Human-machine collaborative wall-building robot and wall-building method

Abstract

The present invention discloses a human-machine collaborative wall-building robot, including a wall-building robot arm and an operation area indication system, wherein the wall-building robot arm includes a mobile chassis, a support column fixed to the mobile chassis, a power-assisting mechanism fixed to the support column, and a clamp fixed to the power-assisting mechanism, the power-assisting mechanism includes a support arm perpendicular to the support column and a rope that can extend along the support arm and is connected to the clamp, the power-assisting mechanism can retract and extend the rope to lift or put down a block, and the operation area indication system is fixed to the support column and includes a light source, the light source is used to form an aperture on the ground, the aperture defines an operation area, and the operation area is an area that the clamp can reach. The present invention has the following beneficial effects: construction workers can stack bricks in the operation area, thereby facilitating the clamping of the clamp and improving the efficiency of wall-building.

Description

Technical Field

[0001] The present invention relates to the field of building technology, and in particular to a human-machine collaborative wall-building robot and a wall-building method. Background Art

[0002] Due to the high labor intensity, harsh environment, and boring work of the wall-building process in construction, there is a labor shortage in construction. Fewer and fewer people are participating in wall-building and other construction operations, which has a great impact on house construction and various infrastructures. In order to solve this problem, combined with the actual construction environment and current scientific development technology, an efficient human-machine assisted wall-building system solution is an effective measure to reduce manpower input, improve construction efficiency and quality, and ensure the safety of construction personnel. In order to ensure the smoothness and high efficiency of unit wall masonry, the assisted wall-building machine should minimize the movement of the equipment body during the unit masonry process, and the investment of the assisted equipment should not lead to a reduction in the overall masonry efficiency. Summary of the invention

[0003] In order to achieve the above technical objectives, the embodiments of the present invention provide a human-machine collaborative wall-building robot and a wall-building method.

[0004] A human-machine collaborative bricklaying robot comprises: a bricklaying robot arm and an operation area indication system, wherein the bricklaying robot arm comprises a mobile chassis, a support column fixed to the mobile chassis, a power-assisting mechanism fixed to the support column, and a clamp fixed to the power-assisting mechanism, wherein the power-assisting mechanism comprises a support arm perpendicular to the support column and a rope that can extend along the support arm and is connected to the clamp, wherein the power-assisting mechanism can retract and extend the rope to lift or put down bricks, and the operation area indication system is fixed to the support column and comprises a light source, wherein the light source is used to form an aperture on the ground, wherein the aperture defines an operation area, and the operation area is an area that the clamp can reach.

[0005] In a preferred embodiment, the support arm is rotatable relative to the column.

[0006] In a preferred embodiment, the support arm is a folding arm with adjustable length.

[0007] In a preferred embodiment, the support arm includes a first folding arm and a second folding arm, and the second folding arm is rotatably connected and fixed to the first folding arm.

[0008] In a preferred embodiment, the support arm is of a multi-stage sleeve type.

[0009] In a preferred embodiment, the light source is in the shape of a ring.

[0010] In a preferred embodiment, the light source is arranged around the supporting column.

[0011] In a preferred embodiment, the work area indication system also includes a light guide cover and a reflector, the light guide cover includes an upper cover and a lower cover, the upper cover, the lower cover and the reflector are all arranged around the base column, the upper cover and the lower cover respectively include annular side walls, the light source is arranged between the upper cover and the lower cover, the reflector is arranged above the upper cover, and the light beam emitted by the light source is emitted from the opening between the upper cover and the lower cover, and forms the aperture on the ground after reflection by the reflector.

[0012] In a preferred embodiment, the light source is an LED or a laser.

[0013] The invention also relates to a wall-building method of a human-machine collaborative wall-building robot.

[0014] A wall-building method using a human-machine collaborative wall-building robot comprises the following steps:

[0015] Providing a human-machine collaborative wall-building robot as described in any one of the above items;

[0016] Arranging the human-machine collaborative wall-building robot on one side of the wall to be built;

[0017] Turning on the light source to form an aperture on the ground, wherein at least a portion of the wall to be built is located in the aperture;

[0018] stacking blocks within the aperture; and

[0019] The human-machine collaborative wall-building robot is used to clamp bricks and lay bricks.

[0020] Compared with the prior art, the present invention has the following beneficial effects: the human-machine collaborative wall-building robot of the present invention includes a light source, which is used to form an aperture on the ground, and the aperture defines a working area, which is an area that the clamp can reach, so that construction workers can place bricks in the working area, thereby facilitating the clamping of the clamp and improving the efficiency of wall-building. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of an embodiment of the human-machine collaborative wall-building robot provided by the present invention.

[0022] Figure 2 It is another structural schematic diagram of an embodiment of the human-machine collaborative wall-building robot provided by the present invention.

[0023] Figure 3 yes Figure 1 An enlarged schematic diagram of the area of ​​the human-robot collaborative wall-building robot II is provided.

[0024] Figure 4 yes Figure 1 An enlarged schematic diagram of the human-robot collaborative wall-building robot III area provided.

[0025] Figure 5 yes Figure 1 An enlarged schematic diagram of the VI area of ​​the human-robot collaborative wall-building robot is provided.

[0026] Figure 6 yes Figure 1 Front view of the human-robot collaborative wall-building robot provided.

[0027] Figure 7 yes Figure 1 A top view of the human-machine collaborative wall-building robot provided.

[0028] Figure 8 yes Figure 1 An enlarged structural diagram of the work area indication system included in the human-machine collaborative bricklaying robot provided.

[0029] Main component symbols

[0030]

[0031] DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] See also Figure 1-5 ,in, Figure 1-2 It is a schematic diagram of an embodiment of the human-machine collaborative wall-building robot provided by the present invention. Figure 3 yes Figure 1 An enlarged schematic diagram of the area of ​​the human-robot collaborative wall-building robot II is provided. Figure 4 yes Figure 1 An enlarged schematic diagram of the human-robot collaborative wall-building robot III area provided.

[0034] An embodiment of the present invention provides a human-machine collaborative bricklaying robot 100 , comprising a bricklaying robot arm 1 and an operation area indication system 2 .

[0035] The wall-building robot 1 includes a mobile chassis 10 , a support column 20 fixed to the mobile chassis 10 , a power-assisting mechanism 30 fixed to the support column 20 , and a clamp 40 fixed to the power-assisting mechanism 30 .

[0036] The mobile chassis 10 includes a plurality of rollers and a brake structure for fixing the rollers. The rollers are arranged on the mobile chassis 10 to facilitate the movement of the human-machine collaborative bricklaying robot 100.

[0037] The mobile chassis 10 is provided with a power supply device (not shown), which provides electric energy to the support column 20, the power-assisting mechanism 30 and the clamp 40. The power supply device may be a battery.

[0038] Please refer to 1-3 and Figure 5 The supporting column 20 includes a base column 21 fixed to the mobile chassis 10, a telescopic column 22 sleeved in the base column 21, and a ceiling structure 23 fixed to one of the side surfaces of the telescopic column 22. The ceiling structure 23 includes a guide rail 230 fixed to the telescopic column 22 and a sliding part 232 fixed to the guide rail 230. When the sliding part 232 slides on the guide rail 230, its length enables its top to support the ceiling when sliding. In this way, the top of the sliding part 232 supports the ceiling, and the mobile chassis 10 is against the ground, so that the mobile chassis 10 and the sliding part 232 are firmly fixed to the bottom surface and the ceiling, and the shaking of the supporting column 20 can be prevented. The lifting and lowering order of the telescopic column 22 and the ceiling structure 23 can be determined according to the design, and can be completed automatically with one button. The ceiling structure 23 can determine the lifting height according to the height of the ceiling.

[0039] The boost mechanism 30 includes a lifter 31 and a support arm 32. The extension direction of the support arm 32 is perpendicular to the support column 20. A third positioning structure 50 is provided at the end of the support arm 32 away from the support column 20. The lifter 31 includes a motor and a rope 312 fixed to the motor, and the rope 312 extends along the direction of the support arm 32 and passes through the third positioning structure 50 to fix the clamp 40. In this embodiment, the lifter 31 is a winch.

[0040] In this embodiment, the third positioning structure 50 is a pulley.

[0041] The support arm 32 can rotate relative to the support column 20 .

[0042] In a preferred embodiment, the support arm 32 is a folding arm with adjustable length.

[0043] Furthermore, the support arm 32 is of a multi-stage sleeve type, and the extension length of the support arm 32 can be adjusted according to the actual working range during masonry.

[0044] In this embodiment, the support arm 32 includes a first folding arm 322 and a second folding arm 326. The second folding arm 326 is rotatably connected to the first folding arm 322. This arrangement improves the degree of freedom of the support arm 32, so that the support arm 32 can be extended to different lengths and bent at different angles to clamp the building blocks 101 at different distances.

[0045] More specifically, the support arm 32 includes a first connecting seat 320 fixed to the telescopic column 22, a first folding arm 322 pivotally connected to the first connecting seat 320, a second connecting seat 324 fixed to the first folding arm 322, and a second folding arm 326 pivotally connected to the second connecting seat 324. The first connecting seat 320 and the ceiling structure 23 are respectively fixed to two opposite surfaces of the telescopic column 22. The first folding arm 322 can rotate relative to the first connecting seat 320, and the second folding arm 326 can rotate relative to the second connecting seat 324.

[0046] The lifter 31 is fixed to the first connection seat 320. The first connection seat 320, the second connection seat 324, the first folding arm 322, and the second folding arm 326 are respectively provided with first positioning structures 60. After the rope 312 is connected to the lifter 31, it passes through a plurality of the first positioning structures 60 and is fixed to the clamper 40.

[0047] Please refer again Figure 3 In this embodiment, the first positioning structure 60 includes a mounting seat 61, a rotating disk 62, a winding wheel 63 and a limiting plate 65. The mounting seat 61 is fixed to the support arm 32, the rotating disk 62 is disposed on the mounting seat 61 and can rotate relative to the mounting seat 61, two spaced positioning posts 64 are disposed on the rotating disk 62, the winding wheel 63 passes through the positioning posts 64 and its two ends are clamped between the rotating disk 62 and the limiting plate 65, that is, the central axes of the two winding wheels 63 are parallel, and the winding wheel 63 can rotate relative to the positioning posts 64.

[0048] In this embodiment, the number of the first positioning structures 60 is three, and the three first positioning structures 60 are respectively disposed on the first connecting seat 320 , the second connecting seat 324 and the first folding arm 322 .

[0049] In this embodiment, a reversing wheel 66 is further included on the second folding arm 326. The reversing wheel 66 is used to change the direction of the rope 312 and convert the extending direction of the rope 312 from a horizontal position to a vertical position.

[0050] See also Figure 4The clamp 40 includes a body 41, a first clamping plate 42 and a second clamping plate 43 located at opposite ends of the body 41, and a driving unit (not shown). The body 41 includes two side surfaces perpendicular to the second clamping plate 43, each of which is provided with a slide rail 44 and a slider 45 moving along the slide rail 44. The body 41 also includes a U-shaped fixing plate 46, the opposite ends of which are fixed to the two sliders 45, the bottom of which is fixed to the second clamping plate 43, and the fixing plate 46 drives the second clamping plate 43 to move toward or away from the first clamping plate 42 as the sliders 45 move. In this embodiment, since the construction personnel need to operate the clamp 40, that is, the construction personnel need to realize the positioning of the clamp 40 to place the block 101 to a predetermined position, a handle can also be provided on the clamp 40. When the clamp 40 clamps the block 101, it is convenient for the operator to hold the handle to place the block 101 to a predetermined position.

[0051] The clamp 40 is provided with a first control button (not shown) and a second control button (not shown). The first control button is electrically connected to the driving part and is used to control the movement of the second clamping plate 43 relative to the first clamping plate 42 to clamp the bricks 101 of different thicknesses. The second control button is used to control the lifting device to retract the rope 312 to achieve the lifting and lowering of the clamp 40. The construction personnel can control the first control button and the second control button to achieve the lifting and lowering of the clamp 40 and the brick clamping action.

[0052] Please also read Figure 6-7 The working area indication system 2 is fixed to the supporting column and includes a light source 70. The light source 70 is used to form an aperture 701 on the ground, and the aperture 701 defines a working area, which is the area that the clamp can reach.

[0053] The light source 70 may be a laser projection device, which can directly project an aperture 701 of a predetermined size range onto the ground when turned on.

[0054] In this embodiment, the work area indication system 2 further includes a light guide cover 71 and a reflector 72. The light guide cover 71 includes an upper cover 710 and a lower cover. The upper cover 710, the lower cover and the reflector 72 are all arranged around the base column 21. The upper cover 710 and the lower cover respectively include an annular side wall 714. The light source 70 is arranged between the upper cover 710 and the lower cover 712. The reflector 72 is arranged above the upper cover 710. The light beam emitted by the light source 70 is emitted from the opening between the annular side walls respectively included in the upper cover 710 and the lower cover 712, and forms the aperture 701 on the ground after being reflected by the reflector 72. The light source 70 is an LED or a laser.

[0055] In summary, it can be understood that the work area indication system 2 is not limited to the shape provided in this embodiment, as long as it can form an aperture on the ground with the supporting column as the center.

[0056] The present invention also relates to a wall-building method using a human-machine collaborative wall-building robot, which comprises the following steps:

[0057] Step 1: providing the human-machine collaborative wall-building robot 100 as described above;

[0058] Step 2: Arrange the human-machine collaborative wall-building robot 100 at the middle position of one side of the wall to be built;

[0059] Step 3: Turn on the light source 70 to form an aperture 701 on the ground, and the wall to be built is located in the aperture 701;

[0060] Step 4: stacking blocks within the aperture 701; and

[0061] Step 5: Using the human-machine collaborative bricklaying robot 100 to clamp bricks and perform bricklaying.

[0062] In this embodiment, when the human-machine collaborative wall-building robot 100 is used for wall-building, an automatic mortar joint smearing device 300 is also provided. The automatic mortar joint smearing device 300 is used to apply mortar on the surface of the block when the block is being laid. The automatic mortar joint smearing device 300 includes a mortar conveyor 80, a mortar joint smearing machine 90, and a feed pipe 110 connected between the mortar conveyor 80 and the mortar joint smearing machine 90. The mortar conveyor 80 is used to produce mortar, and the feed pipe 110 is used to output the mortar produced by the mortar conveyor 80 to the mortar joint smearing machine 90. The mortar joint smearing machine 90 is arranged on the block 101. After the block 101 is positioned, the mortar joint smearing machine 90 moves on the block 101 to achieve the application of horizontal mortar joints and vertical mortar joints.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wall-building method of a human-machine collaborative wall-building robot, the human-machine collaborative wall-building robot comprising a wall-building robot arm and an operation area indication system, the wall-building robot arm comprising a mobile chassis, a support column fixed to the mobile chassis, a power-assisting mechanism fixed to the support column, and a clamp fixed to the power-assisting mechanism, the power-assisting mechanism comprising a support arm perpendicular to the support column and a rope extending along the support arm and connected to the clamp, the power-assisting mechanism being able to retract and extend the rope to lift or put down a block, the operation area indication system being fixed to the support column and comprising a light source, the light source being used to form an aperture on the ground, the aperture defining an operation area, the operation area being an area that the clamp can reach; Features: It includes the following steps: Arranging the human-machine collaborative wall-building robot on one side of the wall to be built; Turning on the light source to form an aperture on the ground, wherein at least a portion of the wall to be built is located in the aperture; The aperture defines a working area, which is the area that the gripper can reach, and the construction workers stack the bricks in the working area; Stacking blocks in the aperture; and using the human-machine collaborative wall-building robot to clamp bricks and lay bricks.

2. The wall-building method of the human-machine collaborative wall-building robot according to claim 1, It is characterized in that The support arm can rotate relative to the column.

3. The wall-building method of the human-machine collaborative wall-building robot according to claim 2, It is characterized in that The supporting arm is a folding arm with adjustable length.

4. The wall-building method of the human-machine collaborative wall-building robot according to claim 3, It is characterized in that The support arm includes a first folding arm and a second folding arm, and the second folding arm is rotatably connected and fixed to the first folding arm.

5. The wall-building method of the human-machine collaborative wall-building robot according to claim 3, It is characterized in that The support arm is of multi-stage sleeve type.

6. The wall-building method of the human-machine collaborative wall-building robot according to claim 1, It is characterized in that The light source is in a ring shape.

7. The wall-building method of the human-machine collaborative wall-building robot according to claim 1, It is characterized in that The light source is arranged around the supporting column.

8. The wall-building method of the human-machine collaborative wall-building robot according to claim 1, It is characterized in that The work area indication system also includes a light guide cover and a reflector. The light guide cover includes an upper cover and a lower cover. The upper cover, the lower cover and the reflector are all arranged around the supporting column. The upper cover and the lower cover respectively include annular side walls. The light source is arranged between the upper cover and the lower cover. The reflector is arranged above the upper cover. The light beam emitted by the light source is emitted from the opening between the upper cover and the lower cover, and forms the aperture on the ground after being reflected by the reflector.

9. The wall-building method of the human-machine collaborative wall-building robot according to claim 1, It is characterized in that The light source is LED or laser.

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