Full-automatic wall building process

Abstract

The invention discloses a full-automatic wall building process. The process comprises the following steps: (1) a wall building robot is in place; (2) blocks are in place; (3) the blocks are clamped; (4) coated mortar in place: a clamping mechanism is driven by a multi-axle mechanical arm to move under a mortar coating head; (5) primary mortar coating: mortar is coated on one surfaces of the blocks; (6) secondary mortar coating: after rotation of the blocks by 90 degrees, the mortar is coated on the other surfaces of the blocks; (7) wall building: the clamping mechanism clamps the mortar-coatedblocks; the multi-axle mechanical arm drives the clamping mechanism to shift the blocks onto walls; and then, after the blocks are placed down, the adjacent blocks are approached; and (8) the step (3) is returned to until the walls are built to reach a stated height. The full-automatic wall building process can realize full-automatic construction of automatic identification, positioning, grabbingand mortar coating of the blocks and wall building.

Description

technical field [0001] The invention relates to a wall-laying process, in particular to a process method for fully automatic masonry based on self-propelled robot equipment, which belongs to the technical field of building construction. Background technique [0002] At present, in the field of building masonry construction, it is necessary to manually build blocks into walls to separate the interior space; building walls is a high labor-intensive construction operation, especially with the improvement of building construction technology, today After the concrete frame of the house structure is completed, larger blocks need to be used to build the walls, so the masonry work will consume more physical strength of the workers, and as the wall rises during the wall building process, it is necessary to manually lift the blocks onto the scaffolding , the physical exertion of auxiliary workers is also great; at the same time, with the increasing shortage of labor resources in our c...

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Problems solved by technology

[0002] At present, in the field of building masonry construction, it is necessary to manually build blocks into walls to separate the interior space; building walls is a high labor-intensive construction operation, especially with the improvement of building construction technology, today After the concrete frame of the house structure is completed, larger blocks need to be used to build the walls, so the masonry work will consume more physical strength of the workers, and as the wall rises during the wall building process, it is necessary to manually lift the blocks onto the scaffolding , the physical exertion of auxiliary workers is also great; at the same time, with the increasing shortage of labor resources in our country, and the new generation of workers are generally unwilling to engage in construction operations with strong physical labor, so the masonry industry is a Construction jobs, which are extremely technically and physically demanding, face a huge manpower gap

[0003] To this end, some companies have developed automated wall-building robots to replace manual work, such as "a wall-building robot" disclosed in Chinese patent 201410381613.4, which can grab and plaster blocks, but its overall structure is complex, A variety of auxiliary facilities are required to cooperate, and the grouting method is sprayed, which leads to uneven grouting and affects the effect of building walls, and the above-mentioned robot is a fixed structure, so it cannot be moved and can only be constructed in a fixed position. The working radius, in order to complete the construction smoothly, either increase its volume to increase the working radius, or need to dismantle and install it multiple times to adapt to different construction positions, whichever way makes it unsuitable for the high efficiency requirements of on-site operations and the ease of operation for workers sexual appeal

[0004] Therefore, on this basis, some companies have developed "a robot" as disclosed in Chinese patent 201410786138.9, which has added the function of moving along the pre-laid guide rails for a limited distance; Faced with great difficulties, in addition, the lifting column has stability problems caused by the high center of gravity, the way the manipulator is used to grab the blocks and the huge mechanism on the top of the column do not meet the space constraints of indoor masonry, resulting in It has no practical value

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