Building component forming mold robot

Abstract

The present invention discloses a building component forming mold robot, comprising a walking device, a lifting device, a pair of supporting arms, a clamping device, a rotating device, a first side mold, a second side mold and a control system; the lifting device is arranged on the walking device; the clamping device and the supporting arms are arranged on the lifting device, the first side mold is arranged on one of the supporting arms, the second side mold is arranged on the other supporting arm, the clamping device drives the first side mold and the second side mold to merge to form a mold with a mold cavity, the rotating device is arranged on at least one of the two supporting arms to drive the mold to adjust its position by rotation on a vertical plane; the control system controls the movement of the walking device, the lifting device, the clamping device and the rotating device. The building component forming mold robot of the present invention can automatically walk and modularly manufacture vertical building structures, realize automated construction, and effectively improve building construction efficiency.

Description

Technical Field

[0001] The invention relates to a construction robot, in particular to a construction component forming mold robot. Background Art

[0002] In traditional construction, the template is usually manually erected and assembled first, and then support rods are set under the template to support the template. Then, the steel bars are manually tied into steel cages and steel mesh plates on site, and then the steel cages and steel mesh plates are manually placed into the mold cavity and concrete is poured. After the poured concrete material is solidified, the support rods under the template are removed, and finally the template is removed. Therefore, the traditional construction method requires a large number of workers to erect the template and support rods, which takes a long time to erect, is difficult to construct, has high labor intensity, and has low production efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide a building component forming mold robot that can automatically walk and modularly manufacture building vertical structures, realize automated construction, and improve building construction efficiency.

[0004] In order to achieve the above-mentioned purpose, the building component forming mold robot provided by the present invention includes a walking device, a lifting device, a pair of support arms, a clamping device, a rotating device, a first side mold, a second side mold and a control system; the lifting device is arranged on the walking device; the clamping device and the support arms are arranged on the lifting device, the first side mold is arranged on one of the support arms, and the second side mold is arranged on the other support arm, the clamping device drives the first side mold and the second side mold to merge to form a mold with a mold cavity, and the rotating device is arranged on at least one of the two support arms to drive the mold to rotate and adjust its position on a vertical plane; the control system controls the actions of the walking device, the lifting device, the clamping device and the rotating device.

[0005] Compared with the prior art, the present invention sets a lifting device on the walking device, and sets a clamping device and a support arm on the lifting device, and sets the two side molds on the two support arms respectively. Therefore, under the drive of the lifting device and the clamping device, the two side molds can be combined into a standard vertical structure mold, so that the vertical structure of the building, such as the pillars of the building, can be directly made by adding steel bars and pouring concrete gel materials in the mold cavity in a horizontal state, thereby realizing modular production. Then, the manufactured building structure is rotated and adjusted by a rotating device, so as to adjust the position of the vertical structure, so that the vertical structure can be installed more easily and conveniently at the construction site of the building. Therefore, the robot of the present invention can make some traditional vertical structures with high construction difficulty in a modular way, and can automatically install them, realizing fully automated construction from production to installation, reducing the labor intensity of construction personnel, and effectively improving the efficiency of construction.

[0006] Preferably, the support arm is a controllable telescopic structure, which can give the mold more freedom and make it more convenient to adjust its position.

[0007] Preferably, it further comprises a supporting device, the supporting device is electrically connected to the control system, a pouring port is provided on one side of the mold cavity, and the supporting device can be opened or covered on the pouring port. By providing the pouring port and the supporting device, the rotating device can rotate the mold during operation so that the pouring port faces upward, thereby making the mold pouring in a horizontal direction, thereby improving the convenience of construction.

[0008] Specifically, the support device comprises a support plate, and the support plate is pivotally connected to the pouring port. The support plate can support the concrete gel material near the pouring port to prevent it from flowing out.

[0009] Specifically, the support device further comprises a telescopic device, the telescopic end of which is pivotally connected to the support plate to drive the support plate to open or close. By providing the telescopic device, the support plate can be automatically opened or closed to achieve automated construction.

[0010] Specifically, the support device further comprises a motor, the output end of the motor is connected to the pivot shaft of the support plate to drive the support plate to open or close. By providing the motor, the support plate can be automatically opened or closed to achieve automated construction.

[0011] Preferably, a locking device is further included, the locking device is arranged between the first side mold and the second side mold, and the locking device is electrically connected to the control system to automatically lock and connect the first side mold and the second side mold when the mold is closed. The locking device can ensure the firmness of the connection between the first side mold and the second side mold after the mold is closed, and improve the sealing and stability of the mold.

[0012] Preferably, it also includes an intelligent sensing system for detecting or receiving external information, and the intelligent sensing system is electrically connected to the control system. Through the intelligent sensing system, the robot can be made more intelligent and automated, effectively improving construction efficiency.

[0013] Specifically, the intelligent sensing system has infrared detection, laser detection, visual monitoring, Bluetooth communication and / or Internet of Things communication modules.

[0014] Preferably, the walking device is a mobile cart. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 1 is a top view of the building component forming mold robot according to the first embodiment of the present invention.

[0016] Figure 2 It is a side view of the building component forming mold robot according to the first embodiment of the present invention.

[0017] Figure 3 It is a schematic diagram of the building component forming mold robot according to the first embodiment of the present invention rotating the mold into a vertical state.

[0018] Figure 4 1 is a top view of the building component forming mold robot according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to explain the technical content, structural features and achieved effects of the present invention in detail, the following is a detailed description in conjunction with the implementation methods and the accompanying drawings.

[0020] like Figures 1 to 3 As shown, the figure shows the structure of embodiment 1 of the present invention.

[0021] See also Figure 1 and Figure 2 The building component forming mold robot 100 of this embodiment includes a walking device 1, a lifting device 2, a pair of supporting arms 3, a clamping device 4, a rotating device 5, a first side mold 6, a second side mold 7 and a control system (not shown in the figure); the walking device 1 is a mobile trolley, and a bracket is vertically arranged on the mobile trolley. The lifting device 2 is arranged on the bracket of the walking device 1 and can be lifted up and down; the clamping device 4 and the supporting arms 3 are arranged on the lifting device 2, and the supporting arms 3 are arranged horizontally. The lifting device 2 can drive the two supporting arms 3 to lift up and down synchronously. The first side mold 6 is arranged on one of the supporting arms 3, and the second side mold 7 is arranged on the other supporting arm 3. The clamping device 4 drives the two supporting arms 3 to move closer or farther away from each other; when the two are close to each other, the first side mold 6 and the second side mold 7 are combined to form a mold with a mold cavity 101, and when the two are away from each other, the first side mold 6 and the second side mold 7 are opened. The rotating device 5 is disposed on at least one of the two supporting arms 3 to drive the mold to rotate and adjust its position on a vertical plane; the control system controls the actions of the walking device 1, the lifting device 2, the clamping device 4 and the rotating device 5.

[0022] For example Figure 1 As shown, the support arm 3 is a controllable telescopic structure. The support arm 3 of this embodiment is a cylinder. The cylinder controls the telescopic action through the control system. This can give the mold more degrees of freedom and make it more convenient to adjust the position.

[0023] Please see again Figure 1The building component forming mold robot 100 further includes a support device 8, which is electrically connected to the control system. A pouring port 102 is provided on one side of the mold cavity 101, and the support device 8 can be opened or covered on the pouring port 102. By providing the pouring port 102 and the support device 8, the rotating device 5 can rotate the mold during the implementation so that the pouring port 102 is upward, so that the mold is poured in a horizontal manner, thereby improving the convenience of construction. Specifically, the support device 8 includes a support plate 81, a telescopic device 82 and a bracket 83, and the support plate 81 is pivoted to one side of the pouring port 102. The bracket 83 is arranged on one side of one side of the mold. The telescopic end of the telescopic device 82 is pivoted to the support plate 81 to drive the support plate 81 to open or close; the other end of the telescopic device 82 is pivoted to the bracket 83. The support plate 81 can support the concrete gel material near the pouring port 102 to prevent it from flowing out. The telescopic device 82 can enable the support plate 81 to be automatically opened or closed, thereby realizing automated construction.

[0024] Please see again Figure 1 The building component forming mold robot 100 further includes a locking device 9, which is disposed between the first side mold 6 and the second side mold 7. The locking device 9 is electrically connected to the control system to automatically lock and connect the first side mold 6 and the second side mold 7 when the mold is closed. The locking device 9 can ensure the firmness of the connection between the first side mold 6 and the second side mold 7 after the mold is closed, and improve the sealing and stability of the mold.

[0025] The building component forming mold robot 100 also includes an intelligent sensing system (not shown) for detecting or receiving external information, and the intelligent sensing system is electrically connected to the control system. The intelligent sensing system has infrared detection, laser detection, visual monitoring, Bluetooth communication and / or Internet of Things communication modules, which can realize position detection and positioning, video recording, and remote communication control. Through the intelligent sensing system, the robot can be made more intelligent and automated, effectively improving construction efficiency.

[0026] Combination Figure 2 and Figure 3When construction is required, the building component forming mold robot 100 receives information through the intelligent sensing system and controls the walking device 1 to come to the construction position. Then, the clamping device 4 controls the two arms 3 to approach each other, so that the first side mold 6 and the second side mold 7 are combined to form a mold cavity 101. At the same time, the locking device 9 locks the first side mold 6 and the second side mold 7. Then, the rotating device 5 starts to drive the first side mold 6 and the second side mold 7 to rotate, so that the first side mold 6 and the second side mold 7 are in a horizontal state. Afterwards, the lifting device 2 drives the two arms 3 to descend at the same time, so that the first side mold 6 and the second side mold 7 descend. At this time, the concrete gel material can be poured into the mold cavity 101. Finally, the support plate 81 is driven by the telescopic device 82 to cover the pouring port 102.

[0027] When the concrete gel material solidifies, the support plate 81 is driven to open, and then the lifting drive device, the rotating device 5 and the support arm 3 work together to drive the mold to rotate to a vertical state; when the construction site is aligned. The support plate 81 is opened, and the locking device 9 is unlocked; the clamping device 4 first drives one arm 3 away from the other arm 3, and then drives one side mold to separate from the concrete gel material, and then drives the other arm to separate from the concrete gel material, so that the concrete gel material is completely demolded, and finally the walking device 1 is started to make the robot leave. At this time, the concrete gel material forms a vertical structure of the building at the construction site, such as a pillar or supporting wall of the building.

[0028] In addition, the above-mentioned construction steps can also be changed as needed. For example, a robot can be used to directly pour concrete gel material into a vertical mold at the construction site to directly form the vertical structure of the building. After completion, the mold can be directly demolded. The process is not limited to the steps listed in this embodiment.

[0029] Compared with the prior art, the present invention sets a lifting device 2 on the walking device 1, and sets a clamping device 4 and a support arm 3 on the lifting device 2, and sets the two side molds on the two support arms 3 respectively. Therefore, under the drive of the lifting device 2 and the clamping device 4, the two side molds can be combined into a standard vertical structure mold, so that the vertical structure of the building, such as the pillar of the building, can be directly added to the mold cavity 101 in a horizontal state, and the concrete gel material can be poured to produce the vertical structure of the building, such as the pillar of the building, so as to realize modular production. Then, the rotating device 5 is used to rotate and adjust the manufactured building structure, so as to realize the position adjustment of the vertical structure, so that the vertical structure can be installed more easily and conveniently at the construction site of the building. Therefore, the robot of the present invention can produce some traditional vertical structures with high construction difficulty in a modular way, and can automatically install them, realizing fully automated construction from production to installation, reducing the labor intensity of construction personnel, and effectively improving the efficiency of building construction.

[0030] like Figure 4 As shown, the figure shows the structure of the second embodiment of the present invention.

[0031] The structure of the building component forming mold robot 100 of this embodiment is basically the same as that of the first embodiment, and the difference lies in the support device. The support device 110 of this embodiment also includes a motor 112, a driving gear and a driven gear. The output end of the motor 112 is connected to the driving gear, and the driven gear is connected to the pivot shaft of the support plate 111. The driving gear and the driven gear are meshed with each other to drive the support plate 111 to open or close. By providing the motor 112, the support plate 111 can be automatically opened or closed to achieve automated construction. The construction method of the building component forming mold robot 100 of this embodiment is the same as above, and will not be repeated here.

[0032] The principles of the control system and intelligent sensing system involved in the building component forming mold robot of the present invention are well known to ordinary technicians in the field and will not be described in detail here.

[0033] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. A building component forming mold robot, characterized in that: The invention comprises a walking device (1), a lifting device (2), a pair of supporting arms (3), a clamping device (4), a rotating device (5), a first side mold (6), a second side mold (7) and a control system; the lifting device (2) is arranged on the walking device (1); the clamping device (4) and the supporting arms (3) are arranged on the lifting device (2); the first side mold (6) is arranged on one of the supporting arms (3); the second side mold (7) is arranged on the other supporting arm (3); the clamping device (4) drives the first side mold (6) and the second side mold (7) to merge to form a mold having a mold cavity (101); the rotating device (5) is arranged on at least one of the two supporting arms (3) to drive the mold to rotate on a vertical plane to adjust the mold. The control system controls the movement of the walking device (1), the lifting device (2), the clamping device (4) and the rotating device (5); the building component forming mold robot further comprises a supporting device (8), the supporting device (8) being electrically connected to the control system; a pouring port (102) is provided on one side of the mold cavity (101), and the supporting device (8) is arranged on the pouring port (102) in an openable or closed manner; the supporting device (8) comprises a supporting plate (81), and the supporting plate (81) is pivotally connected to the pouring port (102); the supporting device (8) further comprises a telescopic device (82) or a motor (112) to drive the supporting plate (81) to open or close; and the supporting arm (3) is a controllable telescopic structure.

2. The building component forming mold robot according to claim 1, characterized in that: It also includes a locking device (9), which is arranged between the first side mold (6) and the second side mold (7), and the locking device (9) is electrically connected to the control system so as to automatically lock and connect the first side mold (6) and the second side mold (7) when the mold is closed.

3. The building component forming mold robot according to claim 1, characterized in that: It also includes an intelligent sensing system for detecting or receiving external information, and the intelligent sensing system is electrically connected to the control system.

4. The building component forming mold robot according to claim 3, characterized in that: The intelligent sensing system has infrared detection, laser detection, visual monitoring, Bluetooth communication and / or Internet of Things communication modules.

5. The building component forming mold robot according to claim 1, characterized in that: The walking device (1) is a mobile trolley.

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