CN212613788U

CN212613788U - Man-machine cooperation wall building robot

Info

Publication number: CN212613788U
Application number: CN202021196743.8U
Authority: CN
Inventors: 张柏松; 李稳
Original assignee: Zhongwu Zhijian Wuhan Technology Co Ltd
Current assignee: Zhongwu Zhijian Wuhan Technology Co Ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2021-02-26
Anticipated expiration: 2030-06-24

Abstract

The utility model discloses a man-machine cooperation robot of building a wall, including the arm of building a wall and the regional indicating system of operation, the arm of building a wall including remove the chassis, with remove the fixed support post in chassis, with support post fixed assist drive and with the fixed holder of assist drive, assist drive include one with support post vertically support arm and can follow the support arm extend and with the rope that the holder is connected, assist drive can receive and release the rope is flexible in order to mention or put down the building block, the regional indicating system of operation is fixed in support post just includes a luminous source, the luminous source is used for forming an light ring on ground, an operation district is injectd to the light ring, the operation district does the region that the holder can arrive. The utility model discloses following beneficial effect has: constructors can lay bricks in the operation area, so that the clamping of the clamp holder is facilitated, and the wall building efficiency is improved.

Description

Man-machine cooperation wall building robot

Technical Field

The utility model relates to a building technical field especially relates to a to people's computer coordination robot of building a wall.

Background

Because the labor intensity of the building construction wall building process is high, the environment is severe, the operation is boring, and the like, the labor for construction is wasted, and fewer people participate in the construction operation of building walls and the like, which has great influence on building construction and various infrastructures. In order to solve the problem, the scheme of the efficient man-machine power-assisted wall building system is an effective measure for reducing the human input, improving the construction efficiency and quality and ensuring the safety of constructors by combining the actual construction environment and the current scientific development technology. In order to ensure the fluency and high efficiency of unit wall masonry, the power-assisted wall building machine reduces the movement of the equipment body as much as possible in the process of finishing unit masonry, and the whole masonry effectiveness can not be reduced due to the input of the power-assisted equipment.

SUMMERY OF THE UTILITY MODEL

In order to achieve the technical purpose, the embodiment of the utility model provides a wall building robot is collaborated to people and machine.

A human-machine collaboration walling robot, comprising: including the arm of building a wall and operation regional indicating system, the arm of building a wall including remove the chassis, with remove the fixed support post in chassis, with support post fixed assist drive and with the holder that assist drive is fixed, assist drive include one with support post vertically support arm and can follow the support arm extend and with the rope that the holder is connected, assist drive can receive and release the rope is flexible in order to mention or put down the building block, operation regional indicating system is fixed in support post just includes a light emitting source, the light emitting source is used for forming a light ring on ground, a operation district is injectd to the light ring, the operation district does the region that the holder can arrive.

In a preferred embodiment, the support arm is rotatable relative to the upright.

In a preferred embodiment, the support arm is a length adjustable folding arm.

In a preferred embodiment, the support arm includes a first folding arm and a second folding arm, and the second folding arm is rotatably connected and fixed with the first folding arm.

In a preferred embodiment, the support arm is multi-stage telescopic.

In a preferred embodiment, the light emitting source is in the shape of a circular ring.

In a preferred embodiment, the light emitting source is disposed around the support post.

In a preferred embodiment, the work area indicating system further includes a light guide cover and a light reflecting plate, the light guide cover includes an upper cover and a lower cover, the upper cover, the lower cover and the light reflecting plate are all disposed around the base pillar, the upper cover and the lower cover respectively include annular side walls, the light emitting source is disposed between the upper cover and the lower cover, the light reflecting plate is disposed above the upper cover, a light beam emitted by the light emitting source is emitted from an opening between the upper cover and the lower cover, and the light beam is reflected by the light reflecting plate to form the aperture on the ground.

In a preferred embodiment, the light emitting source is an LED or a laser.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model discloses a people and machine cooperation wall building robot includes the light emitting source, the light emitting source is used for forming an light ring on ground, an operation district is injectd to the light ring, the operation district does the region that the holder can arrive to constructor can put things in good order the brick in the operation region, thereby made things convenient for the centre gripping of holder, improved the efficiency of building a wall.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the man-machine cooperation wall building robot provided by the utility model.

Fig. 2 is another schematic structural diagram of an embodiment of the man-machine cooperation wall building robot provided by the present invention.

Fig. 3 is an enlarged schematic view of a II area of the man-machine cooperative walling robot provided in fig. 1.

Fig. 4 is an enlarged schematic view of a region III of the man-machine cooperative walling robot provided in fig. 1.

Fig. 5 is an enlarged schematic view of a VI area of the man-machine cooperative walling robot provided in fig. 1.

Fig. 6 is a front view of the human-machine cooperative walling robot provided in fig. 1.

Fig. 7 is a top view of the human-machine cooperative walling robot provided in fig. 1.

Fig. 8 is an enlarged structural view of a work area indicating system included in the man-machine-operated wall building robot provided in fig. 1.

Description of the main elements

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Referring to fig. 1-5, fig. 1-2 are schematic views illustrating an embodiment of a human-machine cooperation wall building robot according to the present invention. Fig. 3 is an enlarged schematic view of a II area of the man-machine cooperative walling robot provided in fig. 1. Fig. 4 is an enlarged schematic view of a region III of the man-machine cooperative walling robot provided in fig. 1.

The embodiment of the utility model provides a pair of people and machine cooperation robot of building a wall 100, including arm 1 and the regional indicating system 2 of operation of building a wall.

The wall building mechanical arm 1 comprises a movable chassis 10, a support upright post 20 fixed with the movable chassis 10, a power-assisted mechanism 30 fixed with the support upright post 20 and a clamp holder 40 fixed with the power-assisted mechanism 30.

The mobile chassis 10 includes a plurality of rollers and a brake structure for fixing the rollers. The provision of rollers on the mobile chassis 10 facilitates the movement of the human-machine-cooperative wall building robot 100.

The moving chassis 10 is provided with a power supply device (not shown) which supplies power to the supporting upright 20, the boosting mechanism 30 and the clamper 40. The power supply device may be a battery.

Referring to fig. 1-3 and 5, the support column 20 includes a base column 21 fixed to the mobile chassis 10, a telescopic column 22 sleeved in the base column 21, and a top-ceiling structure 23 fixed to one side surface of the telescopic column 22. The overhead structure 23 includes a guide rail 230 fixed to the telescopic column 22 and a sliding portion 232 fixed to the guide rail 230. The sliding portion 232 has a length such that its top end abuts against the ceiling when sliding on the guide rail 230. Thus, the top end of the sliding part 232 is pressed against the ceiling, and the movable chassis 10 is pressed against the ground, so that the movable chassis 10 and the sliding part 232 are firmly fixed with the bottom surface and the ceiling, and the support column 20 can be prevented from shaking. The lifting sequence of the telescopic column 22 and the top roof structure 23 can be determined according to the design and can be automatically completed by one key. The ceiling structure 23 can determine the lifting height according to the height of the ceiling.

The assist mechanism 30 includes a lifter 31 and a support arm 32. The support arms 32 extend in a direction perpendicular to the support columns 20. The end of the support arm 32 remote from the support post 20 is provided with a third locating formation 50. The lifter 31 comprises a motor and a rope 312 fixed to the motor, the rope 312 extending in the direction of the supporting arm 32 and passing through the third positioning structure 50 to fix the holder 40. In the present embodiment, the lifter 31 is a winch.

In the present embodiment, the third positioning structure 50 is a pulley.

The support arm 32 is rotatable relative to the support post 20.

In a preferred embodiment, the support arm 32 is a length adjustable folding arm.

Further, the support arm 32 is multi-stage telescopic, and the extension length of the support arm 32 can be adjusted according to the actual working range during masonry.

In the present embodiment, the support arm 32 includes a first folding arm 322 and a second folding arm 326. Second arm 326 and first arm 322 of folding rotate to be connected, so set up, have improved the degree of freedom of support arm 32, make support arm 32 can extend different length and buckle different angles to can press from both sides the building block 101 of getting different distances.

More specifically, the supporting arm 32 includes a first connecting seat 320 fixed to the telescopic column 22, a first folding arm 322 pivoted to the first connecting seat 320, a second connecting seat 324 fixed to the first folding arm 322, and a second folding arm 326 pivoted to the second connecting seat 324, the first connecting seat 320 and the top structure 23 are respectively fixed to two opposite surfaces of the telescopic column 22, the first folding arm 322 can rotate relative to the first connecting seat 320, and the second folding arm 326 can rotate relative to the second connecting seat 324.

The lifter 31 is fixed to the first coupling seat 320. The first connecting seat 320, the second connecting seat 324, the first folding arm 322, and the second folding arm 326 are respectively provided with a first positioning structure 60, and the rope 312 is connected with the lifter 31 and then fixed with the holder 40 after bypassing a plurality of the first positioning structures 60.

Referring to fig. 3 again, in the present embodiment, the first positioning structure 60 includes a mounting seat 61, a rotating disc 62, a reel 63, and a stopper plate 65. The mount pad 61 with the support arm 32 is fixed, the rolling disc 62 set up in the mount pad 61 and can be relative the mount pad 61 rotates, be provided with two spaced reference columns 64 on the rolling disc 62, reel 63 wears to establish reference column 64 and its both ends press from both sides and locate the rolling disc 62 with between the limiting plate 65, also two the center pin of reel 63 parallels, reel 63 can be relative reference column 64 rotates.

In this embodiment, the number of the first positioning structures 60 is three, and the three first positioning structures 60 are respectively disposed on the first connecting seat 320, the second connecting seat 324 and the first folding arm 322.

In this embodiment, the direction-changing device further comprises a direction-changing wheel 66 disposed on the second folding arm 326, wherein the direction-changing wheel 66 is used for changing the direction of the rope 312 and changing the extending direction of the rope 312 from the horizontal position to the vertical position.

Referring to fig. 4, the clamping device 40 includes a body 41, a first clamping plate 42 and a second clamping plate 43 at opposite ends of the body 41, and a driving portion (not shown). The body 41 includes two sides perpendicular with second grip block 43 respectively, is provided with slide rail 44 and the slider 45 that moves along slide rail 44 on every side respectively, the body 41 still includes the fixed plate 46 of U type, the relative both ends of fixed plate 46 respectively with two the slider 45 is fixed, the bottom of fixed plate 46 with the second grip block 43 is fixed, the fixed plate 46 is along with the removal of slider 45 drives second grip block 43 and removes to the direction that is close to or keeps away from first grip block 42. In the present embodiment, since the operator is required to operate the holder 40, that is, the operator is required to position the holder 40 to place the block 101 at the predetermined position, the holder 40 may further be provided with a handle, so that the operator can hold the handle to place the block 101 at the predetermined position after the holder 40 holds the block 101.

The holder 40 is provided with a first control button (not shown) and a second control button (not shown), the first control button is electrically connected with the driving part and is used for controlling the second holding plate 43 to move relative to the first holding plate 42 so as to hold the building blocks 101 with different thicknesses, and the second control button is used for controlling the lifter to release and release the rope 312 so as to realize the lifting of the holder 40. The constructor can realize the actions of lifting and clamping the clamp holder 40 and the brick by controlling the first control button and the second control button.

Referring also to fig. 6-7, the work area indicator system 2 is secured to the support post and includes a light source 70. The light source 70 is used to form an aperture 701 in the ground, and the aperture 701 defines a working area, which is the area that the gripper can reach.

The light source 70 may be a laser projection device, and when turned on, can directly project an aperture 701 with a predetermined size range on the ground.

In this embodiment, the work area indicating system 2 further includes a light guide cover 71 and a light reflecting plate 72, the light guide cover 71 includes an upper cover 710 and a lower cover, and the upper cover 710, the lower cover, and the light reflecting plate 72 are all disposed around the foundation 21. The upper cover 710 and the lower cover respectively include an annular sidewall 714, the light source 70 is disposed between the upper cover 710 and the lower cover 712, the reflector 72 is disposed above the upper cover 710, and a light beam emitted by the light source 70 exits from an opening between the annular sidewalls of the upper cover 710 and the lower cover 712, and is reflected by the reflector 72 to form the aperture 701 on the ground. The light emitting source 70 is an LED or a laser.

In summary, it is understood that the work area indicating system 2 is not limited to the shape provided in the present embodiment, as long as it can form an aperture on the ground with the support column as the center.

The utility model relates to a man-machine cooperation wall building robot when being used for building a wall, it includes following step:

the first step is as follows: providing a human-machine collaboration walling robot 100 as described above;

the second step is that: arranging the man-machine cooperation wall building robot 100 in the middle of one side of the wall to be built;

the third step: opening the luminous source 70 to form an aperture 701 on the ground, wherein the wall to be built is positioned in the aperture 701;

the fourth step: stacking the building blocks in the aperture 701; and

the fifth step: and clamping and building the building blocks by using the man-machine cooperation wall building robot 100.

In the present embodiment, when the human-machine cooperation wall building robot 100 is used for building a wall, it further includes providing an automatic mortar joint plastering device 300. The automatic mortar joint plastering device 300 is used for plastering mortar on the surface of a building block when the building block is built. The automatic mortar joint plastering device 300 comprises a mortar conveyor 80, a mortar joint plastering machine 90 and a conveying pipeline 120 connected between the mortar conveyor 80 and the mortar joint plastering machine 90. The mortar conveyor 80 is used for generating mortar, and the delivery pipe 120 is used for outputting the mortar generated by the mortar conveyor 80 to the mortar joint grouting machine 90. Mortar joint grouting machine 90 is arranged on building block 101, and mortar joint grouting machine 90 moves on building block 101 after building block 101 is positioned so as to paint horizontal mortar joints and vertical mortar joints.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a man-machine cooperation robot of building a wall, its characterized in that, including the arm of building a wall and the regional indicating system of operation, the arm of building a wall including remove the chassis, with remove the fixed support post in chassis, with support the fixed assist drive device of stand and with the fixed holder of assist drive device, assist drive device include one with support post vertically support arm and can follow the support arm extend and with the rope that the holder is connected, assist drive device can receive and release the rope is flexible in order to mention or put down the building block, the regional indicating system of operation is fixed in support post just includes a light emitting source, the light emitting source is used for forming a light ring on ground, a work district is injectd to the light ring, the work district does the region that the holder can arrive.

2. The humanoid cooperative walling robot of claim 1, wherein the support arm is rotatable relative to the upright.

3. The human-machine-cooperative walling robot of claim 2, wherein the support arm is a length-adjustable folding arm.

4. The human-machine cooperation wall building robot of claim 3, wherein the supporting arm comprises a first folding arm and a second folding arm, and the second folding arm is fixedly connected with the first folding arm in a rotating mode.

5. The humanoid cooperative walling robot of claim 3, wherein the support arm is multi-stage telescopic.

6. The humanoid cooperative walling robot of claim 1, wherein the light emitting source is in the shape of a circular ring.

7. The humanoid cooperative walling robot of claim 1, wherein the light emitting source is disposed around the support post.

8. The human-computer cooperation wall building robot according to claim 1, wherein the operation area indicating system further comprises a light guide cover and a light reflecting plate, the light guide cover comprises an upper cover and a lower cover, the upper cover, the lower cover and the light reflecting plate are all arranged around the support column, the upper cover and the lower cover respectively comprise annular side walls, the light emitting source is arranged between the upper cover and the lower cover, the light reflecting plate is arranged above the upper cover, light beams emitted by the light emitting source are emitted from an opening between the upper cover and the lower cover, and the light rings are formed on the ground after being reflected by the light reflecting plate.

9. The human-machine cooperation wall building robot according to claim 1, wherein the light emitting source is an LED or a laser.