CN112177365A - Automatic wall building equipment of environment-friendly composite building blocks - Google Patents
Automatic wall building equipment of environment-friendly composite building blocks Download PDFInfo
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- CN112177365A CN112177365A CN202011255975.0A CN202011255975A CN112177365A CN 112177365 A CN112177365 A CN 112177365A CN 202011255975 A CN202011255975 A CN 202011255975A CN 112177365 A CN112177365 A CN 112177365A
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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 relates to the technical field of building construction equipment, in particular to automatic wall building equipment of an environment-friendly composite building block, which comprises the following components: the light reflection adjusting mechanism is arranged at the wall base and provided with two output ends, and the two output ends of the light reflection adjusting mechanism are respectively positioned at two sides of the wall base; the two gradienters are respectively arranged on the two output ends of the light reflection adjusting mechanism, and the track is arranged on one side of the light reflection adjusting mechanism; the system comprises a rail car, an industrial robot and a leveling mechanism, wherein the rail car is arranged on a rail, the industrial robot is arranged on the rail car, and the output end of the industrial robot is provided with two infrared distance measuring sensors, an industrial camera, a material conveying pipe and the leveling mechanism; the building block clamping jaw is arranged at the output end of the industrial robot, and the technical scheme can automatically stack the composite building block, coat cement and correct vision, so that the production efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of building construction equipment, in particular to automatic wall building equipment for environment-friendly composite building blocks.
Background
The building block is a block-shaped building product which is larger than the body of the clay brick. The raw materials have wide sources, various varieties, local materials and low price. The size of the product can be divided into three types, namely large, medium and small. At present, China mainly produces small and medium-sized building blocks. The block is middle in size when the block is 380-940 mm high, and small in size when the block is less than 380mm high. The building blocks are divided into concrete, cement mortar, aerated concrete, fly ash silicate, coal gangue, artificial ceramsite, slag waste and the like according to the materials. The building blocks are divided into compact and hollow building blocks according to the structure, and the hollow building blocks comprise hollow building blocks such as round holes, square holes, elliptical holes, single-row holes and multi-row holes. The compact or hollow building blocks can be used as bearing walls and partitions. China is one of the countries with the earlier building blocks, and in the 30 s of the 20 th century, the houses are built by small hollow building blocks in Shanghai. In the 50 s, cement, sandstone, slag, lime and the like are used to produce small and medium-sized building blocks in Beijing, Shanghai and other places. Fly ash silicate medium-sized building blocks are made by using fly ash, lime, gypsum, slag and the like in Shanghai in the 60 s, meanwhile, a building block forming machine and a light lifting appliance are developed, and the development of building block construction is promoted. Fly ash silicate medium-sized building blocks have been widely used and are continuously improved. In recent years, a floor block crane is developed, and the construction process is more mature;
chinese patent: CN201510594206.6 discloses a novel waste-utilizing energy-saving environment-friendly hollow/composite building block, which consists of a building block shell, three rows of inner holes, two rows of outer holes and connecting ribs, wherein the hole rate is 45-60%. The inner hole and the outer hole can be filled with heat insulation materials according to actual requirements. The building block shell has the advantages that the building block shell fully utilizes industrial waste such as local building garbage, coal ash and the like, saves materials, is light in weight, convenient to construct and good in mechanical property, the heat transfer coefficients of all heat paths of the building block are equal, cold and hot bridges are reduced to the maximum extent, and the requirements of energy-saving design standards of different building types in different regions can be met.
However, at present, no automatic wall building equipment for the patent exists, so that the automatic wall building equipment for the environment-friendly composite building blocks needs to be provided, the composite building blocks can be automatically stacked, cement coated and visually corrected, and the production efficiency is greatly improved.
Disclosure of Invention
In order to solve the technical problem, the automatic wall building equipment for the environment-friendly composite building blocks is provided, the technical scheme can automatically stack the composite building blocks, coat cement and correct vision, and the production efficiency is greatly improved.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides an automatic equipment of building a wall of compound building block of environment-friendly, includes:
the light reflection adjusting mechanism is arranged at the wall base and provided with two output ends, and the two output ends of the light reflection adjusting mechanism are respectively positioned at two sides of the wall base;
the two gradienters are respectively arranged on the two output ends of the light reflection adjusting mechanism and are used for observing the inclination angles of the two output ends of the light reflection adjusting mechanism;
the track is arranged on one side of the light reflection adjusting mechanism;
the rail car is arranged on the rail, and the rail is used for guiding the moving direction of the rail car;
the industrial robot is arranged on the rail car, and the output end of the industrial robot is provided with two infrared distance measuring sensors, an industrial camera, a material conveying pipe and a strickling mechanism;
the building block clamping jaw is arranged at the output end of the industrial robot and used for clamping the composite building block.
Preferably, the light reflection adjusting mechanism includes:
the device comprises a bottom plate, wherein one end of the bottom plate is provided with an opening, a tensioning block is arranged at the opening, and the tensioning block and the opening of the bottom plate are detachably arranged;
the first reflection assembly and the second reflection plate assembly are respectively arranged on two sides of the bottom plate;
the equidirectional inclined driving assembly is arranged at the top of the bottom plate and is far away from the opening of the bottom plate.
Preferably, the first reflection assembly and the second reflection plate assembly have the same structure, and the first reflection assembly includes:
the reflecting plate is used for reflecting light rays of the infrared distance measuring sensor, and one side of the reflecting plate is hinged with the bottom plate;
the tension spring is arranged at one corner of the other side of the reflecting plate, and two ends of the tension spring are respectively connected with the reflecting plate and the bottom plate;
the threaded rod is arranged at one corner of the other side of the reflecting plate, is far away from the tension spring, and is hinged with the reflecting plate at the top end;
the threaded cylinder is arranged on the bottom plate, the threaded cylinder is rotatably connected with the bottom plate, and the threaded rod is in threaded connection with the threaded cylinder;
the first gear is sleeved on the threaded cylinder and fixedly connected with the threaded cylinder, and the first gear is connected with the output end of one end of the equidirectional inclined driving component.
Preferably, the same direction tilting drive assembly comprises:
the driving rod is arranged at the top of the bottom plate and is rotatably connected with the bottom plate;
the rubber sleeve is sleeved on the driving rod and is fixedly connected with the driving rod;
the first worm and the second worm are respectively arranged at two ends of the driving rod and fixedly connected with the driving rod, and are respectively meshed with the stress ends of the first reflection assembly and the second reflection plate assembly.
Preferably, the rail car includes:
turning a plate;
the driving wheel and the driven wheel are respectively arranged at two ends of the bottom of the vehicle plate and are rotatably connected with the vehicle plate, and the driving wheel and the driven wheel are guided through rails;
the rotary driving assembly is arranged on the vehicle plate, and the output end of the rotary driving assembly is connected with the stress end of the driving wheel;
the driving wheel and the driven wheel are in transmission connection through the rotary linkage assembly.
Preferably, the rotary drive assembly comprises:
the first servo motor is arranged on the vehicle plate;
the second gear is arranged at the output end of the first servo motor;
and the third gear is arranged at the stress end of the driving wheel, and the second gear is in transmission connection with the third gear through a chain.
Preferably, the rotary link assembly includes:
the fourth gear and the fifth gear are respectively arranged at the stress ends of the driving wheel and the driven wheel and are in transmission connection through a chain.
Preferably, the strickle mechanism comprises:
the first cylinder is arranged on a fixing frame at the output end of the industrial robot;
the push plate is arranged at the output end of the first air cylinder;
the guide rod is arranged on one surface of the push plate, penetrates through the fixed frame at the output end of the industrial robot and is in sliding connection with the fixed frame;
the scraper is arranged on the other surface of the push plate.
Preferably, the block jaw comprises:
the claw frame is arranged at the output end of the industrial robot;
the first clamping assembly and the second clamping assembly are respectively arranged on two sides of the claw frame and are used for clamping the conforming building block;
the double-shaft double-rod cylinder is provided with two double-shaft double-rod cylinders which are arranged on the claw frame.
Preferably, the first clamping assembly and the second clamping assembly are identical in structure, and the first clamping assembly comprises:
the fixed end of the second cylinder is hinged with one side of the claw frame;
the lever arm is arranged on one side of the claw frame and hinged with the claw frame, and the stress end of the lever arm is hinged with the output end of the second cylinder;
the clamping plate is arranged at the output end of the lever arm, and two inserting blocks are arranged on the lever arm and matched with the notches on one side of the composite building block.
Compared with the prior art, the invention has the beneficial effects that: firstly, a worker installs a light reflection adjusting mechanism at a wall base, then the worker adjusts two output ends of the light reflection adjusting mechanism to be in a horizontal state by observing two gradienters, at the moment, the two output ends of the light reflection adjusting mechanism are parallel to the top of the wall base, then the industrial robot starts to work, the output end of the industrial robot drives a building block clamping jaw to move, the building block clamping jaw clamps a composite building block, the industrial robot drives the composite building block to be at the top of the wall base through the building block clamping jaw, because the gyroscope is arranged in the industrial robot, whether the output end is horizontal or not is firstly determined through the gyroscope which the industrial robot has, then two infrared distance measuring sensors simultaneously start to work, the two infrared distance measuring sensors are respectively arranged at two sides of the building block clamping jaw, and the two infrared distance measuring sensors respectively emit infrared rays to the output ends of the, then the two infrared distance measuring sensors send data to the controller, whether the distances between the two sides of the block clamping jaw and the wall base are consistent or not can be obtained through the controller, the composite block placing inclination can be prevented, when the industrial robot drives the block clamping jaw to place the composite block to the top of the wall base, the industrial camera determines the horizontal position of the composite block through the visual detection system, the composite block can be placed in a staggered mode, when the composite block is fully stacked, a worker needs to timely and repeatedly plug fillers or sound insulation materials into holes of the block, then in the process that the rail car drives the industrial robot to move, the output end of the industrial robot drives a material conveying pipe to be close to the top of the composite block, a sizing pump pours cement on the whole layer of composite block through the industrial camera, and in the process that the rail car drives the industrial robot to move, a scraping mechanism starts to work, the output end of the strickling mechanism extends out and moves along with the strickling mechanism to strickling the cement, and the operation is repeated in such a way until the front composite cut wall surface is built;
1. through the arrangement of the light reflection adjusting mechanism, the composite building blocks can be ensured to be in a horizontal state with the wall base in the process of stacking the composite building blocks;
2. through the arrangement of the equipment, the composite building block can be automatically stacked, coated with cement and visually corrected, and the production efficiency is greatly improved.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the light reflection adjustment mechanism of the present invention;
FIG. 4 is a schematic perspective view of a light reflection adjustment mechanism according to the present invention;
FIG. 5 is an enlarged view taken at A of FIG. 4 in accordance with the present invention;
FIG. 6 is an enlarged view of the invention at B of FIG. 4;
FIG. 7 is a side view of the light reflection adjustment mechanism of the present invention;
FIG. 8 is a front view of the railcar of the present invention;
FIG. 9 is a schematic perspective view of the railcar of the present invention;
FIG. 10 is a schematic perspective view of an industrial robot and block jaw of the present invention;
FIG. 11 is a front view of the block clamp of the present invention;
figure 12 is a perspective view of the block jaw of the present invention.
The reference numbers in the figures are:
1-a light reflection adjusting mechanism; 1 a-a bottom plate; 1a 1-tensioning block; 1 b-a first reflective component; 1b 1-reflective plate; 1b 2-extension spring; 1b 3-threaded rod; 1b 4-threaded cartridge; 1b5 — first gear; 1 c-a second reflector plate assembly; 1 d-co-directional tilt drive assembly; 1d 1-drive bar; 1d 2-rubber sleeve; 1d3 — first worm; 1d 4-second worm;
2-a level meter;
3-a track;
4-a rail car; 4 a-a vehicle board; 4 b-a driving wheel; 4 c-driven wheel; 4 d-a rotary drive assembly; 4d1 — first servomotor; 4d2 — second gear; 4d3 — third gear; 4 e-a rotary linkage assembly; 4e 1-fourth gear; 4e 2-fifth gear;
5-an industrial robot; 5 a-an infrared ranging sensor; 5 b-an industrial camera; 5 c-a delivery pipe; 5 d-a strickling mechanism; 5d1 — first cylinder; 5d 2-push plate; 5d3 — guide bar; 5d 4-doctor blade;
6-a block jaw; 6 a-a claw frame; 6 b-a first clamping assembly; 6b 1-second cylinder; 6b 2-lever arm; 6b 3-Splint; 6b 4-insert; 6 c-a second clamping assembly; 6 d-double-shaft double-rod cylinder;
7-composite building blocks.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1 to 2, an automatic wall building apparatus for environment-friendly composite blocks includes:
the light reflection adjusting mechanism 1 is arranged at the wall base, the light reflection adjusting mechanism 1 is provided with two output ends, and the two output ends of the light reflection adjusting mechanism 1 are respectively positioned at two sides of the wall base;
the two levels 2 are respectively arranged at two output ends of the light reflection adjusting mechanism 1, and the levels 2 are used for observing the inclination angles of the two output ends of the light reflection adjusting mechanism 1;
the track 3 is arranged on one side of the light reflection adjusting mechanism 1;
a rail car 4 provided on the rail 3, the rail 3 guiding a moving direction of the rail car 4;
the industrial robot 5 is arranged on the rail car 4, and the output end of the industrial robot 5 is provided with two infrared distance measuring sensors 5a, an industrial camera 5b, a material conveying pipe 5c and a strickle mechanism 5 d;
the block clamping jaw 6 is arranged at the output end of the industrial robot 5, and the block clamping jaw 6 is used for clamping the composite block;
at first the staff installs light reflection adjustment mechanism 1 in wall base department, then the staff is in the horizontality through observing two spirit levels 2 in order to adjust two outputs of light reflection adjustment mechanism 1, two outputs of light reflection adjustment mechanism 1 are parallel with the wall base top this moment, then industrial robot 5 begins work, industrial robot 5's output drives building block clamping jaw 6 and removes, building block clamping jaw 6 presss from both sides composite block, industrial robot 5 drives composite block through building block clamping jaw 6 and is in the top of wall base, because the inside gyroscope that is provided with of industrial robot, at first confirm whether the output is horizontal through the gyroscope that its self possesses, then two infrared ranging sensor 5a begin work simultaneously, two infrared ranging sensor 5a are in the both sides of building block clamping jaw 6 respectively, two infrared ranging sensor 5a emit the infrared ray respectively to the light reflection adjustment mechanism 1 output of wall base both sides respectively and export When the industrial robot 5 drives the block clamping jaw 6 to place the composite block on the top of the wall base, the industrial camera 5b determines the horizontal position of the composite block through a visual detection system, so that the composite block can be placed in a staggered manner, when the composite block is stacked on a layer, a worker needs to fill filler or sound insulation materials into holes of the composite block in a reciprocating manner in time, then in the process that the rail car 4 drives the industrial robot 5 to move, the output end of the industrial robot 5 drives the material conveying pipe 5c to be close to the top of the composite block, and the mortar pump pours cement on the composite block on the whole layer through the industrial camera 5b, and the scraping mechanism 5d starts working in the process that the rail car 4 drives the industrial robot 5 to move, the output end of the scraping mechanism 5d extends out and moves along with the output end to scrape cement, and the operation is repeated until the front composite cutting wall surface is built.
As shown in fig. 3 and 4, the light reflection adjusting mechanism 1 includes:
the device comprises a bottom plate 1a, wherein one end of the bottom plate 1a is provided with an opening, a tensioning block 1a1 is arranged at the opening, and the tensioning block 1a1 and the opening of the bottom plate 1a are detachably arranged;
the first reflection assembly 1b and the second reflection plate assembly 1c are respectively arranged at two sides of the bottom plate 1 a;
the equidirectional inclination driving assembly 1d is arranged at the top of the bottom plate 1a, and the equidirectional inclination driving assembly 1d is far away from the opening of the bottom plate 1 a;
the worker inserts the bottom plate 1a to the wall base through the opening of the bottom plate 1a, the bottom plate 1a surrounds the wall base and surrounds the wall base, the tensioning block 1a1 is placed at the opening of the bottom plate 1a, the width of the bottom plate 1a is consistent with that of the composite building block, the bolts sequentially penetrate through the vertical plate on one side of the opening of the bottom plate 1a, the tensioning block 1a1 and the vertical plate on the other side of the opening of the bottom plate 1a, the position of the bottom plate 1a is fixed through the bolts and the nuts, then the worker twists the stressed end of the same-direction inclination driving component 1d, the output ends at the two ends of the same-direction inclination driving component 1d respectively drive the stressed ends of the first reflection component 1b and the second reflection board component 1c to rotate, the co-directional inclination angles of the output ends of the first reflection assembly 1b and the second reflection plate assembly 1c are adjusted by observing the level 2, so that the horizontal angle of the output ends of the first reflection assembly 1b and the second reflection assembly 1c coincides with the angle of the top of the wall base.
As shown in fig. 5 and 6, the first reflection assembly 1b and the second reflection plate assembly 1c are identical in structure, and the first reflection assembly 1b includes:
the reflecting plate 1b1 is used for reflecting the light of the infrared distance measuring sensor 5a, and one side of the reflecting plate 1b1 is hinged with the bottom plate 1 a;
a tension spring 1b2, which is arranged at one corner of the other side of the reflection plate 1b1, and two ends of the tension spring 1b2 are respectively connected with the reflection plate 1b1 and the bottom plate 1 a;
the threaded rod 1b3 is arranged at one corner of the other side of the reflecting plate 1b1, the threaded rod 1b3 is far away from the tension spring 1b2, and the top end of the threaded rod 1b3 is hinged with the reflecting plate 1b 1;
a screw cylinder 1b4 arranged on the bottom plate 1a, wherein the screw cylinder 1b4 is rotatably connected with the bottom plate 1a, and the threaded rod 1b3 is in threaded connection with the screw cylinder 1b 4;
the first gear 1b5 is sleeved on the threaded cylinder 1b4 and fixedly connected with the threaded cylinder, and the first gear 1b5 is connected with the output end of one end of the equidirectional inclination driving component 1 d;
the output end of the equidirectional inclination driving component 1d drives the first gear 1b5 to rotate respectively, the first gear 1b5 drives the screw cylinder 1b4 to rotate, the screw cylinder 1b4 drives one side of the reflecting plate 1b1 to incline upwards or downwards through the threaded rod 1b3, and the tension spring 1b2 is used for supporting the stability of one corner of the reflecting plate 1b 1.
The same-direction tilting drive assembly 1d shown in fig. 7 includes:
a driving lever 1d1 arranged on the top of the bottom plate 1a and rotatably connected with the bottom plate;
the rubber sleeve 1d2 is sleeved on the driving rod 1d1 and is fixedly connected with the driving rod;
the first worm 1d3 and the second worm 1d4, the first worm 1d3 and the second worm 1d4 are respectively arranged at two ends of the driving rod 1d1 and fixedly connected with the driving rod, and the first worm 1d3 and the second worm 1d4 are respectively meshed with the stressed ends of the first reflection assembly 1b and the second reflection plate assembly 1 c;
the worker twists the rubber sleeve 1d2 and rotates, the rubber sleeve 1d2 drives the driving rod 1d1 to rotate, the driving rod 1d1 drives the first worm 1d3 and the second worm 1d4 to rotate in the same direction, and the first worm 1d3 and the second worm 1d4 drive the stressed ends of the first reflection assembly 1b and the second reflection plate assembly 1c to rotate in the same direction.
The rail car 4 shown in fig. 8 includes:
a vehicle panel 4 a;
the driving wheel 4b and the driven wheel 4c are respectively arranged at two ends of the bottom of the vehicle plate 4a and are rotatably connected with the bottom of the vehicle plate 4a, and the driving wheel 4b and the driven wheel 4c are both guided by the track 3;
the rotary driving component 4d is arranged on the vehicle plate 4a, and the output end of the rotary driving component 4d is connected with the stress end of the driving wheel 4 b;
the driving wheel 4b and the driven wheel 4c are in transmission connection through the rotary linkage component 4 e;
The rotary drive assembly 4d shown in fig. 9 includes:
a first servo motor 4d1 provided on the floor 4 a;
a second gear 4d2 arranged at the output end of the first servo motor 4d 1;
the third gear 4d3 is arranged at the force bearing end of the driving wheel 4b, and the second gear 4d2 is in transmission connection with the third gear 4d3 through a chain;
when the rotary driving component 4d starts to work, the output end of the first servo motor 4d1 drives the second gear 4d2 to rotate, the second gear 4d2 drives the third gear 4d3 to rotate through a chain, and the third gear 4d3 drives the driven wheel 4c to rotate.
The rotary link assembly 4e shown in fig. 9 includes:
the fourth gear 4e1 and the fifth gear 4e2, the fourth gear 4e1 and the fifth gear 4e2 are respectively arranged at the stress ends of the driving wheel 4b and the driven wheel 4c, and the driving wheel 4b is in transmission connection with the driven wheel 4c through a chain;
the output end of the rotary driving component 4d drives the stressed end of the driving wheel 4b to rotate, the driving wheel 4b is also the output end and drives the fourth gear 4e1 to rotate, the fourth gear 4e1 drives the fifth gear 4e2 to rotate through a chain, the fifth gear 4e2 drives the driven wheel 4c to rotate, and the driving wheel 4b and the driven wheel 4c rotate in the same direction to drive the vehicle board 4a to move along the track 3.
The strickle mechanism 5d shown in fig. 10 includes:
a first cylinder 5d1 provided on the mount at the output end of the industrial robot 5;
a push plate 5d2 arranged at the output end of the first cylinder 5d 1;
the guide rod 5d3 is arranged on one surface of the push plate 5d2, and the guide rod 5d3 penetrates through the fixed frame at the output end of the industrial robot 5 and is connected with the fixed frame in a sliding mode;
the scraper 5d4 is provided on the other surface of the pusher 5d 2.
The industrial robot 5 starts working, the output end of the push plate 5d2 pushes the scraper 5d4 to extend through the guide rod 5d3, the industrial robot 5 is driven to move through the rail car 4, the scraper 5d4 moves freely and scrapes off cement, and the guide rod 5d3 is used for supporting the moving direction of the push plate 5d 2.
The block jaw 6 as shown in figure 11 comprises:
a claw frame 6a provided at an output end of the industrial robot 5;
the first clamping assembly 6b and the second clamping assembly 6c are arranged on two sides of the claw frame 6a respectively, and the first clamping assembly 6b and the second clamping assembly 6c are used for clamping the conforming building block;
two double-shaft double-rod cylinders 6d are provided, and the two double-shaft double-rod cylinders 6d are arranged on the claw frame 6 a;
the first clamping component 6b and the second clamping component 6c start to work simultaneously, the output ends of the first clamping component 6b and the second clamping component 6c clamp the two sides of the composite block simultaneously, when the industrial robot 5 drives the claw frame 6a until the composite block is placed on a wall base, the output ends of the first clamping component 6b and the second clamping component 6c are far away from each other, and meanwhile, the two double-shaft double-rod cylinders 6d start to work simultaneously, the output ends of the two double-shaft double-rod cylinders 6d push the composite block simultaneously, and therefore the composite block is attached to the wall base tightly.
As shown in fig. 12, the first clamping unit 6b and the second clamping unit 6c are identical in structure, and the first clamping unit 6b includes:
a second cylinder 6b1, the fixed end of the second cylinder 6b1 is hinged with one side of the claw frame 6 a;
the lever arm 6b2 is arranged on one side of the claw frame 6a and is hinged with the claw frame, and the force bearing end of the lever arm 6b2 is hinged with the output end of the second air cylinder 6b 1;
the clamping plate 6b3 is arranged at the output end of the lever arm 6b2, two insertion blocks 6b4 are arranged on the lever arm 6b2, and the two insertion blocks 6b4 are matched with the notches on one side of the composite building block;
the first clamping assembly 6b and the second clamping assembly 6c start to work simultaneously, the output end of the second air cylinder 6b1 pushes the lever arm 6b2, the lever arm 6b2 overturns and drives the lever arm 6b2 to move along with the lever arm, the lever arm 6b2 drives the two insertion blocks 6b4 to move along with the lever arm, and two sides of the composite building block are respectively clamped through the four insertion blocks 6b 4.
The working principle of the invention is as follows: firstly, a worker inserts the bottom plate 1a to a wall base through the opening of the bottom plate 1a, the bottom plate 1a surrounds the wall base and surrounds the wall base, the tensioning block 1a1 is placed at the opening of the bottom plate 1a, the width of the bottom plate 1a is consistent with that of the composite building block, bolts sequentially penetrate through a vertical plate on one side of the opening of the bottom plate 1a, the tensioning block 1a1 and a vertical plate on the other side of the opening of the bottom plate 1a, the position of the bottom plate 1a is fixed through bolts and nuts, then the worker twists the stress ends of the homodromous inclination driving assembly 1d, the output ends of the homodromous inclination driving assembly 1d respectively drive the stress ends of the first reflection assembly 1b and the second reflection plate assembly 1c to rotate, the homodromous inclination angles of the output ends of the first reflection assembly 1b and the second reflection plate assembly 1c are adjusted by observing a level meter 2, so that the horizontal angles of the output ends of the first reflection assembly 1b and the second reflection plate, then the industrial robot 5 starts to work, the output end of the industrial robot 5 drives the block clamping jaw 6 to move, the first clamping component 6b and the second clamping component 6c start to work simultaneously, the output ends of the first clamping component 6b and the second clamping component 6c clamp two sides of the composite block simultaneously, the industrial robot 5 drives the composite block to be positioned at the top of the wall base through the block clamping jaw 6, because a gyroscope is arranged in the industrial robot, whether the output end is horizontal or not is determined through the gyroscope arranged in the industrial robot, then two infrared distance measuring sensors 5a start to work simultaneously, two infrared distance measuring sensors 5a are respectively positioned at two sides of the block clamping jaw 6, the two infrared distance measuring sensors 5a respectively emit infrared emission to the output ends of the light reflection adjusting mechanisms 1 at two sides of the wall base, and then the two infrared distance measuring sensors 5a send data to the controller, whether the distances between the two sides of the block clamping jaw 6 and the wall base are consistent or not can be obtained through the controller, the placing inclination of the composite blocks can be prevented, when the industrial robot 5 drives the block clamping jaw 6 to place the composite blocks to the top of the wall base, the industrial camera 5b determines the horizontal position of the composite blocks through the visual detection system, so that the composite blocks can be placed in a staggered mode, the block clamping jaw 6 can continue to work, the output ends of the first clamping component 6b and the second clamping component 6c are far away from each other, meanwhile, the two double-shaft double-rod cylinders 6d start to work simultaneously, the output ends of the two double-shaft double-rod cylinders 6d simultaneously push the composite blocks, so that the composite blocks are tightly attached to the wall base, when the composite blocks are stacked to a layer, a worker needs to timely plug fillers or sound insulation materials into holes of the composite blocks in a reciprocating mode, and then in the process that the rail car 4 drives, the output end of the industrial robot 5 drives the conveying pipeline 5c to be close to the top of the composite building block, the sizing pump pours cement on the whole layer of the composite building block through the industrial camera 5b, the scraping mechanism 5d starts to work in the process that the rail car 4 drives the industrial robot 5 to move, the output end of the scraping mechanism 5d stretches out and moves accordingly to scrape the cement, and the operation is repeated until the front composite cutting wall surface is built.
The device realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
firstly, a worker installs the light reflection adjusting mechanism 1 at a wall base, and then the worker adjusts two output ends of the light reflection adjusting mechanism 1 to be in a horizontal state by observing two gradienters 2, so that the two output ends of the light reflection adjusting mechanism 1 are parallel to the top of the wall base;
step two, the industrial robot 5 starts to work, the output end of the industrial robot 5 drives the block clamping jaw 6 to move, the block clamping jaw 6 clamps the composite block, and the industrial robot 5 drives the composite block to be positioned at the top of the wall base through the block clamping jaw 6;
thirdly, a gyroscope is arranged in the industrial robot, so that whether the output end is horizontal or not is determined through the gyroscope arranged in the industrial robot, then the two infrared distance measuring sensors 5a start to work simultaneously, the two infrared distance measuring sensors 5a are respectively positioned at two sides of the block clamping jaw 6, the two infrared distance measuring sensors 5a respectively emit infrared rays to the output ends of the light reflection adjusting mechanisms 1 at two sides of the wall base, then the two infrared distance measuring sensors 5a send data to a controller, whether the distances from the two sides of the block clamping jaw 6 to the wall base are consistent or not can be obtained through the controller, and the composite block can be prevented from being placed obliquely;
step four, when the industrial robot 5 drives the block clamping jaw 6 to place the composite blocks to the top of the wall base, the industrial camera 5b determines the horizontal positions of the composite blocks through a visual detection system, so that the composite blocks can be placed in a staggered mode;
step five, when the composite building blocks are stacked in a layer, workers need to timely plug fillers or sound insulation materials into the holes of the composite building blocks in a reciprocating mode;
step six, in the process that the rail car 4 drives the industrial robot 5 to move, the output end of the industrial robot 5 drives the material conveying pipe 5c to be close to the top of the composite building block, and the sizing pump pours cement on the whole layer of the composite building block through the industrial camera 5 b;
seventhly, the scraping mechanism 5d starts to work in the process that the rail car 4 drives the industrial robot 5 to move, and the output end of the scraping mechanism 5d extends out and moves along with the scraping mechanism to scrape the cement;
and step eight, repeating the steps until the front composite cutting wall surface is built.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an automatic equipment of building a wall of compound building block of environment-friendly which characterized in that includes:
the light reflection adjusting mechanism (1) is arranged at the wall base, the light reflection adjusting mechanism (1) is provided with two output ends, and the two output ends of the light reflection adjusting mechanism (1) are respectively positioned at two sides of the wall base;
the light reflection adjusting mechanism comprises two levels (2), wherein the two levels (2) are respectively arranged at two output ends of the light reflection adjusting mechanism (1), and the levels (2) are used for observing the inclination angles of the two output ends of the light reflection adjusting mechanism (1);
the track (3) is arranged on one side of the light reflection adjusting mechanism (1);
the rail car (4) is arranged on the rail (3), and the rail (3) is used for guiding the moving direction of the rail car (4);
the industrial robot (5) is arranged on the rail car (4), and the output end of the industrial robot (5) is provided with two infrared distance measuring sensors (5 a), an industrial camera (5 b), a material conveying pipe (5 c) and a scraping mechanism (5 d);
and the building block clamping jaw (6) is arranged at the output end of the industrial robot (5), and the building block clamping jaw (6) is used for clamping the composite building block.
2. The automatic walling equipment of environment-friendly composite building blocks according to claim 1, wherein the light reflection adjusting mechanism (1) comprises:
the clamping device comprises a bottom plate (1 a), wherein one end of the bottom plate (1 a) is provided with an opening, a tensioning block (1 a 1) is arranged at the opening, and the tensioning block (1 a 1) and the opening of the bottom plate (1 a) are detachably arranged;
the first reflection assembly (1 b) and the second reflection plate assembly (1 c) are respectively arranged on two sides of the bottom plate (1 a);
the equidirectional inclination driving assembly (1 d) is arranged at the top of the bottom plate (1 a), and the equidirectional inclination driving assembly (1 d) is far away from the opening of the bottom plate (1 a).
3. The apparatus for automatically building a wall of an environment-friendly composite block according to claim 2, wherein the first reflecting assembly (1 b) and the second reflecting plate assembly (1 c) are identical in structure, and the first reflecting assembly (1 b) comprises:
the reflecting plate (1 b 1) is used for reflecting light rays of the infrared distance measuring sensor (5 a), and one side of the reflecting plate (1 b 1) is hinged with the bottom plate (1 a);
the tension spring (1 b 2) is arranged at one corner of the other side of the reflecting plate (1 b 1), and two ends of the tension spring (1 b 2) are respectively connected with the reflecting plate (1 b 1) and the bottom plate (1 a);
the threaded rod (1 b 3) is arranged at one corner of the other side of the reflecting plate (1 b 1), the threaded rod (1 b 3) is far away from the tension spring (1 b 2), and the top end of the threaded rod (1 b 3) is hinged with the reflecting plate (1 b 1);
the screw cylinder (1 b 4) is arranged on the bottom plate (1 a), the screw cylinder (1 b 4) is rotatably connected with the bottom plate (1 a), and the threaded rod (1 b 3) is in threaded connection with the screw cylinder (1 b 4);
the first gear (1 b 5) is sleeved on the threaded cylinder (1 b 4) and fixedly connected with the threaded cylinder, and the first gear (1 b 5) is connected with the output end of one end of the equidirectional inclination driving component (1 d).
4. The automatic walling equipment of an environment-friendly composite block according to claim 2, wherein the same-direction inclination driving assembly (1 d) comprises:
the driving rod (1 d 1) is arranged at the top of the bottom plate (1 a) and is rotatably connected with the bottom plate;
the rubber sleeve (1 d 2) is sleeved on the driving rod (1 d 1) and is fixedly connected with the driving rod;
the first worm (1 d 3) and the second worm (1 d 4), the first worm (1 d 3) and the second worm (1 d 4) are respectively arranged at two ends of the driving rod (1 d 1) and fixedly connected with the driving rod, and the first worm (1 d 3) and the second worm (1 d 4) are respectively meshed with stressed ends of the first reflection assembly (1 b) and the second reflection plate assembly (1 c).
5. The automatic walling equipment of environment-friendly composite blocks according to claim 1, wherein the rail car (4) comprises:
a vehicle panel (4 a);
the driving wheel (4 b) and the driven wheel (4 c), the driving wheel (4 b) and the driven wheel (4 c) are respectively arranged at two ends of the bottom of the vehicle plate (4 a) and rotatably connected with the bottom of the vehicle plate, and the driving wheel (4 b) and the driven wheel (4 c) are guided through the track (3);
the rotary driving component (4 d) is arranged on the vehicle plate (4 a), and the output end of the rotary driving component (4 d) is connected with the stress end of the driving wheel (4 b);
the driving wheel (4 b) is in transmission connection with the driven wheel (4 c) through the rotary linkage component (4 e).
6. The automatic walling equipment of environment-friendly composite blocks according to claim 5, wherein the rotary drive assembly (4 d) comprises:
a first servo motor (4 d 1) provided on the floor (4 a);
a second gear (4 d 2) arranged at the output end of the first servo motor (4 d 1);
and the third gear (4 d 3) is arranged at the force bearing end of the driving wheel (4 b), and the second gear (4 d 2) is in transmission connection with the third gear (4 d 3) through a chain.
7. The automatic walling equipment of environment-friendly composite blocks according to claim 5, wherein the rotary linkage assembly (4 e) comprises:
a fourth gear (4 e 1) and a fifth gear (4 e 2), wherein the fourth gear (4 e 1) and the fifth gear (4 e 2) are respectively arranged at the stress ends of the driving wheel (4 b) and the driven wheel (4 c), and the driving wheel (4 b) is in transmission connection with the driven wheel (4 c) through a chain.
8. The automatic walling equipment of environment-friendly composite blocks according to claim 1, wherein the strickling mechanism (5 d) comprises:
the first air cylinder (5 d 1) is arranged on the fixed frame at the output end of the industrial robot (5);
the push plate (5 d 2) is arranged at the output end of the first air cylinder (5 d 1);
the guide rod (5 d 3) is arranged on one surface of the push plate (5 d 2), and the guide rod (5 d 3) penetrates through the fixed frame at the output end of the industrial robot (5) and is connected with the fixed frame in a sliding mode;
and a scraper (5 d 4) arranged on the other surface of the pushing plate (5 d 2).
9. An automatic walling equipment of environment friendly composite blocks according to claim 1, wherein the block jaw (6) comprises:
a claw frame (6 a) arranged at the output end of the industrial robot (5);
the first clamping assembly (6 b) and the second clamping assembly (6 c) are respectively arranged on two sides of the claw frame (6 a), and the first clamping assembly (6 b) and the second clamping assembly (6 c) are used for clamping the conforming building block;
the double-shaft double-rod cylinder (6 d) comprises two double-shaft double-rod cylinders (6 d) which are arranged on the claw frame (6 a).
10. The apparatus for automatically building a wall of an environment-friendly composite block according to claim 9, wherein the first clamping assembly (6 b) and the second clamping assembly (6 c) have the same structure, and the first clamping assembly (6 b) comprises:
the fixed end of the second cylinder (6 b 1) is hinged with one side of the claw frame (6 a);
the lever arm (6 b 2) is arranged on one side of the claw frame (6 a) and is hinged with the claw frame, and the force bearing end of the lever arm (6 b 2) is hinged with the output end of the second air cylinder (6 b 1);
the clamping plate (6 b 3) is arranged at the output end of the lever arm (6 b 2), two inserting blocks (6 b 4) are arranged on the lever arm (6 b 2), and the two inserting blocks (6 b 4) are matched with the notches on one side of the composite building block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011255975.0A CN112177365A (en) | 2020-11-11 | 2020-11-11 | Automatic wall building equipment of environment-friendly composite building blocks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011255975.0A CN112177365A (en) | 2020-11-11 | 2020-11-11 | Automatic wall building equipment of environment-friendly composite building blocks |
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| Publication Number | Publication Date |
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| CN112177365A true CN112177365A (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011255975.0A Withdrawn CN112177365A (en) | 2020-11-11 | 2020-11-11 | Automatic wall building equipment of environment-friendly composite building blocks |
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| CN (1) | CN112177365A (en) |
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| CN209820426U (en) * | 2019-07-03 | 2019-12-20 | 浙江同洲项目管理有限公司 | Engineering is managed with straightness detection device that hangs down |
| CN209837736U (en) * | 2019-03-28 | 2019-12-24 | 厦门华蔚物联网科技有限公司 | Deviation rectifying system is built by laying bricks or stones to wall building robot |
| CN111350361A (en) * | 2020-03-16 | 2020-06-30 | 广东博智林机器人有限公司 | Masonry method, masonry system and masonry robot |
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2020
- 2020-11-11 CN CN202011255975.0A patent/CN112177365A/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104153591A (en) * | 2014-08-11 | 2014-11-19 | 山东科技大学 | Full-automatic intelligent wall building machine |
| US20160223364A1 (en) * | 2015-01-29 | 2016-08-04 | Construction Robotics, Llc | Laser Positioning System |
| CN205046864U (en) * | 2015-10-12 | 2016-02-24 | 宁波建工股份有限公司 | Wall building machine |
| CN106088632A (en) * | 2016-06-22 | 2016-11-09 | 安庆海纳信息技术有限公司 | A kind of wall-building machine based on machine vision |
| CN108331362A (en) * | 2018-03-06 | 2018-07-27 | 惠安灿锐信息技术咨询有限公司 | A kind of energy-saving wall-building machine that the effect of building a wall based on Internet of Things is good |
| CN209837736U (en) * | 2019-03-28 | 2019-12-24 | 厦门华蔚物联网科技有限公司 | Deviation rectifying system is built by laying bricks or stones to wall building robot |
| CN209820426U (en) * | 2019-07-03 | 2019-12-20 | 浙江同洲项目管理有限公司 | Engineering is managed with straightness detection device that hangs down |
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