CN205840368U - A kind of High Precision Automatic brick-laying machine of self-travel type - Google Patents

Abstract

The utility model relates to a self-propelled high-precision automatic bricklaying machine, which includes a self-propelled platform, a brick feeding system, a mortar smearing system and a six-axis mechanical arm system. Picking tool control cabinet, brick picking tool power source air pump and brick picking tool, brick feeding system including conveyor belt, brick limiter and brick picking tank, mortar application system including servo motor, mortar hopper, mortar application nozzle and application control cabinet . The self-propelled platform is equipped with electric drive steering wheels, hydraulic support feet and platform expansion slots. The utility model has good compatibility. By adjusting the brick limiter and bonding mortar, it can be compatible with commonly used sintered bricks and sand aerated on the market. Concrete blocks etc.

Description

A self-propelled high-precision automatic bricklaying machine

technical field

The utility model mainly relates to the field of building digital construction, in particular to a self-propelled high-precision automatic bricklaying machine.

Background technique

At present, the existing bricklaying equipment is mainly for straight wall masonry, and the posture of the bricks that can be placed is very limited. The application field is mainly for the palletizing of bricks after curing in the brick making process of the brick factory, rather than requiring higher precision. building construction. On the other hand, existing machines cannot accomplish the painting of mortar or adhesive between blocks. In addition, with the continuous development of the architectural design industry, the non-linear masonry methods of some brick designs have been difficult to achieve with traditional manual masonry methods. High-precision bricklaying machines are used to assist the realization.

Generally speaking, the existing robotic arm working systems have the following disadvantages: (1) The methods that can be built are limited, and the shape of the masonry is limited; (2) The accuracy is average; (3) The equipment is relatively heavy and difficult to carry and move ; (4) The degree of automation is not high.

Contents of the invention

The purpose of this utility model is to propose a self-propelled high-precision automatic bricklaying machine, which can realize the placement and positioning of arbitrary brick postures over a long distance by self-propelling, and can automatically apply mortar for continuous bricklaying.

The self-propelled high-precision automatic bricklaying machine proposed by the utility model includes a self-propelled platform 1, a brick feeding system 2, a mortar application system 3 and a six-axis mechanical arm system, wherein:

The six-axis robotic arm system includes the six-axis robotic arm 4, the robotic arm control cabinet 13, the brick picking tool control cabinet 14, the brick picking tool power source gas pump 15 and the brick picking tool 16; the six-axis robotic arm 4, the robotic arm control cabinet 13 and the The brick picking tool control cabinet 14 is located above the self-propelled platform 1; the end of the six-axis mechanical arm 4 is equipped with a brick picking tool 16, and the power source air pump 15 of the brick picking tool is connected to the brick picking tool 16 through the air pipe to provide pneumatic power to drive the brick picking tool 16. The manipulator control cabinet 13 controls the six-axis manipulator 4 through the signal connection; the manipulator control cabinet 13 and the brick picking control cabinet 14 are connected by signal lines in two directions;

The self-propelled platform 1 is equipped with electric drive steering wheels 5, hydraulic support feet 6 and platform expansion slots 7. The self-propelled platform 1 is a cuboid structure, and two electric drive steering wheels 5 are respectively arranged on the front and rear bottoms to drive the self-propelled platform. Platform 1, two hydraulic support feet 6 are provided on the front and rear sides of the self-propelled platform 1, which are used to automatically level the self-propelled platform 1;

The brick feeding system 2 includes a conveyor belt, a brick stopper 8 and a brick pick-up slot 9, the conveyor belt is used to place and transport bricks, the end of the conveyor belt is provided with a brick stopper 8, and one end of the conveyor belt is connected to the brick pick-up slot 9. The brick feeding system 2 is set above the brick picking tool control cabinet 14;

The mortar smearing system 3 includes a servo motor, a mortar hopper 10, a mortar smearing nozzle 11 and a smearing control cabinet 12, the servo motor is connected to the mortar hopper 10, the mortar hopper 10 passes through the mortar smearing nozzle 11, and the servo motor and the mortar smearing nozzle 11 are respectively connected to the smearing control cabinet 12;

Among them, the brick picking control cabinet 14, the smearing control cabinet 12, the brick feeding system 2, the self-propelled platform 1 and the robotic arm control cabinet 13 all have bidirectional signal connections, and the robotic arm control cabinet 13 is used as the control signal center.

The working process of the present utility model is as follows:

The utility model uses a six-axis mechanical arm to cooperate with a self-propelled platform, a brick feeding system, and a mortar application system to carry out high-precision on-site automatic masonry operations. Before processing, first set the required masonry form through modeling, and convert it into a robot arm path control file through special software, and input it into the robot arm control cabinet 13; add special bonding mortar in the mortar hopper 10 ; In the brick delivery system 2, a certain amount of bricks are placed on the conveyor belt, and the brick limiter 8 is adjusted to the width suitable for the brick size. The self-propelled platform 1 follows the path control file of the mechanical arm, refers to the reference line marked on the construction site, drives the electric drive steering wheel 5, advances to the first masonry position, and uses the hydraulic support feet 6 to automatically level the whole platform. Start the brick feeding system according to the program, drive the conveyor belt, make the bricks walk to a certain position, and slide a brick to the brick picking groove 9 according to the sensor signal. The mechanical arm control cabinet 13 obtains the brick ready model from the brick feeding system 2, and then the mechanical arm control cabinet 13 drives the brick picking tool 16 to advance to the position of the brick picking groove 9 by controlling the mechanical arm 4; after reaching the position, the mechanical arm control cabinet 13 gives a signal to the brick picking tool control cabinet 14, and controls the brick picking tool 16 to be driven by pneumatic power provided by the brick picking tool power source air pump 15 to pick up the bricks; after the bricks are picked up, the mechanical arm moves to the position of the mortar application system according to the program, The manipulator control cabinet 13 gives a signal to the smear control cabinet 12, turns on the servo motor, squeezes out the mortar in the mortar hopper 10 from the mortar smearing mouth 11, and smears it on the bricks. After the smearing is completed, the smearing control cabinet 12 gives a feedback signal to the mechanical arm control cabinet 13; the mechanical arm control cabinet 13 controls the mechanical arm 4 to drive the bricks to continue moving to the masonry position according to the program; after reaching the position, the mechanical arm control cabinet 13 gives the brick picking Tool control cabinet 14 signal, control brick picking tool 16 is driven by pneumatic power provided by brick picking tool power source air pump 15, puts down bricks, completes a brick masonry process; mechanical arm control cabinet 13 controls mechanical arm 4 to return to brick picking Slot 9, start the next brick masonry; repeat the above work until all the masonry work within the working range of the first masonry position is completed, put away the hydraulic support feet 6, and move the self-propelled platform to the next masonry position according to the program . Repeat the above process to complete the masonry of all the walls according to the program.

The beneficial effects of the utility model are: 1. The working range of the high-precision automatic bricklaying machine is greatly expanded. The general bricklaying machine is 1.2 meters to 1.8 meters according to the selection and different radii. The auxiliary positioning line between the platform and the site, and the range of motion of the self-propelled high-precision automatic bricklaying machine can theoretically reach any point on the construction site; in actual operation, it is subject to the actual height changes of the site and the adjustment length of the hydraulic support feet. 2. Through self-propelled and mechanical arm movement, complex masonry tasks can be completed; 3. The masonry accuracy can be controlled within 1mm by referring to the accuracy of the mechanical arm and comprehensive interference factors. 4. The system has its own power, which is convenient for transportation; 5. The system has a high degree of automation, from sending bricks, applying adhesive mortar to completing the masonry work is an automatic process; 6. The system has good compatibility, By adjusting the brick limiter and bonding mortar, it can be compatible with commonly used fired bricks and sand aerated concrete blocks on the market.

Description of drawings

Fig. 1 is the axonometric drawing of the utility model;

Fig. 2 is a signal control path;

Figure 3 is a flow chart of the masonry.

Numbers in the figure: 1 is the self-propelled platform; 2 is the brick feeding system; 3 is the mortar application system; 4 is the six-axis mechanical arm; 5 is the electric steering wheel; 6 is the hydraulic support foot; 7 is the platform expansion slot; 8 is Brick limiter; 9 is the brick picking tank; 10 is the mortar hopper; 11 is the mortar smearing nozzle; 12 is the smearing control cabinet; 13 is the mechanical arm control cabinet; 14 is the brick picking tool control cabinet; 15 is the brick picking tool Power source air pump; 16 is a brick picking tool.

detailed description

Further illustrate the utility model below in conjunction with accompanying drawing.

Example 1:

As shown in Figure 1, the utility model is composed of a self-propelled platform 1, a brick feeding system 2, a mortar application system 3, and a six-axis robot arm. Different models of the six-axis robot arm can be selected according to processing requirements. The self-propelled platform 1 has a size of 1200x2300mm, a power of 10kw, a load of 1 ton, and electric drive; including: four electric drive steering wheels 5, which can realize the front and rear rotation and direction rotation of the self-propelled platform 1 of the numerical control, and the direction rotation range is 360°. The wheel load is 1 ton. There are 6 four hydraulic support feet, the adjustable height is 0-200mm, and the load of a single support foot is 1 ton, which can automatically level the self-propelled platform 1 according to the actual ground conditions with reference to gravity. The self-propelled platform 1 can move to the masonry position required by the masonry system with reference to the on-site auxiliary positioning line according to the program requirements. Brick feeding system 2, mortar smearing system 3, six-axis mechanical arm 4 are connected to self-propelled platform 1 through platform expansion slot 7: platform expansion slot 7 is made of 40x80mm standard aluminum profiles, and M6 T-shaped nuts can be used for bolt connection. Brick feeding system 2, size 1000x350mm: belt width 300mm, PU material/1.5mm thick/white/pattern/anti-static/wear-resistant/oil-resistant/temperature-resistant﹣10—﹢80℃; no roller design and adjustable gear Side, can realize load 20kg, 0-5m/min conveying. The brick limiter 8 can realize the adjustment of the brick size of 200-300mm; the brick picking groove 9 with the laser sensor is a brick clamping position, which can realize the automatic start-stop control of the brick feeding system 2. The mortar application system 3 is driven by a 4kw/380V servo motor, receives the control signal from the IO port of the mechanical arm control cabinet 13 through the application control cabinet 12, and extrudes the special adhesive mortar from the mortar hopper 10, with a volume of 30L and a flow rate of 0-6L /min is adjustable, and the mortar applicator nozzle 11 adopts DN32 wrench-type quick connector, which can be extended by connecting rubber applicator nozzles of different widths according to the requirements of bricks. The mechanical arm control cabinet 13 drives the six-axis mechanical arm 4 to drive the brick picking tool 16 to the brick picking slot 9 according to the program requirements. After arriving at the position, the mechanical arm control cabinet 13 transmits a signal to the brick picking tool control cabinet 14, and the brick picking tool control cabinet 14 gives a signal to the brick picking tool power source air pump 15 to drive the brick picking tool 16 to pick up bricks. The mechanical arm control cabinet 13 continues to drive the six-axis mechanical arm 4 according to the program requirements, and drives the brick picking tool 16 to reach the mortar application nozzle 11. At the same time, the brick pick-up groove 9 with laser sensor detects that the brick is taken away, and provides a feedback signal to the brick pick-up tool control cabinet 14, and the brick pick-up tool control cabinet 14 drives the brick delivery system 2 belts, and the next block The bricks are positioned to the brick picking groove 9 positions. On the other hand, after the six-axis mechanical arm 4 arrives at the mortar smearing nozzle 11, the mechanical arm control cabinet 13 transmits a signal to the smearing control cabinet 12, and the smearing control cabinet 12 sends a signal to the mortar smearing system 3, starts the servo motor, and puts the mortar hopper 10 Apply the mortar in the brick to the surface of the brick. After the mortar application is completed, the application control cabinet 12 gives a feedback signal to the mechanical arm control cabinet 13; the mechanical arm control cabinet 13 continues to drive the six-axis mechanical arm 4 according to the program requirements, drives the brick picking tool 16 to the masonry position, and sends the brick The picking tool control cabinet 14 transmits a signal, and the brick picking tool control cabinet 14 gives a signal to the brick picking tool power source air pump 15 to drive the brick picking tool 16 to release bricks, and complete the masonry process of a brick. By repeating the above process, all masonry work within the working range of the first masonry position can be completed. After that, the hydraulic support feet 6 are put away, and the self-propelled platform moves to the next masonry position according to the program. Repeat this process to complete the masonry of all the walls according to the program.

The signal connection of this process is shown in Figure 2, and the overall process is presented in Figure 3 in the form of a flowchart.

Claims (1)

1. A self-propelled high-precision automatic bricklaying machine, comprising a self-propelled platform (1), a brick delivery system (2), a mortar application system (3) and a six-axis mechanical arm system, characterized in that: The six-axis robot arm system includes a six-axis robot arm (4), a robot arm control cabinet (13), a brick picking tool control cabinet (14), a brick picking tool power source gas pump (15) and a brick picking tool (16), six-axis The mechanical arm (4), the mechanical arm control cabinet (13) and the brick picking tool control cabinet (14) are all located above the self-propelled platform (1); the end of the six-axis mechanical arm (4) is provided with a brick picking tool (16), and the brick The picking tool power source air pump (15) is connected to the brick picking tool (16) to provide pneumatic power to drive the brick picking tool (16); the mechanical arm control cabinet (13) is connected to the six-axis mechanical arm (4); the mechanical arm control cabinet (13 ) and the brick picking control cabinet (14) are bidirectionally connected; The self-propelled platform (1) is equipped with electric drive steering wheels (5), hydraulic support feet (6) and platform expansion slots (7). Drive the steering wheel (5), used to drive the self-propelled platform (1), and the self-propelled platform (1) is equipped with two hydraulic support feet (6) on the front and rear sides, used for leveling the self-propelled platform (1) ; The brick feeding system (2) includes a conveyor belt, a brick limiter (8) and a brick picking groove (9). The conveyor belt is used to place bricks. The end of the conveyor belt is provided with a brick limiter (8), and the conveyor belt bricks One end is connected to the brick picking slot (9); the brick feeding system (2) is set above the brick picking tool control cabinet (14); The mortar smearing system (3) includes a servo motor, a mortar hopper (10), a mortar smearing nozzle (11) and a smearing control cabinet (12), the servo motor is connected to the mortar hopper (10), and the mortar hopper (10) passes through the mortar smearing nozzle (11 ), the servo motor and the mortar applicator nozzle (11) are respectively connected to the applicator control cabinet (12); The brick picking control cabinet (14), the smearing control cabinet (12), the brick feeding system (2), the self-propelled platform (1) and the mechanical arm control cabinet (13) all have two-way signal connections, and the mechanical arm control cabinet ( 13) As a control signal center.