5 moves.
As shown in fig. 1 and 2, the clamp assembly and the slurry cup assembly are respectively installed at both side ends of the telescopic arm 5. The clamp assembly comprises a clamp 72 for clamping the wall brick and a first motor group 71 for controlling the action of the clamp 72. The slurry cup assembly comprises a slurry cup 74 for clamping mortar and a second motor set 73 for controlling the action of the slurry cup 74. A horizontal moving module (not shown) may be further included, the telescopic arm 5 is provided with a long strip-shaped slot 52 below one side of the clamp assembly or one side or both sides of the slurry cup assembly, the horizontal moving module is arranged in the long strip-shaped slot, and the clamp 72 or the slurry cup 74 is installed below the horizontal moving module to move horizontally along the long strip-shaped slot 52.
When the mortar clamping device is used, the screw motor 36 drives the first screw 35 to rotate, the nut slider 37 moves up and down along the first screw 35, the lifting box 34 drives the sliding frame 33 to further drive the telescopic arm 5 to move up and down simultaneously, and the first motor group 71 and the second motor group 73 control the clamp 72 to clamp bricks and the mortar cup 74 to clamp mortar so as to masonry a wall.
Example two
As shown in fig. 8 to 12, the wall building robot with the telescopic boom of the present embodiment further includes a multifunctional lifting device 8 on the basis of the first embodiment. The multifunctional lifting device 8 comprises a brick conveying frame 81, a slurry conveying frame 82, a slurry barrel 83, a brick platform 84, two groups of movable pressure arm frames 85, four groups of tensioners 86 and two groups of diagonal draw bar assemblies. Fortune brick frame 81 and fortune thick liquid frame 82 are vertical to be installed on rotating base 1 both sides, are provided with first vertical slip table 811 on fortune brick frame 81, and brick platform 84 is installed on first vertical slip table 811, is provided with the vertical slip table 821 of second on fortune thick liquid frame 82, and thick liquid bucket 83 installs on the vertical slip table 821 of second. Two groups of movable pressure arm frames 85 are respectively positioned above the brick conveying frame 81 and the slurry conveying frame 82, and two ends of each movable pressure arm frame 85 are connected with the brick conveying frame 81 or the slurry conveying frame 82 through a tensioner 86.
As shown in fig. 13, each group of diagonal draw bar assemblies includes two diagonal draw bars 87 arranged in a crossed manner, one end of one diagonal draw bar 87 is connected with the upper end of the brick conveying frame 81, the other end of the diagonal draw bar is connected with the lower end of the pulp conveying frame 82, one end of the other diagonal draw bar 87 is connected with the upper end of the pulp conveying frame 82, the other end of the diagonal draw bar is connected with the lower end of the brick conveying frame 81, each diagonal draw bar 87 includes two sections of rod bodies 871 and an intermediate flange 872 connected with the two sections of rod bodies 871, the connection length of the two sections of rod bodies 871 can be adjusted through the intermediate flange 872, and thus the brick conveying frame.
The invention also discloses a wall building method of the embodiment, which comprises the following building steps:
s1, leveling ground mortar of a wall position where a wall brick needs to be built; fuselage main part 2 is rotatory through rotating base 1, and flexible arm 5 erects to move module 3 upward downstream, at the horizontal motion on landing slab 4, adjusts anchor clamps subassembly to the fragment of brick directly over, behind first motor group 71 control anchor clamps 72 get the brick, places the brick step and builds a first leather brick by laying bricks or stones on the subaerial of making level.
S2, moving the telescopic arm 5 to a position above a grouting machine, controlling the grouting cup 74 to suck or grab the grouting machine by the second motor unit 73, and placing the grouting machine on the laid bricks; or the first motor unit control clamp 72 clamps the grouting machine and places the grouting machine on the laid bricks.
And S3, synchronously moving the clamp 72 and the mortar cup 74 to clamp bricks and mortar respectively.
And S4, moving the telescopic arm 5 to the position above the grouting machine, moving the mortar cup 74 to the cavity of the grouting machine, and inversely placing mortar on the surface of a brick in the cavity of the grouting machine.
S5, grouting the mortar in the vertical joint between the bricks and plastering the surfaces of the bricks by using a grouting machine to uniformly distribute the mortar on the surfaces of the bricks.
S6, the telescopic arm 5 is moved to above the plastered mortar surface, and the first motor unit 71 controls the jig 72 to lay the bricks on the plastered mortar surface.
S7, repeating the steps S2-S6 until the masonry of the wall is completed.
When the wall brick is built to the limit height of the machine body, the height of the machine body main body is adjusted according to the following steps:
(1) as shown in fig. 8, the first screw 35 is controlled to rotate, so that the lifting box 34 is raised above the machine body 2, the multifunctional lifting device 8 is locked above the rotating base 1, the telescopic arm 5 is located above the brick conveying frame 81 and the mortar conveying frame 82, the movable pressure arm support 85 is installed, the movable pressure arm support 85 is fixed above the brick conveying frame 81 and the mortar conveying frame 82 through the tensioner 86, and the telescopic arm 5 is accommodated between the movable pressure arm support 85 and the brick conveying frame 81 or the mortar conveying frame 82.
(2) The connecting part of the robot body main body 2 and the rotating base 1 is disassembled, so that the robot body main body 2 is separated from the rotating base 1.
(3) As shown in fig. 9, the first lead screw 32 is controlled to rotate, and the main body 2 is lifted up.
(4) As shown in fig. 10, a support standard joint 9 is installed between the body main body 2 and the swivel base 1.
(5) As shown in fig. 11, the tensioner 86 is opened and the pressing arm frame 85 is removed.
As shown in fig. 12, after the main body 2 is lifted, the slurry barrel 83 is controlled to move above the second vertical sliding table 821, the brick table 84 is controlled to move above the first vertical sliding table 811, and the masonry steps S2-S6 are repeated, so that the high wall can be masonry.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (13)
1. The utility model provides a wall building robot of flexible arm in area which characterized in that: comprises a rotary base, a machine body main body which is arranged on the rotary base and can rotate along the rotary base, a vertical moving module, a platform plate, a telescopic arm, a telescopic power component, a clamp component and a pulp cup component which are arranged on the machine body main body,
the platform plate is arranged on the vertical moving module and can move up and down along with the vertical moving module, and a sliding track and a track sliding block arranged along the sliding track are arranged on the platform plate;
the telescopic arm is fixed above the track sliding block, the telescopic power assembly is arranged in the telescopic arm, and the telescopic power assembly controls the telescopic arm to horizontally move along the sliding track;
the clamp assembly and the slurry cup assembly are respectively arranged at two side ends of the telescopic arm, the clamp assembly comprises a clamp for clamping a wall brick and a first motor group for controlling the clamp to move, and the slurry cup assembly comprises a slurry cup for clamping mortar and a second motor group for controlling the slurry cup to move.
2. A walling robot with a telescopic boom according to claim 1, wherein: erect and move the module and include guide rail, guide rail slider, slide frame, lift box, first lead screw, lead screw motor and two nut sliders, the guide rail fix in the fuselage main part, guide rail slider install on the guide rail, two nut sliders be connected with lift box and landing slab respectively, first lead screw pass the nut slider and install in the fuselage main part, lead screw motor install at first lead screw axle head control first lead screw rotatory, the frame that slides be located the fuselage main part outside and lift box rigid coupling, the frame inner wall that slides is installed on guide rail slider, landing slab and the frame lower extreme rigid coupling that slides.
3. A walling robot with a telescopic boom according to claim 2, wherein: the lifting box is formed by splicing two groups of vertical plates and a group of transverse plates, and the vertical plates are provided with convex blocks; the sliding frame is a rectangular frame formed by assembling two mounting plates and two supporting plates, clamping grooves matched with the convex blocks are formed in the mounting plates, the supporting plates are connected with two sets of mounting plates, the inner walls of the mounting plates are fixedly connected with the guide rail sliding blocks, and the end parts of the sliding tracks of the platform plates are provided with limiting blocks.
4. A walling robot with a telescopic boom according to claim 3, wherein: an extension section of the mounting plate is cantilevered out by a support plate of the sliding frame, and the extension section is fixed on the platform plate.
5. A walling robot with a telescopic boom according to claim 1, wherein: the telescopic power assembly comprises a mounting seat, a second lead screw, a telescopic control motor, a lead screw sliding block and a track connecting piece, wherein the mounting seat is fixed on the telescopic arm, the second lead screw is rotatably connected with the mounting seat, the telescopic control motor is in shaft connection with the second lead screw, the lead screw sliding block is installed on the second lead screw, and the track connecting piece is connected with the lead screw sliding block and the track sliding block.
6. A walling robot with a telescopic boom according to claim 5, wherein: the telescopic boom is further provided with a lower rail, a lower sliding block is arranged below the screw rod sliding block, and the lower sliding block is arranged on the lower rail.
7. A walling robot with a telescopic boom according to claim 1, wherein: the horizontal moving device is characterized by further comprising a horizontal moving module, wherein the lower part of the telescopic arm is provided with a strip-shaped groove in one side of the clamp assembly or one side or two sides of the slurry cup assembly, the horizontal moving module is arranged in the strip-shaped groove, and the clamp or the slurry cup is arranged below the horizontal moving module and moves horizontally along the strip-shaped groove.
8. A walling robot with a telescopic boom according to claim 1, wherein: still include multi-functional hoisting device, multi-functional hoisting device including fortune brick frame, fortune thick liquid frame, thick liquid bucket and brick platform, fortune brick frame and fortune thick liquid frame vertical installation on the base both sides, fortune brick frame on be provided with first vertical slip table, the brick platform install on first vertical slip table, fortune thick liquid frame on be provided with the vertical slip table of second, the thick liquid bucket install on the vertical slip table of second.
9. A walling robot with a telescopic boom according to claim 8, wherein: the multifunctional lifting device also comprises two groups of movable pressure arm frames and four groups of tensioners, wherein the two groups of movable pressure arm frames are respectively positioned above the brick conveying frame and the slurry conveying frame, and two ends of the movable pressure arm frames are connected with the brick conveying frame or the slurry conveying frame through the tensioners.
10. A walling robot with a telescopic boom according to claim 9, wherein: the multifunctional lifting device further comprises two groups of diagonal draw bar assemblies, each group of diagonal draw bar assemblies comprises two diagonal draw bars which are arranged in a crossed mode, one end of one diagonal draw bar is connected with the upper end of the brick conveying frame, the other end of the diagonal draw bar is connected with the lower end of the brick conveying frame, one end of the other diagonal draw bar is connected with the upper end of the movable pulp conveying frame, the other end of the diagonal draw bar is connected with the lower end of the brick conveying frame, each diagonal draw bar comprises two sections of rod bodies and an intermediate flange for connecting the two sections of rod bodies, and the connecting length of the two.
11. A wall building method is characterized in that: the wall building robot with the telescopic arm of any one of claims 1 to 10 is used for building a wall, and the building method comprises the following steps:
s1, leveling ground mortar of a wall position where a wall brick needs to be built; the machine body main body rotates through the rotating base, the telescopic arm moves downwards on the vertical moving module and moves horizontally on the platform plate, the clamp assembly is adjusted to be right above the brick block, and after the first motor unit controls the clamp to take the brick, the brick block is placed on the leveled ground to build a first leather brick;
s2, moving the telescopic arm to the position above a grouting machine, controlling a mortar cup to suck or grab the grouting machine by a second motor group, and placing the grouting machine on a laid brick block; or the first motor group controls the clamp to clamp the grouting machine, and the grouting machine is placed on the laid bricks;
s3, synchronously and respectively moving the clamp and the slurry cup to clamp bricks and clamp mortar;
s4, moving the telescopic arm to the position above a grouting machine, moving the slurry cup to the cavity of the grouting machine, and inversely placing the mortar on the surface of a brick in the cavity of the grouting machine;
s5, grouting mortar in vertical joints among bricks and plastering the surfaces of the bricks by using a grouting machine to uniformly distribute the mortar on the surfaces of the bricks;
s6, moving the telescopic arm to the position above the plastered mortar surface, and controlling the clamp by the first motor set to lay bricks above the plastered mortar surface;
s7, repeating the steps S2-S6 until the masonry of the wall is completed.
12. A method of walling according to claim 11, wherein: the wall building robot with the telescopic arm comprises a multifunctional lifting device, wherein the multifunctional lifting device comprises a brick conveying frame, a mortar barrel and a brick platform, the brick conveying frame and the mortar conveying frame are vertically arranged on two sides of a base, a first vertical sliding table is arranged on the brick conveying frame, the brick platform is arranged on the first vertical sliding table, a second vertical sliding table is arranged on the mortar conveying frame, and the mortar barrel is arranged on the second vertical sliding table; placing the bricks on a brick platform, pouring mortar into the mortar barrel, in step S3, rotating the telescopic arm to the positions above the brick platform and the mortar barrel, moving the clamp to the position above the brick platform to clamp the bricks, and moving the mortar cup to the position above the mortar barrel to clamp the mortar.
13. A method of walling according to claim 11, wherein: the multifunctional lifting device also comprises two groups of movable pressure arm frames and four groups of tensioners, wherein the two groups of movable pressure arm frames are respectively positioned above the brick conveying frame and the slurry conveying frame, and two ends of each movable pressure arm frame are connected with the brick conveying frame or the slurry conveying frame through the tensioners; when the wall bricks are built to the limit height of the machine body, the height of the machine body main body is adjusted according to the following steps:
(1) moving the telescopic arm to the upper end of the vertical moving module, respectively placing two ends of the telescopic arm above the brick conveying frame and the slurry conveying frame, installing a movable pressure arm frame, and closing the tensioner;
(2) disassembling the connecting part of the machine body main body and the rotating base to separate the machine body main body from the rotating base;
(3) controlling the action of the vertical moving module, lifting the machine body to the upper part, and installing a support standard knot between the machine body and the rotating base;
(4) and opening the tensioner and disassembling the movable pressure arm support.
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| CN113073865A (en) * | 2021-03-18 | 2021-07-06 | 李洪宾 | Building filler wall building block masonry equipment |
| CN113431355A (en) * | 2021-06-30 | 2021-09-24 | 广东博智林机器人有限公司 | Building device |
| CN113719143A (en) * | 2021-03-05 | 2021-11-30 | 张生福 | Automatic wall building machine |
| CN114753664A (en) * | 2022-05-12 | 2022-07-15 | 重庆电子工程职业学院 | Brick laying robot |
| CN114991506A (en) * | 2022-06-20 | 2022-09-02 | 淮阴工学院 | Automatic device of building a wall of efficient integrated form |
| CN115749328A (en) * | 2022-12-05 | 2023-03-07 | 中化学交建同安产城融合建设(安庆)有限公司 | Brick laying machine is fragment of brick auxiliary positioning device for arm |
| CN116517317A (en) * | 2023-06-08 | 2023-08-01 | 广州城建职业学院 | Wall body masonry device |
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