CN110685446A - Full-automatic wall building process - Google Patents
Full-automatic wall building process Download PDFInfo
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- CN110685446A CN110685446A CN201910898070.6A CN201910898070A CN110685446A CN 110685446 A CN110685446 A CN 110685446A CN 201910898070 A CN201910898070 A CN 201910898070A CN 110685446 A CN110685446 A CN 110685446A
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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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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/20—Tools or apparatus for applying mortar
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/20—Tools or apparatus for applying mortar
- E04G21/201—Trowels
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a full-automatic wall building process, which comprises the following process steps: firstly, positioning a wall building robot; secondly, placing the building block in place; step three, clamping the building blocks; step four, plastering in place: the clamping mechanism is driven by the multi-shaft mechanical arm to move to the position below the mortar plastering head; step five, plastering: plastering a surface of the building block; step six, plastering step two: after the building block rotates 90 degrees, plastering is carried out on the other surface of the building block; step seven, building a wall: the clamping mechanism clamps the building blocks coated with mortar, the multi-shaft mechanical arm drives the clamping mechanism to move the building blocks to the wall surface, and then the building blocks are put down and moved to the adjacent building blocks to be close to each other; and step eight, returning to the step three until the wall surface is built to the specified height. The invention relates to a full-automatic wall building process, which can realize automatic identification, positioning, grabbing, plastering and full-automatic construction of building blocks on a wall.
Description
Technical Field
The invention relates to a wall building process, in particular to a process method for carrying out full-automatic masonry operation based on self-propelled robot equipment, and belongs to the technical field of building construction.
Background
At present, in the field of building masonry construction, building blocks need to be manually built into a wall body to realize the isolation of indoor space; wall building is a construction operation with high labor intensity, and particularly, with the improvement of a building construction process, the existing building structure needs to adopt larger building blocks to build a wall after a concrete frame is finished, so that the building operation can consume the physical strength of workers, and the building blocks need to be manually lifted to a scaffold along with the rising of the wall in the wall building process, so that the physical strength consumption of the workers for auxiliary operation is also very high; meanwhile, with the increasing shortage of labor resources in China, and the general reluctance of workers in the new generations to carry out construction work with strong physical labor, the masonry industry faces a huge gap in manpower as a construction work with extremely high requirements on technology and physical strength.
Therefore, some enterprises have developed an automatic wall building robot to replace manual operation, for example, "a wall building robot" disclosed in chinese patent 201410381613.4, which can grab and plaster a building block, but the overall structure is complex, and needs a plurality of auxiliary facilities to cooperate, and plaster is applied in a mortar spraying manner, so that plaster is not uniform enough, and the wall building effect is affected, and the robot is of a fixed structure, and therefore cannot move, can only be constructed at a fixed position, and is limited by the operating radius, in order to complete construction smoothly, either the volume is increased to increase the operating radius, or the robot needs to be disassembled and assembled many times to adapt to different construction positions, and whatever the mode makes the robot be unsuitable for the high efficiency requirement of field operation and the simple operation requirement of workers.
Therefore, on this basis, some enterprises have developed "a robot" as disclosed in chinese patent 201410786138.9, which incorporates the function of moving a limited distance along a previously laid guide rail; but the guide rail is laid and levelness accurate adjustment faces very big difficulty at the job site, and its over-and-under type stand has the stability problem that high focus brought in addition, and the manipulator of adoption snatchs the mode of building block and is located the huge mechanism of stand top and also does not accord with the space restriction condition of indoor building by laying bricks or stones to lead to it to possess practical value.
In conclusion, a wall building process which meets the practical building construction space limitation conditions, can be quickly deployed in a field and automatically move in an operation range, and meets the weight requirement of grabbing the existing mainstream large building blocks under the mechanical arm workload is urgently needed in the field.
Disclosure of Invention
The invention aims to overcome the defects and provide a full-automatic wall building process which can realize automatic building block grabbing, mortar applying and wall building and mounting operations, thereby replacing manual work to carry out efficient and high-quality wall building operation.
The purpose of the invention is realized as follows:
a full-automatic wall building process comprises the following process steps:
step one, positioning a wall building robot: the wall building robot with the crawler-type traveling mechanism enters a construction site and travels to a construction position;
step two, placing the building blocks in place: carrying at least two pallets loaded with building blocks to a construction position;
step three, clamping: a multi-shaft mechanical arm of the wall building robot drives the clamping mechanism to move to the tray to clamp the building block;
step four, plastering in place: the clamping mechanism is driven by the multi-shaft mechanical arm to move to the position below the mortar plastering head;
step five, plastering: in the process of smearing mortar on the surface of the building block by the mortar smearing head, a clamping mechanism for clamping the building block makes translational motion under the driving of a multi-shaft mechanical arm, and the mortar is evenly scraped and smeared on the surface of the building block by a scraper on the mortar smearing head;
step six, plastering step two: the clamping mechanism drives the building block to rotate by 90 degrees under the drive of the multi-shaft mechanical arm, the mortar plastering head plasters mortar on the other surface of the building block again, the clamping mechanism for clamping the building block performs translational motion under the drive of the multi-shaft mechanical arm, and the mortar is uniformly scraped on the surface of the building block by using a scraper on the mortar plastering head;
step seven, building a wall: the clamping mechanism clamps the building blocks coated with mortar, the multi-shaft mechanical arm drives the clamping mechanism to move the building blocks to the wall surface, and then the building blocks are put down and moved to the adjacent building blocks to be close to each other;
and step eight, returning to the step three until the wall surface is built to the specified height.
According to the full-automatic wall building process, the clamping mechanism at the tail end of the multi-shaft mechanical arm carried on the crawler-type traveling mechanism of the wall building robot has a spherical operation envelope, so that the site building block can be placed flexibly, and the requirement for placing the building block at a fixed point or arranging a fixed conveying belt can be eliminated.
In the third step, the position of the building block is identified and corrected by using the visual identification mechanism on the clamping mechanism.
In the fifth step and the sixth step, a mortar storage tank is communicated with a mortar plastering head arranged on a walling robot through a delivery pump.
Compared with the prior art, the invention has the beneficial effects that:
in the process, the crawler-type walking base is adopted to conveniently move in construction occasions (the walking base has the advantages that the grounding area is increased by ①, so that the equipment stability is improved, the floor load is reduced, the moving performance of the un-paved ground or floor is improved by ②), the construction can be carried out in all directions and at multiple angles in a spherical working envelope line through the multi-shaft mechanical arm, a clamping mechanism driven by a lead screw can clamp a building block with larger weight, a control program of an industrial personal computer in an electric cabinet can guide a robot to go to a specified place to grab the building block, then the plastering operation is carried out, and then the wall building operation is carried out.
Drawings
Fig. 1 is a side view of a walling robot in accordance with the present invention.
Fig. 2 is a front view of a walling robot in accordance with the present invention.
Fig. 3 is a top view of a walling robot in accordance with the present invention.
Fig. 4 is a side view of a walling robot of the present invention with the mobile base housing removed.
Fig. 5 is a front view of a walling robot of the present invention after removal of the mobile base housing.
Fig. 6 is a top view of a walling robot of the present invention with the mobile base housing removed.
Fig. 7 is a schematic structural view of a mortar plastering head according to the present invention.
Fig. 8 is a cross-sectional view of a mortar plastering head according to the present invention.
Fig. 9 and 10 are schematic structural views of a scraper in a mortar plastering head according to the present invention.
Wherein:
the device comprises a movable base 1, a multi-axis mechanical arm 2, a clamping mechanism 3, a visual identification mechanism 4 and an electric cabinet 5;
the device comprises a frame beam 1.1, a driving wheel 1.2, a guide wheel 1.3, a tensioning and stretching mechanism 1.4, a crawler 1.5, a thrust wheel 1.6 and a chain supporting wheel 1.7;
a first rotary shaft assembly 2.1, a second rotary shaft assembly 2.2, a third rotary shaft assembly 2.3, a fourth rotary shaft assembly 2.4, a fifth rotary shaft assembly 2.5, a sixth rotary shaft assembly 2.6;
a body shaft seat 2.11, a lower mechanical arm 2.12, a connecting shaft seat 2.13, an upper mechanical arm 2.14 and a mechanical wrist 2.15;
the clamping device comprises a clamping support frame 3.1, a clamping driving mechanism 3.2, a first clamping plate 3.3, a clamping screw 3.4 and a second clamping plate 3.5;
the device comprises a support 4.1, a light supplementing strip 4.2, a camera 4.3 and a laser range finder 4.4;
plastering head body 101, scraper 102, side baffle 103, baffle 104.
Detailed Description
Referring to fig. 1 to 10, the invention relates to a full-automatic wall building process, which comprises the following steps:
step one, positioning a wall building robot: the wall building robot with the crawler-type traveling mechanism enters a construction site and travels to a construction position;
step two, placing the building blocks in place: carrying at least two pallets loaded with building blocks to a construction position;
step three, clamping: a multi-shaft mechanical arm of the wall building robot drives the clamping mechanism to move to the tray to clamp the building block;
step four, plastering in place: the clamping mechanism is driven by the multi-shaft mechanical arm to move to the position below the mortar plastering head;
step five, plastering: in the process of smearing mortar on the surface of the building block by the mortar smearing head, a clamping mechanism for clamping the building block makes translational motion under the driving of a multi-shaft mechanical arm, and the mortar is evenly scraped and smeared on the surface of the building block by a scraper on the mortar smearing head;
step six, plastering step two: the clamping mechanism drives the building block to rotate by 90 degrees under the drive of the multi-shaft mechanical arm, the mortar plastering head plasters mortar on the other surface of the building block again, the clamping mechanism for clamping the building block performs translational motion under the drive of the multi-shaft mechanical arm, and the mortar is uniformly scraped on the surface of the building block by using a scraper on the mortar plastering head;
step seven, building a wall: the clamping mechanism clamps the building blocks coated with mortar, the multi-shaft mechanical arm drives the clamping mechanism to move the building blocks to the wall surface, and then the building blocks are put down and moved to the adjacent building blocks to be close to each other;
and step eight, returning to the step three until the wall surface is built to the specified height.
Furthermore, a clamping mechanism at the tail end of a multi-shaft mechanical arm carried on a crawler-type traveling mechanism of the wall building robot has a spherical operation envelope, so that the site building block can be placed flexibly, and the requirement of placing the building block at a fixed point or setting a fixed conveying belt can be eliminated.
Furthermore, in the third step, the position of the building block is identified and corrected by using a visual identification mechanism on the clamping mechanism;
further, the wall building robot includes but is not limited to the following structures:
the building a wall mechanism people includes: the mobile base 1, the mobile base 1 is a crawler-type running gear;
the multi-axis mechanical arm 2 is arranged on the movable base 1;
the clamping mechanism 3 is arranged on the multi-axis mechanical arm 2;
a visual identification mechanism 4 fixedly arranged on the clamping mechanism 3,
the electric cabinet 5 is arranged on the movable base 1, drives the multi-shaft mechanical arm 2 and the clamping mechanism 3, and is in communication connection with the visual recognition mechanism 4;
the moving base 1 comprises two parallel frame beams 1.1 arranged on two sides of a frame, one end of each frame beam 1.1 is provided with a driving wheel 1.2 driven by a driving device, the other end of each frame beam 1.1 is connected with a guide wheel 1.3 through a tensioning telescopic mechanism 1.4, a crawler belt 1.5 is wound between the driving wheel 1.2 and the guide wheel 1.3, a plurality of thrust wheels 1.6 are arranged on the upper bottom surface of each frame beam 1.1 side by side, the thrust wheels 1.6 are in contact with the inner surface of the crawler belt 1.5 walking on the lower part, at least one chain supporting wheel 1.7 is arranged on the upper top surface of each frame beam 1.1, and the chain supporting wheels 1.7 are in contact with the inner surface of the crawler belt 1.5 walking on the upper part;
establishing an X-Y-Z three-axis coordinate system by taking the advancing direction of the movable base 1 as an X axis and the height direction as a Z axis: the multi-axis mechanical arm 2 comprises a first rotating shaft component 2.1 arranged on a frame of the mobile base 1, the first rotating shaft component 2.1 drives a body shaft seat 2.11 to rotate on a horizontal plane, the body shaft seat 2.11 is hinged and connected with the bottom of a lower mechanical arm 2.12 through a second rotating shaft component 2.2, the top of the lower mechanical arm 2.12 is hinged and connected with a connecting shaft seat 2.13 through a third rotating shaft component 2.3, the connecting shaft seat 2.13 is hinged and connected with an upper mechanical arm 2.14 through a fourth rotating shaft component 2.4, the upper mechanical arm 2.14 is hinged and connected with a mechanical wrist 2.15 through a fifth rotating shaft component 2.5, and a sixth rotating shaft component 2.6 arranged on the mechanical wrist 2.15 drives a clamping mechanism 3 to rotate;
the first rotating shaft assembly 2.1 drives the body shaft seat 2.11 to rotate on an XY plane, the second rotating shaft assembly 2.2 mounted on the body shaft seat 2.11 drives the lower mechanical arm 2.12 to rotate on an XZ plane, the third rotating shaft assembly 2.3 mounted on the top of the lower mechanical arm 2.12 drives the connecting shaft seat 2.13 (driving the upper mechanical arm 2.14) to rotate on the XZ plane, the fourth rotating shaft assembly 2.4 connected to the shaft seat 2.13 drives the upper mechanical arm 2.14 to rotate on a YZ plane, the fifth rotating shaft assembly 2.5 on the upper mechanical arm 2.14 drives the mechanical wrist 2.15 to swing on the XZ plane (after the upper mechanical arm 2.14 rotates, the operation plane of the mechanical wrist 2.15 synchronously follows the change), and the sixth rotating shaft assembly 2.6 on the mechanical wrist 2.15 drives the clamping mechanism 3 to rotate on the XY plane;
the clamping mechanism 3 comprises a clamping support frame 3.1 fixedly mounted on a sixth rotating shaft component 2.6 of the multi-shaft mechanical arm 2, one end of the clamping support frame 3.1 is fixedly provided with a first clamping plate 3.3, the other end of the clamping support frame is provided with a clamping driving mechanism 3.2, a clamping screw 3.4 driven by the clamping driving mechanism 3.2 to rotate is arranged along the length direction of the clamping support frame 3.1, a second clamping plate 3.5 is rotatably sleeved on the clamping screw 3.4, and the first clamping plate 3.3 and the second clamping plate 3.5 are arranged in parallel;
preferably, a guide piece arranged on the clamping support frame 3.1 is parallel to the clamping screw 3.4, and the second clamping plate 3.5 slides along the guide piece to move, so that the positioning effect is achieved through the guide piece;
preferably, the clamping driving mechanism 3.2 is arranged on the side surface of the clamping support frame 3.1, and the clamping driving mechanism 3.2 drives a clamping screw 3.4 which forms an included angle of 90 degrees with the clamping driving mechanism through a gear pair;
preferably, the opposite surfaces of the first clamping plate 3.3 and the second clamping plate 3.5 are respectively provided with a wear-resistant rubber block through bolts, so that the replacement is convenient, the friction force is improved, and the clamping device is more suitable for large-sized building blocks;
the visual recognition mechanism 4 comprises a support 4.1 arranged on a clamping support frame 3.1 of the clamping mechanism 3, two cameras 4.3 and laser range finders 4.4 arranged side by side with the cameras are arranged on the support 4.1, the cameras 4.3 face the side face of the clamping mechanism 3, and at least one light supplementing strip 4.2 is arranged on the support 4.1;
preferably, one camera 4.3 is a wide-angle camera; an infrared light supplement lamp is arranged in the light supplement strip 4.2.
Preferably, the light supplementing strips 4.2 are arranged in parallel, and the two cameras 4.3 and the laser range finders 4.4 which are arranged side by side are arranged between the two light supplementing strips 4.2.
Referring to fig. 7-10, the mortar plastering head comprises a plastering head body 101, the plastering head body 101 is mounted on a movable base and is communicated with a mortar storage tank through a delivery pump, a scraping plate 102 is attached to the outer wall of a strip-shaped outlet of the plastering head body 101, and the lower bottom surface of the scraping plate 102 is of a saw-toothed structure;
preferably, two side baffles 103 are symmetrically arranged on the outer wall of the outlet of the plastering head body 101, a baffle 104 is connected between the two side baffles 103, and the side baffles 103, the baffle 104 and the outer wall of the plastering head body 101 form an insertion slot for the scraper 102 to be inserted into.
In addition: it should be noted that the above-mentioned embodiment is only a preferred embodiment of the present patent, and any modification or improvement made by those skilled in the art based on the above-mentioned conception is within the protection scope of the present patent.
Claims (4)
1. A full-automatic wall building process is characterized in that: the process comprises the following steps:
step one, positioning a wall building robot: the wall building robot with the crawler-type traveling mechanism enters a construction site and travels to a construction position;
step two, placing the building blocks in place: carrying at least two pallets loaded with building blocks to a construction position;
step three, clamping: a multi-shaft mechanical arm of the wall building robot drives the clamping mechanism to move to a tray to clamp a building block;
step four, plastering in place: the clamping mechanism is driven by the multi-shaft mechanical arm to move to the position below the mortar plastering head;
step five, plastering: in the process of smearing mortar on the surface of the building block by the mortar smearing head, a clamping mechanism for clamping the building block makes translational motion under the driving of a multi-shaft mechanical arm, and the mortar is evenly scraped and smeared on the surface of the building block by a scraper on the mortar smearing head;
step six, plastering step two: the clamping mechanism drives the building block to rotate by 90 degrees under the drive of the multi-shaft mechanical arm, the mortar plastering head plasters mortar on the other surface of the building block again, the clamping mechanism for clamping the building block performs translational motion under the drive of the multi-shaft mechanical arm, and the mortar is uniformly scraped on the surface of the building block by using a scraper on the mortar plastering head;
step seven, building a wall: the clamping mechanism clamps the building blocks coated with mortar, the multi-shaft mechanical arm drives the clamping mechanism to move the building blocks to the wall surface, and then the building blocks are put down and moved to the adjacent building blocks to be close to each other;
and step eight, returning to the step three until the wall surface is built to the specified height.
2. The full-automatic walling process according to claim 1, characterized in that: the clamping mechanism at the tail end of the multi-shaft mechanical arm carried on the crawler-type travelling mechanism of the wall building robot is provided with a spherical operation envelope curve.
3. The full-automatic walling process according to claim 1, characterized in that: in the third step, the position of the building block is identified and corrected by using the visual identification mechanism on the clamping mechanism.
4. The full-automatic walling process according to claim 1, characterized in that: and in the fifth step and the sixth step, the mortar storage tank is communicated with a mortar plastering head arranged on the wall building robot through a delivery pump.
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| CN201910898070.6A CN110685446A (en) | 2019-09-23 | 2019-09-23 | Full-automatic wall building process |
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| CN201910898070.6A CN110685446A (en) | 2019-09-23 | 2019-09-23 | Full-automatic wall building process |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111519920A (en) * | 2020-05-11 | 2020-08-11 | 广东博智林机器人有限公司 | Plastering device and wall building equipment |
| CN111519921A (en) * | 2020-05-21 | 2020-08-11 | 中物智建(武汉)科技有限公司 | Industrial robot and automatic wall building machine based on helping hand system |
| CN111550066A (en) * | 2020-04-30 | 2020-08-18 | 廊坊凯博建设机械科技有限公司 | Brickwork wall former |
| CN111707525A (en) * | 2020-06-30 | 2020-09-25 | 中冶建工集团有限公司 | Method for forming mortar setting on wall brick detection surface |
| CN112177363A (en) * | 2020-09-25 | 2021-01-05 | 中物智建(武汉)科技有限公司 | Wall building robot |
| CN112267696A (en) * | 2020-10-08 | 2021-01-26 | 中物智建(武汉)科技有限公司 | Wall building control method and control system |
| CN112922367A (en) * | 2021-01-12 | 2021-06-08 | 江明成 | Construction robot |
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
| CN115110785A (en) * | 2021-03-17 | 2022-09-27 | 广东博智林机器人有限公司 | Execution terminal and plastering masonry robot |
| CN115233947A (en) * | 2021-04-22 | 2022-10-25 | 广东博智林机器人有限公司 | Plastering device and method |
| CN115450447A (en) * | 2021-06-08 | 2022-12-09 | 广东博智林机器人有限公司 | Interaction system, brick laying device, brick laying manipulator and brick laying positioning method |
| WO2023206991A1 (en) * | 2022-04-27 | 2023-11-02 | 广东博智林机器人有限公司 | Brick supply assembly, brick laying system and brick laying method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111550066A (en) * | 2020-04-30 | 2020-08-18 | 廊坊凯博建设机械科技有限公司 | Brickwork wall former |
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| CN111707525A (en) * | 2020-06-30 | 2020-09-25 | 中冶建工集团有限公司 | Method for forming mortar setting on wall brick detection surface |
| CN111707525B (en) * | 2020-06-30 | 2023-03-10 | 中冶建工集团有限公司 | Method for forming mortar setting on wall brick detection surface |
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| CN112267696A (en) * | 2020-10-08 | 2021-01-26 | 中物智建(武汉)科技有限公司 | Wall building control method and control system |
| CN112922367A (en) * | 2021-01-12 | 2021-06-08 | 江明成 | Construction robot |
| CN115110785B (en) * | 2021-03-17 | 2023-09-05 | 广东博智林机器人有限公司 | Execution terminal and plastering and masonry robot |
| CN115110785A (en) * | 2021-03-17 | 2022-09-27 | 广东博智林机器人有限公司 | Execution terminal and plastering masonry robot |
| CN115233947A (en) * | 2021-04-22 | 2022-10-25 | 广东博智林机器人有限公司 | Plastering device and method |
| CN115450447A (en) * | 2021-06-08 | 2022-12-09 | 广东博智林机器人有限公司 | Interaction system, brick laying device, brick laying manipulator and brick laying positioning method |
| CN115450447B (en) * | 2021-06-08 | 2024-05-31 | 广东博智林机器人有限公司 | Interactive system, brickwork device, brickwork manipulator and brickwork positioning method |
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
| WO2023206991A1 (en) * | 2022-04-27 | 2023-11-02 | 广东博智林机器人有限公司 | Brick supply assembly, brick laying system and brick laying method |
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