CN110306787A - External wall template robot - Google Patents
External wall template robot Download PDFInfo
- Publication number
- CN110306787A CN110306787A CN201910710390.4A CN201910710390A CN110306787A CN 110306787 A CN110306787 A CN 110306787A CN 201910710390 A CN201910710390 A CN 201910710390A CN 110306787 A CN110306787 A CN 110306787A
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- China
- Prior art keywords
- template
- robot
- external wall
- support frame
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000003032 molecular docking Methods 0.000 claims abstract description 14
- 238000005183 dynamical system Methods 0.000 claims abstract description 8
- 238000012360 testing method Methods 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 34
- 239000007921 spray Substances 0.000 claims description 30
- 238000005498 polishing Methods 0.000 claims description 27
- 238000004873 anchoring Methods 0.000 claims description 18
- 238000012423 maintenance Methods 0.000 claims description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- 239000002002 slurry Substances 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 210000000481 breast Anatomy 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 9
- 239000000463 material Substances 0.000 abstract description 8
- 239000002184 metal Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000000465 moulding Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229920002472 Starch Polymers 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 235000019698 starch Nutrition 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002386 leaching Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/182—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like for walls and ceilings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
- B24B7/186—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like with disc-type tools
-
- C—CHEMISTRY; METALLURGY
- C04—CEMENTS; CONCRETE; ARTIFICIAL STONE; CERAMICS; REFRACTORIES
- C04B—LIME, MAGNESIA; SLAG; CEMENTS; COMPOSITIONS THEREOF, e.g. MORTARS, CONCRETE OR LIKE BUILDING MATERIALS; ARTIFICIAL STONE; CERAMICS; REFRACTORIES; TREATMENT OF NATURAL STONE
- C04B40/00—Processes, in general, for influencing or modifying the properties of mortars, concrete or artificial stone compositions, e.g. their setting or hardening ability
- C04B40/02—Selection of the hardening environment
- C04B40/0277—Hardening promoted by using additional water, e.g. by spraying water on the green concrete element
-
- 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
- E04G11/00—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs
- E04G11/06—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs for walls, e.g. curved end panels for wall shutterings; filler elements for wall shutterings; shutterings for vertical ducts
- E04G11/20—Movable forms; Movable forms for moulding cylindrical, conical or hyperbolical structures; Templates serving as forms for positioning blocks or the like
- E04G11/34—Horizontally-travelling moulds for making walls blockwise or section-wise
-
- 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
- E04G17/00—Connecting or other auxiliary members for forms, falsework structures, or shutterings
-
- 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
- E04G17/00—Connecting or other auxiliary members for forms, falsework structures, or shutterings
- E04G17/16—Members, e.g. consoles, for attachment to the wall to support girders, beams, or the like carrying forms or moulds for floors, lintels, or transoms
-
- 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
- E04G21/24—Safety or protective measures preventing damage to building parts or finishing work during construction
- E04G21/28—Safety or protective measures preventing damage to building parts or finishing work during construction against unfavourable weather influence
-
- 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
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
- E04G23/0203—Arrangements for filling cracks or cavities in building constructions
- E04G23/0211—Arrangements for filling cracks or cavities in building constructions using injection
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Electrochemistry (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of external wall template robot, including being surrounded by the guide rail of a circle and in the apparatus for work of sliding horizontal on guide rail, apparatus for work includes the main body for being connected on guide rail and being built-in with dynamical system, main body is equipped with several telescopic rods arranged along the vertical direction, the detection system spent vertically for detection template and the leveling system that several telescopic rod extension elongations are adjusted according to the testing result of detection system, the end of telescopic rod is articulated with and docks fixed docking section with template, and main body further includes the crane of an adjustable at least telescopic rod height and position.Compared with prior art, external wall template of the present invention robot can be automatically performed the building of the template of exterior wall, the security risk of personnel's construction is evaded, it improves building efficiency and reduces cost of labor, the limitation caused by limited as manpower to template material is also avoided, simultaneously conducive to the popularization of each class template such as metal.
Description
Technical field
The present invention relates to automation Architectural Equipment technical field more particularly to a kind of external wall template robots.
Background technique
In the construction process of the low floor building such as civilian self-built housing, wall, which is usually used, first to be built template and pours again
The mode of cementitious material is built to form, template includes inner template and exterior sheathing, and the two is relatively built to cross a wall space,
Cementitious material is mainly concrete, and the basic of wall can be completed in form removal after the concrete setting wait pour into wall space
Molding the endings such as finally carries out benefit slurry again, strikes off, polish and handling.
Currently, building for template need to mainly be completed by worker, due to limited personnel, most templates is by timber etc.
Low-density materials are made into, so that worker can complete to build, dismantle work with transport template.But the intensity of wood quality template compared with
Small, the stress that can bear in casting process is small, and the probability for damaged template occur is larger.If using high-intensitive metal material
Material production template, the then problem that weight can be brought too big cause the burden of worker excessive.
In addition, too big danger is not present when building template, but building the outer of exterior wall for the interior wall in building
When portion's template, worker need to be in the eminence except building, at this moment there is the security risk fallen.Furthermore as society passes through
The raising of Ji and quality of life, more and more young men are unwilling that being engaged in that arduous template is built waits building operations, building trade
The missing of middle labour is also assistant officer's problem to be solved.
Therefore, it is necessary to a kind of equipment that can build automatically outer wall template be provided, to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide the equipment that one kind can build automatically outer wall template, to solve the above problems.
To achieve the goals above, the present invention provides a kind of external wall template robots, including being surrounded by a circle
Guide rail and in the apparatus for work of sliding horizontal on the guide rail, the apparatus for work includes being connected on the guide rail and being built-in with
The main body of dynamical system, the main body are equipped with several telescopic rods arranged along the vertical direction, spend vertically for detection template
Detection system and the leveling system that several telescopic rod extension elongations are adjusted according to the testing result of the detection system, institute
The end for stating telescopic rod is articulated with and docks fixed docking section with template, and the main body further includes adjustable at least one described flexible
The crane of bar height and position.
In robot, is docked by the dependency structure being arranged in the docking section of several telescopic rod ends and template and grabbed
Modulus plate, then apparatus for work is moved to designated position along guide rail, by the vertical degree of detection system detection template, and passes through tune
Flat system adjusts the extension elongation of several telescopic rods, it is ensured that template is in substantially vertical state.In casting process, telescopic rod is protected
Hold the support to template.After pouring completion and the first one-step forming of exterior wall, telescopic rod retraction separates template with exterior wall, and then operation fills
It sets further along the mobile crawl template of track and is moved to next job position.Compared with prior art, external wall of the present invention
Template robot can be automatically performed the building of outer wall template, evade the security risk of personnel's construction, improve building effect
Rate simultaneously reduces cost of labor, while also avoiding the limitation caused by limited as manpower to template material, is conducive to metal mold
The popularization of plate.
Preferably, the main body includes pedestal, the dynamical system is set in the pedestal, is equipped with and is arrived in the pedestal
Liftable screw rod when up to design project position for stationary body, the lifting are erected on the pedestal and including undercarriage
With the restocking of the relatively described undercarriage lifting, the quantity of the telescopic rod is three and is respectively arranged on the pedestal, undercarriage and restocking.
Preferably, the guide rail is equipped with several non-interference described apparatus for work.
Preferably, the apparatus for work further includes the workpiece polishing mechanism set on the main body, the workpiece polishing mechanism includes can be right
The polishing pad that outer surface of wall is polished.
Specifically, the workpiece polishing mechanism further includes the first arm, the second arm and telescopic arm, and first arm is closed by first
Section is rotatablely arranged at the main body, and second arm is rotatablely arranged at first arm by second joint, described
Telescopic arm is rotatablely arranged at second arm by third joint, and the polishing pad is set to the end of the telescopic arm.
More specifically, the workpiece polishing mechanism further include one be set to the telescopic arm in and the extended end in the polishing pad
The benefit in face starches pipe.
Preferably, further include the support frame for being fixed on the anchoring mechanism on the outside of exterior wall Yu being carried on the anchoring mechanism,
The guide rail is laid on a workbench of support frame as described above, the anchoring mechanism fixed by the way of being inserted in exterior wall or
It is fixed by the way of encircling exterior wall.
Specifically, the anchoring mechanism is included in the lifting rail extended up and down on the outside of exterior wall, and support frame as described above is connected to
Driving support frame as described above is equipped between the lifting rail and support frame as described above and the lifting rail along the lifting rail
The driving mechanism risen.
Specifically, support frame as described above includes the internal frame of close exterior wall, the outrigger opposite with internal frame, is fixed on internal frame and outrigger
Lower end between chassis and upper and lower ends be respectively pivoted to the brace of the outrigger and internal frame, the workbench can rise
Drop ground is set between the internal frame and outrigger.
Specifically, protection mechanism is additionally provided on support frame as described above, the protection mechanism includes ballistic support bar, by described anti-
The protective net and prior-warning device for protecting they sup-port and being located on the outside of the apparatus for work.
Specifically, further include hang be located at below support frame as described above can be along the maintenance Hanging Basket that support frame moves.
Specifically, a beam form support device that can be slided along support frame as described above, the beam are additionally provided with above support frame as described above
Mould support device includes pedestal, the beam form telescopic rod on the pedestal and is set to manned on the beam form telescopic rod
The end of pedal, the beam form telescopic rod is equipped with beam form docking section, and the beam form telescopic rod is articulated in the pedestal and can be opposite
The pedestal overturning is packed up；The manned pedal has folding guardrail plate.
More specifically, the beam form support device further includes a telescopic supporting rod being articulated on the pedestal, it is described to stretch
The end of contracting support rod has the screw head in rotatable insertion exterior wall.
It specifically, further include being set to the supply air system on the outrigger of support frame as described above and being set to below the workbench
Spray equipment, the spray equipment include it is multiple can the spray head that is sprayed of External Wall.
More specifically, the anchoring mechanism includes the screw rod being embedded in exterior wall, the screw rod is that hollow structure is simultaneously built-in
There is one end to expose the sparge pipe on the outside of exterior wall, the spray equipment further includes the pipe fitting for being connected to the spray head, and pipe connects
Head is connected to one end of the sparge pipe, the other end of the sparge pipe expose the screw rod with the medial surface to the exterior wall into
Row spray.
It specifically, further include the radical occlusion device at the top of support frame as described above and being located above the apparatus for work, it is described
Radical occlusion device includes telescopic top supporting rod and by the distracted block piece of the top supporting rod.
More specifically, the radical occlusion device further includes the top water pipe being arranged on the top supporting rod, the top
The multiple spray ports of water pipe opening.
Detailed description of the invention
Fig. 1 is the structure composition schematic diagram of external wall template of the present invention robot.
Fig. 2 is the top view of external wall template of the present invention robot.
Fig. 3 is schematic diagram when workpiece polishing mechanism stretches out.
Fig. 4 is schematic diagram when workpiece polishing mechanism is withdrawn.
Fig. 5 is the enlarged drawing in Fig. 1 at A.
Specific embodiment
Description is made to presently preferred embodiments of the present invention below with reference to the Figure of description provided.
As shown in Figure 1, being executed certainly in building construction process the present invention provides a kind of external wall template robot
The function of the dynamic outboard template a for building exterior walls of buildings b, so as to liberate and improve construction personnel from template building
The degree of automation of constructions work.
This external wall template robot includes being surrounded by the guide rail 1 of a circle and in the operation dress of sliding horizontal on guide rail 1
Set 2.Guide rail 1 is centered around the periphery for needing molding exterior wall b, and shape is corresponding with exterior wall b shape, if shared four sides exterior wall b, then
The shape of guide rail 1 be quadrangle, if having five face exterior wall b then guide rail 1 shape be pentagon, and so on.Apparatus for work 2 wraps
Telescopic rod 21, detection system 22 and the leveling system for including main body 20 and being arranged in main body 20.Main body 20 is connected on guide rail 1 simultaneously
It is built-in with dynamical system, which pushes apparatus for work 2 to slide on guide rail 1.The quantity of telescopic rod 21 has several simultaneously
It is alternatively arranged along the vertical direction, telescopic rod 21 is specially three in the present embodiment, and but not limited to this.The end pivot of telescopic rod 21
It is connected to and docks fixed docking section 211 with template a, three docking sections 211 of three telescopic rods 21 can be right when grabbing template a
It is connected to the upper end, lower end and medium position of template a.Detection system 22 is used for the detection template a after telescopic rod 21 grabs template a
Vertical degree can be the system for carrying out vision-based detection by camera, be also possible to using range sensor to upper and lower different positions
Set the system for carrying out ranging to be spent vertically.The effect of leveling system is several according to the adjusting of the testing result of detection system 22
The extension elongation of telescopic rod 21, so that three docking sections 211 are in same vertical position to ensure that template a is substantially vertical.Leveling
System includes the controller and related control device being integrated in the control system of this external wall template robot, such as when
When telescopic rod 21 is the bar of hydraulic-driven, leveling system is realized by control valve on-off, oil circuit disengaging etc. to telescopic rod 21
The adjusting of overhang.
Specifically, main body 20 includes pedestal 23 and the crane 24 that is arranged on pedestal 23, pedestal 23 is connected to guide rail 1
On, dynamical system is set in pedestal 23.Guide rail 231 also is provided at the top of pedestal 23, crane 24 is connected to guide rail 231 so as to phase
To the horizontal sliding of pedestal 23, but crane 24 can also be directly anchored on pedestal 23.Crane 24 is including undercarriage 241 and relatively
The restocking 242 that undercarriage 241 is gone up and down, crane 24 are also possible to the device of hydraulic-driven lifting.Three telescopic rods 21 are respectively arranged on
Pedestal 23, undercarriage 241 and restocking 242, pass through the lifting of crane 24, thus it is possible to vary after first telescopic rod 21 grabs template a
Height and position, when height adjustment in place after other two telescopic rod 21 carry out crawl fixation again.Why set in main body 20
The height and position that crane 24 is to be able to adjusting template a is set, thus the convenient construction site moving die plate a in complexity,
Convenient for template a is precisely in place.
Four corners of pedestal 23 can also be respectively arranged with the screw rod 232 that can be gone up and down, when the movement of apparatus for work 2 reaches
Four screw rods 232 can lock swivel nut, the screw hole being correspondingly arranged in ground or other support constructions down after to design project position
In, to lock the position of apparatus for work 2, stablize it in operation process firm.It is first when apparatus for work 2 need to move again
Screw rod 232 is packed up.The quantity of screw rod 232 may be more.
Dynamical system includes the components such as motor and wheel, is driven wheel to rotate on guide rail 1 by motor and is realized operation and fill
2 movement is set, to guarantee that mobile steady guide rail 1 is settable parallel multiple.Guide rail 1 also can be set to the guide rail 1 with tooth, and
Dynamical system further include be driven by motor and with 1 meshed gears of guide rail, utilize the meshing relation of gear and guide rail 1 to push operation
Device 2 moves on guide rail 1.
Docking section 211 can be made into a kind of grab, and the groove with grab cooperation is reserved in template a production, pass through card
Hook and groove are clasped come the crawl for realizing telescopic rod 21 for template a.In other implementations, docking section 211
It can also be vacuum chuck or electromagnet, template a grabbed in a manner of through absorption.
This external wall template robot further includes the anchoring mechanism 3 being fixed on the outside of exterior wall b and is carried on anchoring mechanism 3
On support frame 4, guide rail 1 above-mentioned is arranged on support frame 4, therefore apparatus for work 2 is carried by support frame 4.
Anchoring mechanism 3 is fixed on the outside of lower layer of building of exterior wall b, and the apparatus for work 2 on support frame 4 carries out
The template a of one layer of exterior wall b is built.Anchoring mechanism 3 is fixed by the way of being inserted in exterior wall b in the present embodiment, anchoring mechanism 3
Multiple screw rods 31 squeezed into exterior wall b, these screw rods 31 are the bases for supporting support frame 4 and apparatus for work 2.In addition, anchoring
Mechanism 3 can also be fixed by encircling and being locked in the mode outside exterior wall b.Anchoring mechanism 3 further includes being arranged in screw rod 31
On the lifting rail 32 extended up and down on the outside of exterior wall b, support frame 4 is connected to lifting rail 32 and support frame 4 is led with climbing
The driving mechanism 35 that driving support frame 4 rises along lifting rail 32 is equipped between rail 32.Lifting rail 32 can be the shape of rack gear
Formula, and driving mechanism 35 include motor and with 32 meshed gears of lifting rail, when motor drives gear to rotate gear utilize with
The meshing relation of lifting rail 32 climbs on lifting rail 32.It, can be in increase power and ensuring that climbing for support frame 4 is firm
Up and down direction and circumferential oppositely arranged multiple groups driving mechanism 35.Further, it is also possible to the different support of setting height on guide rail 1
Position, and hydraulic support system used in similar tower crane is set on support frame 4, support level is supported using hydraulic support system
Top is to support support frame 4.Above-mentioned anchoring mechanism 3 can be completed by another robot on support frame 4, when outside This floor
After wall b is formed, installation (the squeezing into and lifting rail 32 including screw rod 31 of anchoring mechanism 3 is executed by this robot
Laying), then the height to This floor that can climb of support frame 4 makes apparatus for work 2 that can carry out operation in a upper floor.
Specifically, support frame 4 includes the internal frame 41 of close exterior wall b, the outrigger 42 opposite with internal frame 41, is fixed on internal frame 41
Chassis 43 and upper and lower ends between the lower end of outrigger 42 are respectively pivoted to the brace 44 of outrigger 42 Yu internal frame 41.Support
Frame 4 further includes set on the workbench 45 between internal frame 41 and the upper end of outrigger 42, and guide rail 1 is laid on workbench 45.Branch
Quadrangle of this centre of support 4 equipped with brace 44 is solid and reliable in structure, it is ensured that the good branch of apparatus for work 2
Support.Preferably, workbench 45 is liftably set in support frame 4 by a hydraulic cylinder 46, and hydraulic cylinder 46 itself
What is slided up and down is set on internal frame 41, so that the varying height positions of the apparatus for work 2 on workbench 46, flexibility when operation
It is higher.Support frame 4 only needs to meet sustainable this demand of apparatus for work 2, and structure is not limited in the present embodiment
Form.
Also there is protection mechanism 49, protection mechanism 49 supports simultaneously including ballistic support bar, by ballistic support bar on support frame 4
Protective net and prior-warning device positioned at 2 outside of apparatus for work.Prior-warning device such as can be mounted in ballistic support bar or protection
Online proximity sensor etc., for whether detecting the position of apparatus for work 2 too close to outside.Protection mechanism 49 plays safety
Protective action can avoid the object accidental falling on support frame 4.The extension of a rotatable stretching structure is additionally provided on support frame 4
Bar 48, after apparatus for work 2 moves in place, one end of hanging rod 48 is separatably articulated to 24 top of crane of main body 20, with
This maintains the stabilization of apparatus for work 2.First hanging rod 48 is detached from from main body 20 when apparatus for work 2 needs to move again.
The lower end of support frame 4, which is hung, has been located at a maintenance Hanging Basket 40, and maintenance Hanging Basket 40 is for loading this external wall template machine
Tool and part etc. needed for device people's daily maintenance, the progress for maintaining easily, maintaining.Maintenance Hanging Basket 40 is not as support frame 4
It in the ring structure of whole circle setting, and is only slidably connected under support frame 4, can be set in the circumferential direction of support frame 4 more
A maintenance Hanging Basket 40, will safeguard which position Hanging Basket 40 is moved to when which position needs to be serviced maintenance.In addition, dimension
Protecting Hanging Basket 40 itself is also liftable structure, for example its lifting can be driven by hydraulic telescopic rod.Safeguard that Hanging Basket 40 can also
It is manned, it which is provided with a handrail 401 to guarantee personnel safety, upper part can turn down down and makes the handrail 401 be in handrail 401 when in use
Inverted L shape, can turn down pack up when not in use.
In addition, further including ventilating system in robot, ventilating system mainly includes being set to support frame 4 and protection mechanism 49
On draught fan 47 and other related necessary devices of such as motor, carry out exhausting, air-supply using ventilating system, can improve
Working environment on support frame 4.Draught fan 47 also can be set on maintenance Hanging Basket 40.
As shown in Fig. 2, support frame 4 and guide rail 1 are arranged around exterior wall b, can be set on guide rail 1 non-interference
Several apparatus for work 2 are to improve efficiency.
In the building of part, roof and exterior wall b intersection are equipped with house beam, and the position of house beam is different from exterior wall b therefore not
It can be formed by the template a of exterior wall b is unified, also need in addition to increase beam forms c at this time to form the part of house beam.To cope with this feelings
Condition, this external wall template robot can also include a beam form support device 7, and beam form support device 7 is arranged in support frame 4
Upper end.A horizontal extension is set on protection mechanism 49 and is surrounded by the sliding rail 491 of a circle and by beam form specifically, can be
Support device 7 is connected on sliding rail 491, so that beam form support device 7 can be slided around exterior wall b.It can also be set on protection mechanism 49
Other sliding rails vertically extended connecting with sliding rail 491 are set, keep beam form support device 7 i.e. horizontally slidable, it can also be with
It slides up and down.Beam form support device 7 includes pedestal 70 and the beam form telescopic rod 71 and telescopic supporting rod 72 on pedestal 70, beam
Mould telescopic rod 71 and telescopic supporting rod 72 are articulated on pedestal 70, and associated power device and transmission mechanism are equipped in pedestal 70
Drive beam form telescopic rod 71 and telescopic supporting rod 72 so that beam form telescopic rod 71 and telescopic supporting rod 72 can opposite base 70 it is flat
It sets or overturns and pack up, beam form support device 7 is maintained in collapsed state in the case where not needing using beam forms c.Beam form is stretched
The end of contracting bar 71 is equipped with beam form docking section 74, and beam form docking section 74 with beam forms c for docking, the end of telescopic supporting rod 72
With the screw head 75 in rotatable insertion exterior wall b.After the completion of exterior wall b molding, the beam form telescopic rod 71 of beam form support device 7
It is moved to above exterior wall b after grabbing beam forms c from designated position, then telescopic supporting rod 72 stretches out and is driven into screw head 75
Using as a brace foundation, beam forms c can be carried, is located in realize building for beam forms c on screw head 75 in exterior wall b,
Pouring for house beam can be carried out after finally putting up beam form inner panel by other robot.In addition, being set on beam form telescopic rod 71
There is a station 77 capable of sliding back and forth, is additionally provided with a folding guardrail plate 771 on station 77, the folding guardrail plate 771
It can turn down and be holded up to play a protective role with respect to station 77, can be overturned on station 77 to reduce sky again when not in use
Between occupy.One beam form telescopic rod 71 and telescopic supporting rod 72 are a set of component, can be horizontally disposed with multiple components in pedestal 70, with
Beam forms c longer to length is well docked.
In robot, carried out pair by the dependency structure that is arranged on the docking section 211 of several 21 ends of telescopic rod and template a
It connects and grabs template a, then apparatus for work 2 is moved to designated position along guide rail 1, by the perpendicular of 22 detection template a of detection system
It directly spends, and adjusts the extension elongation of several telescopic rods 21 by leveling system, it is ensured that template a is in substantially vertical state.It is pouring
During building, telescopic rod 21 keeps the support to template a.After pouring completion and the first one-step forming of exterior wall b, the retraction of telescopic rod 21 makes mould
Plate a is separated with exterior wall b, and then apparatus for work 2 further along the mobile crawl template a of track and is moved to next job position.With
The prior art is compared, and external wall template of the present invention robot can be automatically performed the building of exterior wall b template a, has evaded people
The security risk of member's construction improves building efficiency and reduces cost of labor, while also avoiding causing since manpower limits
The limitation to template a material, conducive to the popularization of metal form a.
From figure 1 it appears that the bottom part of the template a built be stick on molded good exterior wall b, if
The outer surface exterior wall b has that roughness is excessively high, then may result in the shakiness of building of template a, or leaks when pouring
Slurry.Therefore, the apparatus for work 2 of robot can also include a workpiece polishing mechanism 29, for the External Wall b before building template a
It polishes.Referring to Fig. 3 and Fig. 4, workpiece polishing mechanism 29 includes the first arm 291, the second arm 292, telescopic arm 293 and polishing pad
294.First arm 291 is rotatablely arranged at main body 20 by the first joint 295, and the second arm 292 can be turned by second joint 296
It is set to the first arm 291 dynamicly, telescopic arm 293 is rotatablely arranged at the second arm 292, polishing pad 294 by third joint 297
Set on the end of telescopic arm 293.There are three turning joints for the tool of workpiece polishing mechanism 29 of this structure, in the cooperation of three turning joint
Lower polishing pad 294 can be movable in a certain range with respect to metope, improves the flexibility of polishing pad 294.It is being beaten
The first arm 291, the second arm 292 and telescopic arm 293 are held in a straight line when mill, and telescopic arm 293 is stretched out close to metope, by polishing pad
294 rotate and polish metope, and second joint 296 receives the second arm 292 with 293 bottom of telescopic arm after polishing
It is good, to not interfere with building for template a.Preferably, workpiece polishing mechanism 29 further includes one in telescopic arm 293 and extended
Benefit in the end face of polishing pad 294 starches pipe 298, mends slurry pipe 298 by piping connection to the container for storing cementitious material, is beating
If finding that metope has recess, hollow in 294 bruting process of mill, then realized by mending slurry pipe 298 injection slurry to metope
Repairing, it is ensured that flatness.
It looks back Fig. 1 generally also to conserve the wall of pouring molding, the mode of maintenance is watering, spray
Leaching, therefore spray equipment 5 is equipped in robot also in support frame 4, spray equipment 5 is for the exterior wall b poured
, therefore its position is in 45 lower section of workbench, it is corresponding with exterior wall b.Specifically, spray equipment 5 is fixed on branch including multiple
The internal frame 41 of support 4 and towards the spray head of exterior wall b 51, spray head 51 carries out spray maintenance to metope.The reason of spray equipment 5 is worked as
Right further includes other devices such as water pump and water pipe, these devices belong to those skilled in the art according to needed for spray equipment 5
Realize function can self-setting obtain, do not introduce.Referring to Fig. 5, it is known that screw rod 31 is hollow structure, in order to external
The medial surface of wall b also carries out spray maintenance, a sparge pipe 34 is built-in in screw rod 31, one end of sparge pipe 34 is outside exterior wall b
Side is exposed, and the other end exposes from screw rod 31 on the inside of exterior wall b and towards metope.Spray equipment 5 further includes being connected to spray head
51 pipe fitting 53, pipe fitting 53 is connected to one end of the sparge pipe 34, therefore water energy enough passes through pipe fitting 53 and enters water spray
Pipe 34 simultaneously sprays inner wall surface.So far, the wet curing on the inside and outside two sides of External Wall b may be implemented.
In addition, robot further includes blocking set on the radical occlusion device 6 support frame 4 top and be located above apparatus for work 2
Device 6 include be fixed on protection mechanism 49 and can with respect to the lifting seat 60 of the lifting of protection mechanism 49, set on lifting seat 60 can
Flexible top supporting rod 61 and by the distracted block piece of top supporting rod 61, block piece is cloth or plastic foil etc..Preferably,
Top supporting rod 61 is rotatably arranged on lifting seat 60.Radical occlusion device 6 further includes being arranged on top supporting rod 61 and can
With the movable top water pipe 63 of top supporting rod 61, top water pipe 63 is open multiple spray ports 65.Constructions work environment is in
Outdoor can encounter the operating condition exposed to the sun and rain, therefore radical occlusion device 6 is arranged to provide the effect of sunshade or rain cover, and pass through
Spray port 65 carries out water mist spray, can also cool down under the high temperature conditions.
The above disclosure is only a preferred example of the present invention, effect be it is convenient it will be understood by those skilled in the art that
And implement accordingly, of course, the scope of rights of the present invention cannot be limited by this, therefore according to made by scope of the present invention patent
Equivalent variations still falls within the range that the present invention is covered.
Claims (17)
1. a kind of external wall template robot, it is characterised in that: including being surrounded by the guide rail of a circle and in water on the guide rail
Smoothly dynamic apparatus for work, the apparatus for work includes the main body for being connected on the guide rail and being built-in with dynamical system, described
Main body is equipped with several telescopic rods arranged along the vertical direction, the detection system spent vertically for detection template and according to described
The testing result of detection system adjusts the leveling system of several telescopic rod extension elongations, and the end of the telescopic rod is articulated with
Fixed docking section is docked with template, the main body further includes the crane of the adjustable at least one telescopic rod height and position.
2. external wall template as described in claim 1 robot, it is characterised in that: the main body includes pedestal, described dynamic
Force system is set in the pedestal, is equipped with when reaching design project position in the pedestal for the liftable of stationary body
Screw rod, the lifting is erected on the pedestal and the restocking including undercarriage with the relatively described undercarriage lifting, the telescopic rod
Quantity is three and is respectively arranged on the pedestal, undercarriage and restocking.
3. external wall template as described in claim 1 robot, it is characterised in that: the guide rail is equipped with non-interference
Several described apparatus for work.
4. external wall template as described in claim 1 robot, it is characterised in that: the apparatus for work further includes being set to institute
State the workpiece polishing mechanism of main body, the workpiece polishing mechanism includes can the polishing pad polished of External Wall metope.
5. external wall template as claimed in claim 4 robot, it is characterised in that: the workpiece polishing mechanism further includes first
Arm, the second arm and telescopic arm, first arm are rotatablely arranged at the main body by the first joint, and second arm is logical
It crosses second joint and is rotatablely arranged at first arm, the telescopic arm is rotatablely arranged at described by third joint
Two arms, the polishing pad are set to the end of the telescopic arm.
6. external wall template as claimed in claim 5 robot, it is characterised in that: the workpiece polishing mechanism further includes one being set to
In the telescopic arm and the benefit of the extended end face in polishing pad slurry is managed.
7. external wall template as described in claim 1 robot, it is characterised in that: further include the anchor being fixed on the outside of exterior wall
Gu mechanism and the support frame being carried on the anchoring mechanism, the guide rail are laid on a workbench of support frame as described above,
The anchoring mechanism is fixed by the way of being inserted in exterior wall or is fixed by the way of encircling exterior wall.
8. external wall template as claimed in claim 7 robot, it is characterised in that: the anchoring mechanism is included in outside exterior wall
The lifting rail that side extends up and down, support frame as described above be connected to the lifting rail and support frame as described above and the lifting rail it
Between be equipped with the driving mechanism that rises along the lifting rail of driving support frame as described above.
9. external wall template as claimed in claim 7 robot, it is characterised in that: support frame as described above includes close to exterior wall
Internal frame, the outrigger opposite with internal frame, the chassis being fixed between internal frame and the lower end of outrigger and upper and lower ends are respectively pivoted to
The brace of the outrigger and internal frame, the workbench are liftably set between the internal frame and outrigger.
10. external wall template as claimed in claim 7 robot, it is characterised in that: be additionally provided with protection on support frame as described above
Mechanism, the protection mechanism include ballistic support bar, are supported by the ballistic support bar and be located on the outside of the apparatus for work
Protective net and prior-warning device.
11. external wall template as claimed in claim 7 robot, it is characterised in that: further include hanging to be located at support frame as described above
Lower section can be along the maintenance Hanging Basket that support frame moves.
12. external wall template as claimed in claim 7 robot, it is characterised in that: be additionally provided with one above support frame as described above
The beam form support device that can be slided along support frame as described above, the beam form support device includes pedestal, the beam on the pedestal
It is docked equipped with beam form the end of mould telescopic rod and the manned pedal being set on the beam form telescopic rod, the beam form telescopic rod
Portion, the beam form telescopic rod be articulated in the pedestal and can pedestal overturning relatively pack up；The manned pedal has and can roll over
Stack guard breast board.
13. external wall template as claimed in claim 12 robot, it is characterised in that: the beam form support device further includes
One is articulated in the telescopic supporting rod on the pedestal, and the end of the telescopic supporting rod has the screw rod in rotatable insertion exterior wall
Head.
14. external wall template as claimed in claim 7 robot, it is characterised in that: further include being set to support frame as described above
Supply air system on outrigger and the spray equipment below the workbench, the spray equipment include it is multiple can be external
The spray head that wall is sprayed.
15. external wall template as claimed in claim 14 robot, it is characterised in that: the anchoring mechanism includes being embedded in
Screw rod in exterior wall, the screw rod are hollow structure and are built-in with sparge pipe of one end exposing on the outside of exterior wall, the spray dress
Setting further includes the pipe fitting for being connected to the spray head, and pipe fitting is connected to one end of the sparge pipe, the sparge pipe it is another
Expose the screw rod and sprayed with the medial surface to the exterior wall in one end.
16. external wall template as claimed in claim 7 robot, it is characterised in that: further include being set to support frame as described above top
Portion and the radical occlusion device being located above the apparatus for work, the radical occlusion device include telescopic top supporting rod and by institute
State the distracted block piece of top supporting rod.
17. external wall template as claimed in claim 16 robot, it is characterised in that: the radical occlusion device further includes arrangement
Top water pipe on the top supporting rod, the multiple spray ports of top water tube opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910710390.4A CN110306787A (en) | 2019-07-31 | 2019-07-31 | External wall template robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910710390.4A CN110306787A (en) | 2019-07-31 | 2019-07-31 | External wall template robot |
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| Publication Number | Publication Date |
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| CN110306787A true CN110306787A (en) | 2019-10-08 |
Family
ID=68082778
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910710390.4A Pending CN110306787A (en) | 2019-07-31 | 2019-07-31 | External wall template robot |
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Cited By (6)
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| CN110842939A (en) * | 2019-11-19 | 2020-02-28 | 广东博智林机器人有限公司 | Polishing robot |
| CN111379224A (en) * | 2020-03-19 | 2020-07-07 | 杨继承 | Wet joint construction equipment and wet joint construction method |
| CN111497962A (en) * | 2020-04-30 | 2020-08-07 | 江苏省苏科建设技术发展有限公司 | Self-adsorption type climbing mechanism for high-altitude building |
| CN112727072A (en) * | 2020-12-24 | 2021-04-30 | 天蓬智慧建造(广东)科技有限公司 | Construction method of cast-in-place wall |
| CN113070952A (en) * | 2021-04-09 | 2021-07-06 | 深圳市开源景科技有限公司 | Cutting device for preventing wood from being burnt in polishing and cutting processes |
| CN116791873A (en) * | 2023-05-11 | 2023-09-22 | 陕西建工第三建设集团有限公司 | Automatic turnover plate climbing construction method for attached lifting scaffold |
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| CN113070952A (en) * | 2021-04-09 | 2021-07-06 | 深圳市开源景科技有限公司 | Cutting device for preventing wood from being burnt in polishing and cutting processes |
| CN116791873A (en) * | 2023-05-11 | 2023-09-22 | 陕西建工第三建设集团有限公司 | Automatic turnover plate climbing construction method for attached lifting scaffold |
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Effective date of registration: 20240312 Address after: 518109 Building 12, 12th Floor, Block A, Baoneng Science and Technology Park, Qinghu Community, Longhua Street, Longhua District, Shenzhen City, Guangdong Province Applicant after: Guangdong Tianlin High Tech Co.,Ltd. Country or region after: China Address before: 94-94, 2nd Floor, No. 149 Huangpu Avenue Middle, Tianhe District, Guangzhou City, Guangdong Province, 510000 Applicant before: Just as (Guangdong) Robot Technology Co.,Ltd. Country or region before: China |