Adjustable lifting structure for building robot

Abstract

The invention relates to the technical field of building wall building, in particular to an adjustable lifting structure for a building robot, which comprises a base, a truss I, a moving part I, a truss II, a moving part II and the like, the number of the bases is at least two. A truss I is arranged on each base; a moving part I is arranged on each truss I, and a driving mechanism is arranged in each moving part I; all the moving parts I are jointly and fixedly connected with a truss II; a second moving part is arranged on the second truss, and a driving mechanism is also arranged in the second moving part. According to the device, an L-shaped scraper is controlled to be attached to the upper surface of a brick, an inverted-L-shaped scraper is controlled to be attached to the front side face and the rear side face of the brick, and then the second moving part drives the L-shaped scraper and the inverted-L-shaped scraper to be attached to the built brick to move, so that the L-shaped scraper and the inverted-L-shaped scraper automatically conduct mortar scraping work on the brick built by the bricking robot; manual scraping is not needed, a large amount of manpower and time are saved, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of building wall construction, and in particular to an adjustable lifting structure for a construction robot. Background Art

[0002] In the prior art, the wall-building process of a wall-building robot is divided into four steps: brick picking and placing, mortar application, brick placement and brick compaction. In the last step of brick compaction, the mortar attached to the bricks will be squeezed and overflowed. Since the overflowed mortar will gradually solidify, it will be difficult to remove the solidified mortar later, which seriously affects the appearance of the wall. Manually scraping off the overflowed mortar in time requires a lot of manpower and time, and the work efficiency is low. Summary of the invention

[0003] The purpose of the present invention is to overcome the problem that the overflowed mortar will gradually solidify, resulting in the difficulty in removing the solidified mortar subsequently, which seriously affects the appearance of the wall surface. Manually scraping off the overflowed mortar in time requires a lot of manpower and time, and the work efficiency is low. An adjustable device is provided, which can adjust the lifting height of the device according to the height of the wall, so as to scrape off the mortar overflowed during wall construction, without the need for manual scraping of the mortar, thereby saving a lot of manpower and time.

[0004] Another object of the present invention is to provide an adjustable lifting structure for a construction robot having the above-mentioned functions.

[0005] The embodiment of the present invention is realized through the following technical scheme: an adjustable lifting structure for a construction robot, comprising a base, a truss one, a moving part one, a truss two and a moving part two; at least two bases are provided; each base is provided with a truss one; each truss one is provided with a moving part one, and a driving mechanism is provided in the moving part one; all the moving parts one are fixedly connected to a truss two; a moving part two is provided on a truss two, and a driving mechanism is also provided in the moving part two; it also includes a power assembly, a mounting plate, an L-shaped scraper, an electric push rod one, a push block, an inverted L-shaped scraper, a rolling assembly and a scraping assembly; the moving part two is connected to the power assembly; the power assembly is connected to the mounting plate Mounting plate; the right part of the mounting plate is connected to two L-shaped scrapers which are symmetrically distributed front and back; an electric push rod 1 is fixedly connected to the lower surface of the mounting plate; the two telescopic parts of the electric push rod 1 are each fixedly connected to a push block; each push block is slidably connected to an inverted L-shaped scraper, and the two L-shaped scrapers are located between the two inverted L-shaped scrapers; the two inverted L-shaped scrapers are slidably connected to the two L-shaped scrapers together; a rolling assembly for pressing bricks is connected to the mounting plate and the L-shaped scraper; a scraping assembly for further scraping off mortar is connected to the left part of the mounting plate; the power assembly is used to drive the mounting plate, L-shaped scraper, electric push rod 1, push block, inverted L-shaped scraper, rolling assembly and scraping assembly to move up and down or rotate.

[0006] More preferably, the rolling assembly includes a fixed seat, a rolling roller, a spring 1 and a connecting plate; the fixed seat is fixedly connected to the lower surface of the mounting plate; the rolling roller is rotatably connected to the fixed seat, and the rolling roller is located between two L-shaped scrapers; two springs 1 are fixedly connected to the upper surface of the mounting plate; the two springs 1 are jointly fixed to a connecting plate; the connecting plate is fixed to the two L-shaped scrapers; and the two L-shaped scrapers are jointly slidably connected to the mounting plate.

[0007] More preferably, the scraping assembly includes an electric slide rail, an electric slider, an L-shaped plate, a fixed frame, an electric push rod 2, a vertical plate, a limit block, a connecting block, a second spring, a scraper strip and a third spring; the electric slide rail is fixedly connected to the left portion of the upper surface of the mounting plate; the electric slider is slidably connected to the electric slide rail; the L-shaped plate is fixedly connected to the electric slider; a linear slide groove is opened on the left side of the mounting plate; the fixed frame is slidably connected in the linear slide groove; the upper surface of the fixed frame is fixedly connected to the L-shaped plate; an electric push rod 2 is fixedly connected to the fixed frame; the telescopic part of the electric push rod 2 is fixedly connected to the vertical plate; the lower part of the vertical plate is slidably connected to the limit block; the connecting block is fixedly connected to the left portion of the limit block; the second spring is fixedly connected between the connecting block and the vertical plate; the scraper strip is slidably connected to the connecting block; and the third spring is fixedly connected between the connecting block and the scraper strip.

[0008] More preferably, a cleaning component is also included, and the mounting plate and the connecting plate are connected with a cleaning component for scraping the L-shaped scraper and the inverted L-shaped scraper; the cleaning component includes a fixed plate, an electric push rod three, a vertical scraper, an electric push rod four and a horizontal scraper; a fixed plate is fixedly connected to the connecting plate; two electric push rods three are fixedly connected to the fixed plate; the telescopic parts of the two electric push rods three are each fixedly connected to a vertical scraper, and the two vertical scrapers are fitted with the L-shaped scraper; two electric push rods four are each fixedly connected to the left and right parts of the mounting plate; the telescopic parts of the two electric push rods four on the left part of the mounting plate are jointly fixedly connected to a horizontal scraper; the telescopic parts of the two electric push rods four on the right part of the mounting plate are jointly fixedly connected to another horizontal scraper; the two horizontal scrapers are each fitted with an inverted L-shaped scraper.

[0009] More preferably, the truss one is an assembled structure, and additional trusses one can be added according to actual needs to extend the overall length of the truss one.

[0010] More preferably, a warped edge is provided at the lower end of each inverted L-shaped scraper.

[0011] More preferably, two guide plates are arranged at the lower part of the scraper strip.

[0012] More preferably, a collecting component is also included, and the inner lower part of the moving part two is connected with a collecting component for collecting scraped mortar; the collecting component includes a cylinder, an auger, a motor one, an electric push rod five, a collection box, a telescopic tube and a circular tube; the inner lower part of the moving part two is fixedly connected with a cylinder; the auger is rotatably connected inside the cylinder; the front side surface of the cylinder is fixedly connected with motor one; the output shaft of motor one is fixedly connected to the auger; the rear side surface of the moving part two is fixedly connected with electric push rod five; the telescopic part of the electric push rod five is fixedly connected to the collection box; the rear end of the cylinder is connected with the telescopic tube; the telescopic tube is connected to the collection box; the lower part of the cylinder is connected with the circular tube, and the circular tube downwardly passes through the moving part two.

[0013] More preferably, a filling component is also included, and a filling component for filling the gap is commonly connected to the moving part 2, the mounting plate, the scraping component and the collecting component; the filling component includes an electric push rod 6, a sealing plate, a vertical tube, a telescopic hose, a horizontal tube, an electric push rod 7 and a fixed block; two electric push rods 6 are fixedly connected to the front side of the collecting box; the telescopic parts of the two electric push rods 6 are commonly fixedly connected to the sealing plate, and the sealing plate is plugged into the collecting box; the upper part of the cylinder is connected to a vertical tube, and the vertical tube penetrates the moving part 2 upward; an arc-shaped slide groove is opened on the mounting plate; the vertical tube is slidably arranged in the arc-shaped slide groove; the vertical tube is connected to a telescopic hose; the telescopic hose is connected to a horizontal tube, and the horizontal tube penetrates the scraper strip; two electric push rods 7 are fixedly connected to the L-shaped plate; the telescopic parts of the two electric push rods 7 are commonly fixedly connected to a fixed block; the fixed block is fixedly connected to the horizontal tube.

[0014] More preferably, the end of the transverse tube is flush with the scraper strip, and the end of the transverse tube and the scraper strip form a whole.

[0015] Compared with the prior art, the present invention has the following advantages: The adjustable lifting structure for the construction robot obtained by the present invention through the above design controls the L-shaped scraper to fit the upper surface of the brick, the inverted L-shaped scraper to fit the front side and the rear side of the brick, and then the moving part 2 carries the L-shaped scraper and the inverted L-shaped scraper to fit the laid bricks for movement, thereby realizing the L-shaped scraper and the inverted L-shaped scraper to automatically scrape the mortar from the bricks laid by the bricklaying robot, without manual scraping, saving a lot of manpower and time, and improving work efficiency.

[0016] The adjustable lifting structure for the construction robot obtained by the present invention through the above design adjusts the assembly number of trusses according to the final height of the wall, thereby achieving the adjustable lifting height effect of the device and adapting to walls of different heights.

[0017] The adjustable lifting structure for the construction robot obtained by the present invention through the above design can automatically scrape mortar on the wall surface where the L-shaped scraper and the inverted L-shaped scraper cannot scrape through the scraping strip, without manual scraping, saving a lot of manpower and time and improving work efficiency.

[0018] The adjustable lifting structure for the construction robot obtained by the present invention through the above design moves on the L-shaped scraper and the inverted L-shaped scraper by fitting the vertical scraper and the horizontal scraper to the L-shaped scraper and the inverted L-shaped scraper, so as to scrape off the mortar attached to the L-shaped scraper and the inverted L-shaped scraper, thereby avoiding the L-shaped scraper and the inverted L-shaped scraper from carrying solidified mortar, and ensuring the cleanliness of the subsequent mortar scraped off by the L-shaped scraper and the inverted L-shaped scraper. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0020] In the attached picture: Figure 1 It is a three-dimensional structural schematic diagram of the adjustable lifting structure for the construction robot of the present invention; Figure 2 It is a three-dimensional structural schematic diagram of the truss 2, the moving part 2, the power assembly, the mounting plate, the L-shaped scraper, the electric push rod 1, the push block, the inverted L-shaped scraper, the rolling assembly, the scraping assembly and the cleaning assembly of the adjustable lifting structure for the construction robot of the present invention; Figure 3 It is a three-dimensional structural schematic diagram of the power assembly, mounting plate, L-shaped scraper, electric push rod 1, push block, inverted L-shaped scraper, rolling assembly, scraping assembly and cleaning assembly of the adjustable lifting structure for the construction robot of the present invention; Figure 4 It is a three-dimensional structural schematic diagram of the mounting plate, L-shaped scraper, electric push rod 1, push block, inverted L-shaped scraper, rolling assembly, scraping assembly and cleaning assembly of the adjustable lifting structure for the construction robot of the present invention; Figure 5 It is a three-dimensional structural schematic diagram of a mounting plate, a scraping component and a cleaning component of the adjustable lifting structure for a construction robot of the present invention; Figure 6 It is a three-dimensional structural schematic diagram of the moving part 2 and the collecting assembly of the adjustable lifting structure for the construction robot of the present invention; Figure 7 It is a three-dimensional structural schematic diagram of the moving part 2, the mounting plate, the scraping component, the cleaning component and the filling component of the adjustable lifting structure for the construction robot of the present invention.

[0021] The markings of the components in the attached drawings are as follows: 1-base, 2-truss 1, 3-moving part 1, 4-truss 2, 5-moving part 2, 6-mounting plate, 7-L-shaped scraper, 8-electric push rod 1, 9-push block, 10-inverted L-shaped scraper, 101-motor 2, 102-rotating shaft, 103-sliding sleeve, 104-hydraulic rod, 105-slip ring, 201-fixed seat, 202-roller, 203-spring 1, 204-connecting plate, 301-electric slide rail, 302-electric slider, 303-L-shaped plate, 304-fixed frame, 305-electric push rod 2, 306-vertical plate, 307-limit block, 308-connecting block, 309-spring 2, 310-scraper strip, 311-spring 3, 401-fixed plate, 402-electric push rod three, 403-vertical scraper, 404-electric push rod four, 405-horizontal scraper, 501-cylinder, 502-auger, 503-motor one, 504-electric push rod five, 505-collection box, 506-telescopic tube, 507-round tube, 601-electric push rod six, 602-sealing plate, 603-vertical pipe, 604-telescopic hose, 605-horizontal pipe, 606-electric push rod seven, 607-fixing block, 1001-warped edge, 31001-guide plate, 6001-straight slide, 6002-arc slide. DETAILED DESCRIPTION

[0022] Hereinafter, various embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in the following figures, in order to make each layer and each component a recognizable size, the scale of each layer and each component is appropriately changed for schematic illustration. It is hereby stated that the directional terms such as up, down, left, right, front, back, inside, outside, etc. that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention, and are not specific limitations of the present invention.

[0023] Example 1 An adjustable lifting structure for a construction robot, such as Figure 1-Figure 5 As shown, it includes a base 1, a truss 1 2, a moving part 1 3, a truss 2 4 and a moving part 2 5; two bases 1 are provided; each base 1 is provided with a truss 1 2; each truss 1 2 is provided with a moving part 1 3, and a driving mechanism is provided in the moving part 1 3, the driving mechanism is composed of an electric component and an electric control wheel, and the moving part 1 3 is controlled to move up or down on the truss 1 2 by the driving mechanism; all the moving parts 1 3 are fixedly connected to the truss 2 4; the moving part 2 5 is provided on the truss 2 4, and the moving part 2 5 is also provided with a driving mechanism, and the moving part 2 5 is controlled to move left or right on the truss 2 4 by the driving mechanism; It also includes a power assembly, a mounting plate 6, an L-shaped scraper 7, an electric push rod 8, a push block 9, an inverted L-shaped scraper 10, a rolling assembly and a scraping assembly; the moving part 2 5 is connected to the power assembly; the mounting plate 6 is connected to the power assembly; the right part of the mounting plate 6 is connected to two L-shaped scrapers 7 that are symmetrically distributed front and back; the lower surface of the mounting plate 6 is bolted to an electric push rod 8, and the electric push rod 8 is a bidirectional push rod; the two telescopic parts of the electric push rod 8 are each fixed with a push block 9; each Each push block 9 is slidably connected to an inverted L-shaped scraper 10, and the two L-shaped scrapers 7 are located between the two inverted L-shaped scrapers 10; the two inverted L-shaped scrapers 10 are slidably connected to the two L-shaped scrapers 7; a rolling assembly is connected to the mounting plate 6 and the L-shaped scraper 7; a scraping assembly is connected to the left part of the mounting plate 6; the power assembly is used to drive the mounting plate 6, the L-shaped scraper 7, the electric push rod 8, the push block 9, the inverted L-shaped scraper 10, the rolling assembly and the scraping assembly to move up and down or rotate.

[0024] The power assembly includes a motor 2 101, a rotating shaft 102, a sleeve 103, a hydraulic rod 104 and a slip ring 105; the inner upper wall of the moving part 2 5 is bolted to the motor 2 101; the output shaft of the motor 2 101 is fixedly connected to the rotating shaft 102; the sleeve 103 is slidably connected to the rotating shaft 102; the upper surface of the sleeve 103 is fixedly connected to the mounting plate 6; the upper surface of the moving part 2 5 is bolted to two hydraulic rods 104; the telescopic parts of the two hydraulic rods 104 are fixedly connected to the slip ring 105, and the slip ring 105 is rotatably connected to the mounting plate 6.

[0025] The rolling assembly includes a fixed seat 201, a rolling roller 202, a spring 203 and a connecting plate 204; the fixed seat 201 is fixedly connected to the lower surface of the mounting plate 6; the rolling roller 202 is rotatably connected to the fixed seat 201, and the rolling roller 202 is located between the two L-shaped scrapers 7; two springs 203 are fixedly connected to the upper surface of the mounting plate 6; the two springs 203 are jointly fixedly connected to a connecting plate 204; the connecting plate 204 is fixedly connected to the two L-shaped scrapers 7; the two L-shaped scrapers 7 are jointly slidably connected to the mounting plate 6.

[0026] The scraping assembly includes an electric slide rail 301, an electric slider 302, an L-shaped plate 303, a fixing frame 304, an electric push rod 2 305, a vertical plate 306, a limit block 307, a connecting block 308, a spring 2 309, a scraper strip 310 and a spring 311; the left part of the upper surface of the mounting plate 6 is bolted with the electric slide rail 301; the electric slider 302 is slidably connected to the electric slide rail 301; the L-shaped plate 303 is fixed to the electric slider 302; a linear slide groove 6001 is opened on the left side of the mounting plate 6; the linear slide groove 6001 is provided inside the linear slide groove 6001. A fixed frame 304 is slidably connected; the upper surface of the fixed frame 304 is fixedly connected to the L-shaped plate 303; an electric push rod 2 305 is bolted to the fixed frame 304; the telescopic part of the electric push rod 2 305 is fixedly connected to a vertical plate 306; the lower part of the vertical plate 306 is slidably connected to a limit block 307; the left part of the limit block 307 is fixedly connected to a connecting block 308; a spring 2 309 is fixedly connected between the connecting block 308 and the vertical plate 306; a scraper strip 310 is slidably connected to the connecting block 308; a spring 311 is fixedly connected between the connecting block 308 and the scraper strip 310.

[0027] It also includes a cleaning component, which is connected to the mounting plate 6 and the connecting plate 204; the cleaning component includes a fixed plate 401, an electric push rod three 402, a vertical scraper 403, an electric push rod four 404 and a horizontal scraper 405; the connecting plate 204 is fixedly connected to the fixed plate 401; two electric push rods three 402 are bolted to the fixed plate 401; the telescopic parts of the two electric push rods three 402 are each fixedly connected to a vertical scraper 403, and the two vertical scrapers 403 are fitted with the L-shaped scraper 7; the left and right parts of the mounting plate 6 are each bolted to two electric push rods four 404; the telescopic parts of the two electric push rods four 404 on the left part of the mounting plate 6 are commonly fixedly connected to a horizontal scraper 405; the telescopic parts of the two electric push rods four 404 on the right part of the mounting plate 6 are commonly fixedly connected to another horizontal scraper 405; the two horizontal scrapers 405 are each fitted with an inverted L-shaped scraper 10.

[0028] Truss 1 2 is an assembled structure, and trusses 1 2 can be added according to actual needs to extend the overall length of truss 1 2.

[0029] Furthermore, in order to prevent the mortar scraped off by the inverted L-shaped scraper 10 from falling vertically downward onto the bricks below, a warped edge 1001 is provided at the lower end of each inverted L-shaped scraper 10.

[0030] Furthermore, in order to prevent the mortar scraped off by the scraper bar 310 from falling vertically downward onto the bricks below, two guide plates 31001 are provided at the lower part of the scraper bar 310.

[0031] The working steps of this embodiment are: The following rotations are from front to back, from top to bottom, and from right to left. The first step is to place the construction robot between the location where the wall needs to be built and the wall-building robot using an adjustable lifting structure when in use; In the second step, the operator connects an external power supply to all parts that require electric drive. Since the overflowed mortar will gradually solidify, it will be difficult to remove the solidified mortar later, which seriously affects the appearance of the wall. It takes a lot of manpower and time to manually scrape off the overflowed mortar in time, and the work efficiency is low. Therefore, before the wall-building robot starts to build the wall, the two moving parts 13 are controlled to drive the truss 2 4, the moving part 2 5, the power assembly, the mounting plate 6, the L-shaped scraper 7, the electric push rod 1 8, the push block 9, the inverted L-shaped scraper 10, the rolling assembly and the scraping assembly to move downward together until the two moving parts 1 3 are moved to the same height as the foundation, and then the two moving parts 1 3 are controlled to stop moving. At the same time, the moving part 2 5 is controlled to move to the left on the truss 2 4, driving the power assembly, the mounting plate 6, the L-shaped scraper 7, the electric push rod 1 8, the push block 9, the inverted L-shaped scraper 10, the rolling assembly and the scraping assembly to move to the leftmost end of the truss 2 4. It should be noted that Figure 1 The side where the moving part 3 is located is the left side; Then the operator controls the wall-laying robot to start wall-laying, and moves the wall-laying robot from left to right to lay the wall. After the wall-laying robot has laid a layer of bricks on the foundation, the telescopic parts of the two hydraulic rods 104 are controlled to be pushed out, driving the sleeve 103, the mounting plate 6, the L-shaped scraper 7, the electric push rod 18, the push block 9, the inverted L-shaped scraper 10, the rolling assembly and the scraping assembly to move upward together. The sleeve 103 slides on the rotating shaft 102, allowing the inverted L-shaped scraper 10 to move as a whole to the top of the truss 2 4. Then the output shaft of the motor 2 101 is controlled to rotate counterclockwise by 90 degrees, driving the rotating shaft 102, the sleeve 103, the mounting plate 6, the L-shaped scraper 7, the electric push rod 18, the push block 9, the inverted L-shaped scraper 10, the rolling assembly and the scraping assembly to rotate counterclockwise together, rotating the L-shaped scraper 7 and the inverted L-shaped scraper 10 to the rear of the moving part 2 5, and rotating the scraping assembly to the front of the moving part 2 5; Then, the two moving parts 3 are controlled to drive the connected parts to move downward. The two L-shaped scrapers 7 will contact the laid bricks during the movement. Under the obstruction of the bricks, the connecting plate 204, the two L-shaped scrapers 7 and the two inverted L-shaped scrapers 10 stop moving, while the mounting plate 6, the electric push rod 8, the push block 9, the rolling assembly and the scraping assembly continue to move downward. The mounting plate 6 slides relatively on the L-shaped scraper 7, and the push block 9 slides relatively on the inverted L-shaped scraper 10. The spring 203 is forced to stretch until the rolling After the roller 202 contacts the laid bricks, the two moving parts 1 3 are controlled to stop moving. At this time, the two L-shaped scrapers 7 contact the laid bricks, and the two inverted L-shaped scrapers 10 are respectively located in front and behind the laid bricks. Then the two telescopic parts of the electric push rod 1 8 are controlled to push out, driving the front and rear push blocks 9 and the inverted L-shaped scrapers 10 to move toward the bricks, so that the two inverted L-shaped scrapers 10 fit the front and rear sides of the bricks. Then the moving part 2 5 is controlled to drive the connected parts to move rightward on the truss 2 4; During the movement, the L-shaped scraper 7 located on the right moves along the upper surface of the brick to scrape off the mortar overflowing from the upper surface of the brick. At the same time, the front and rear inverted L-shaped scrapers 10 move along the front and rear sides of the brick to scrape off the mortar overflowing from the front and rear sides of the brick. After the L-shaped scraper 7 and the inverted L-shaped scraper 10 scrape off the mortar overflowing from this layer of bricks, the telescopic part of the electric push rod 8 is controlled to retract, driving the connected parts to reset, so that the two inverted L-shaped scrapers 10 are away from the brick, and then the two moving parts are controlled to retract. The first 3 drives the connected parts to move upward for a short distance, so that the L-shaped scraper 7 also separates from the bricks, and the inverted L-shaped scraper 10 is higher than the laid bricks as a whole. Then the output shaft of the second motor 101 is controlled to rotate clockwise by 90 degrees, and the L-shaped scraper 7 and the inverted L-shaped scraper 10 are rotated to the right of the second moving part 5. In this way, the L-shaped scraper 7 and the inverted L-shaped scraper 10 automatically scrape the mortar from the bricks laid by the bricklaying robot, without manual scraping, saving a lot of manpower and time, and improving work efficiency; It should be noted that since the mortar cannot solidify in a short time and the laid bricks are not fixed, the L-shaped scraper 7 and the inverted L-shaped scraper 10 are likely to cause the laid bricks to shift when scraping off the mortar. Therefore, when the L-shaped scraper 7 and the inverted L-shaped scraper 10 move, the laid bricks are pressed by the rolling roller 202 to rotate, and the L-shaped scraper 7 and the inverted L-shaped scraper 10 move together to prevent the laid bricks from being pushed by the L-shaped scraper 7 and the inverted L-shaped scraper 10 and shifting. After the mortar overflowing from the bricks is scraped off, the wall-laying robot is controlled to continue laying bricks in an S shape on the laid bricks. After each layer of bricks is laid, the L-shaped scraper 7 and the inverted L-shaped scraper 10 are controlled accordingly to scrape off the mortar overflowing from the layer of bricks, and this process is repeated until the wall-laying robot stops laying bricks.

[0032] In the third step, when the wall-building robot is building a wall outdoors, as the wall surface rises, the operator can continue to install trusses 2 on two trusses 2, so that the moving part 3 on the truss 2 can rise as the wall surface rises, and the moving part 2 5 with the L-shaped scraper 7 and the inverted L-shaped scraper 10 continues to scrape the wall surface built by the wall-building robot to clean up the mortar overflowing from the bricks. In this way, the device can adjust the assembly number of trusses 2 according to the final height of the wall, thereby achieving the effect of adjustable lifting height of the device and adapting to walls of different heights.

[0033] When the wall-building robot is building a wall indoors, as the wall surface rises, the distance between the topmost brick of the wall surface and the indoor ceiling is small, and the L-shaped scraper 7 and the inverted L-shaped scraper 10 cannot move between the topmost brick of the wall surface and the indoor ceiling to scrape off the mortar overflowing from the surface of the topmost brick. Manually scraping off the overflowing mortar takes a long time and has low work efficiency. Therefore, when the L-shaped scraper 7 and the inverted L-shaped scraper 10 are located on the right side of the moving part 2 5 and the two hydraulic rods 104 are in the pushed-out state and rise, during the contact between the scraper strip 310 and the ceiling, the scraper strip 310 moves relatively on the connecting block 308, thereby forcing the spring 311 to compress, preventing the scraper strip 310 from contacting the ceiling. The plate makes hard contact. After the upper end of the scraper 310 is tightly fitted with the ceiling, the moving part 1 3 is controlled to stop moving, and then the output shaft of the motor 2 101 is controlled to rotate ninety degrees clockwise to rotate the scraper 310 to face the laid bricks. At this time, if the moving part 2 5 is located at the leftmost side of the truss 2 4, the electric slider 302 is controlled to move to the left on the electric slide rail 301. If the moving part 2 5 is located at the rightmost side of the truss 2 4, the electric slider 302 is controlled to move to the right on the electric slide rail 301, driving the L-shaped plate 303, the fixed frame 304, the electric push rod 2 305, the vertical plate 306, the limit block 307, the connecting block 308, the spring 2 309, the scraper 310 and the spring 311 to move together. The fixed frame 304 slides in the linear slide groove 6001, and after the scraper 310 is moved to the leftmost or rightmost end of the wall brick, the telescopic part of the electric push rod 2 305 is controlled to be pushed out, driving the vertical plate 306, the limit block 307, the connecting block 308, the spring 2 309, the scraper 310 and the spring 311 to move together in the direction of the brick. After the scraper 310 contacts the brick, as the electric slider 302 continues to move to the right on the electric slide rail 301, the vertical plate 306 slides on the limit block 307, and the spring 2 309 is forced to compress, so that the scraper 310 fits tightly with the brick. Then the moving part 2 5 is controlled to move left or right on the truss 2 4, and the mortar overflowing from the brick is removed by the scraper 310. Scrape, and can also control the moving part 3 to drive the connected parts to continue moving upwards, and continue to scrape the bricks subsequently laid by the bricklaying robot with the scraper 310, until the scraper 310 contacts the ceiling of the roof, and the mortar overflowing from the wall bricks is scraped off, control the output shaft of the motor 101, the electric slider 302 and the telescopic part of the electric push rod 2 305 to reset, drive the connected parts to reset, and adjust all the parts to the initial state, so that the scraper 310 can automatically scrape the mortar on the wall, where the L-shaped scraper 7 and the inverted L-shaped scraper 10 cannot scrape, without manual scraping, saving a lot of manpower and time, and improving work efficiency.

[0034] In the fourth step, after the L-shaped scraper 7 and the inverted L-shaped scraper 10 scrape the mortar overflowing from the bricks, some mortar will adhere to the L-shaped scraper 7 and the inverted L-shaped scraper 10, and the mortar is difficult to clean after solidification, which will affect the scraping of subsequent mortar by the L-shaped scraper 7 and the inverted L-shaped scraper 10. Therefore, whenever the L-shaped scraper 7 and the inverted L-shaped scraper 10 scrape off a layer of bricks and wait for the bricklaying robot to lay the next layer of bricks, the telescopic parts of the two electric push rods 402 are controlled to contract, driving the two vertical scrapers 403 to move on the two L-shaped scrapers 7 respectively, The mortar attached to the plate 7 is scraped off and falls to the ground. At the same time, the telescopic parts of the two electric push rods 404 are also pushed out, driving the horizontal scraper 405 to move downward along the surface of the inverted L-shaped scraper 10, and scraping off the mortar attached to the inverted L-shaped scraper 10, thereby avoiding the L-shaped scraper 7 and the inverted L-shaped scraper 10 carrying solidified mortar, ensuring the cleanliness of the subsequent mortar scraped by the L-shaped scraper 7 and the inverted L-shaped scraper 10. After the L-shaped scraper 7 and the inverted L-shaped scraper 10 are scraped clean, the electric push rods 3 402 and the electric push rods 4 404 are controlled to drive the connected components to reset.

[0035] It should be noted that when the scraper bar 310 scrapes off the mortar overflowing from the top layer of bricks, the scraper bar 310 will be moved downward to the lowermost end by the moving part 13. At this time, the operator can manually clean the mortar attached to the scraper bar 310.

[0036] It should be noted that when it is necessary to improve the wall-laying efficiency and speed up the wall-laying speed, the device can be controlled to follow the bricklaying robot with the L-shaped scraper 7 and the inverted L-shaped scraper 10, so as to reduce the waiting time during the bricklaying process without affecting the work of the bricklaying robot.

[0037] Example 2 On the basis of Example 1, Figure 6-Figure 7 As shown, it also includes a collecting component, and the inner lower part of the moving part 2 5 is connected with the collecting component; the collecting component includes a cylinder 501, an auger 502, a motor 1 503, an electric push rod 504, a collecting box 505, a telescopic tube 506 and a circular tube 507; the inner lower part of the moving part 2 5 is fixedly connected with the cylinder 501; the auger 502 is rotatably connected inside the cylinder 501; the front side of the cylinder 501 is bolted with the motor 1 503; the output shaft of the motor 1 503 is fixedly connected to the auger 502; the rear side of the moving part 2 5 is bolted with the electric push rod 5 504; the telescopic part of the electric push rod 504 is fixedly connected to the collecting box 505; the rear end of the cylinder 501 is connected with the telescopic tube 506; the telescopic tube 506 is connected to the collecting box 505; the lower part of the cylinder 501 is connected with the circular tube 507, and the circular tube 507 downwardly penetrates the moving part 2 5.

[0038] It also includes a filling component, which is commonly connected to the moving part 2 5, the mounting plate 6, the scraping component and the collecting component; the filling component includes an electric push rod 601, a sealing plate 602, a vertical tube 603, a telescopic hose 604, a horizontal tube 605, an electric push rod 7 606 and a fixing block 607; the front side of the collecting box 505 is bolted with two electric push rods 601; the telescopic parts of the two electric push rods 601 are commonly fixed with a sealing plate 602, and the sealing plate 602 is plugged with the collecting box 505, and the connection between the telescopic tube 506 and the collecting box 505 is closed by the sealing plate 602; the upper part of the cylinder 501 is connected with a vertical Tube 603, and the vertical tube 603 passes through the moving part 2 5 upward; an arc-shaped slide groove 6002 is opened on the mounting plate 6; the vertical tube 603 is slidably set in the arc-shaped slide groove 6002, and when the mounting plate 6 rotates, sufficient avoidance space is reserved for the vertical tube 603 through the arc-shaped slide groove 6002; the vertical tube 603 is connected with a telescopic hose 604; the telescopic hose 604 is connected with a horizontal tube 605, and the horizontal tube 605 passes through the scraper strip 310; two electric push rods 7 606 are bolted to the L-shaped plate 303; the telescopic parts of the two electric push rods 7 606 are commonly fixed with a fixed block 607; the fixed block 607 is fixed to the horizontal tube 605.

[0039] The end of the transverse tube 605 is flush with the scraper strip 310 , and the end of the transverse tube 605 and the scraper strip 310 form a whole.

[0040] The working principle of this embodiment is: In step 2 of embodiment 1: the operator connects an external power supply to all components that need to be powered by electricity, and connects an external mortar conveying device to the circular tube 507. Since a large amount of mortar will overflow during the wall-building process of the wall-building robot, the overflowing mortar is scraped off by the L-shaped scraper 7 and the inverted L-shaped scraper 10, so that the scraped mortar falls to the ground, causing a large amount of waste. Therefore, when the L-shaped scraper 7 and the inverted L-shaped scraper 10 come into contact with the bricks, the telescopic part of the electric push rod 504 is controlled to be pushed out, driving the collection box 505 close to the bricks and located below the front inverted L-shaped scraper 10. The telescopic tube 506 is forced to stretch, and the mortar in front is collected by the collection box 505. The mortar naturally falls down by the L-shaped scraper 10. At the same time, when the L-shaped scraper 7 and the inverted L-shaped scraper 10 scrape the mortar, the horizontal scraper 405 and the vertical scraper 403 synchronously scrape the mortar accumulated on the L-shaped scraper 7 and the inverted L-shaped scraper 10. When the horizontal scraper 405 scrapes down the mortar attached to the front inverted L-shaped scraper 10, the collecting box 505 can also collect the scraped mortar, and the mortar scraped forward by the two vertical scrapers 403 will also fall into the collecting box 505. After the L-shaped scraper 7 and the inverted L-shaped scraper 10 scrape off the mortar overflowing from all the bricks and detach from the bricks, the collecting box 505 is also controlled to synchronously move away from the bricks to achieve mutual cooperation.

[0041] When the collection box 505 collects a large amount of mortar, the telescopic parts of the two electric push rods 601 are controlled to be pushed out, driving the sealing plate 602 to move out from the collection box 505 and no longer block the telescopic tube 506. Then the output shaft of the motor 503 is controlled to rotate clockwise, driving the auger 502 to rotate clockwise. After the mortar in the collection box 505 enters the telescopic tube 506, the auger 502, which continues to rotate clockwise, transports the mortar to the inside of the cylinder 501. As the mortar increases, it will enter the circular tube 507 and then be stored through an external mortar transporting device.

[0042] When the existing wall-building robot is cutting a wall indoors, after the top of the wall is built, there is a gap between the topmost bricks and the indoor ceiling. The gap is small and bricks cannot be placed in it. It can only be filled with mortar. Therefore, when the scraper bar 310 is scraping the mortar off the topmost bricks on the wall, the telescopic parts of the two electric push rods 606 are controlled to be pushed out, driving the fixed block 607 and the cross tube 605 to move toward the bricks, so that the cross tube 605 is moved out from the scraper bar 310 and inserted into the gap between the bricks and the indoor ceiling. Then the telescopic parts of the two electric push rods 601 are controlled to shrink, driving the sealing plate 602 to be inserted back into the collection box 505, blocking the telescopic tube 506, so that the mortar in the telescopic tube 506 cannot be discharged, and then the output of the motor 503 is controlled. The shaft rotates counterclockwise, driving the auger 502 to rotate counterclockwise, and the mortar in the cylinder 501 is transported to the telescopic tube 506 through the auger 502. At the same time, the external mortar transporting equipment is controlled to continuously transport the mortar into the cylinder 501. At this time, because the telescopic tube 506 is blocked, after the telescopic tube 506 is filled with mortar, the mortar continuously transported by the subsequent auger 502 will enter the vertical tube 603 from the cylinder 501, and enter the telescopic hose 604 and the horizontal tube 605 along the vertical tube 603, and then be discharged from the port of the horizontal tube 605, flowing into the gap between the bricks and the indoor ceiling, and the gap between the bricks and the indoor ceiling is filled with mortar, thereby achieving the effect of waste utilization and avoiding a large amount of mortar directly falling to the ground, causing a lot of waste.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. An adjustable lifting structure for a construction robot, comprising a base (1); the base (1) is provided with at least two; each base (1) is provided with a truss one (2); each truss one (2) is provided with a moving part one (3), and a driving mechanism is provided in the moving part one (3); all the moving parts one (3) are fixedly connected to a truss two (4); a moving part two (5) is provided on the truss two (4), and a driving mechanism is also provided in the moving part two (5); the characteristic is that: The utility model also comprises a power assembly; the second moving part (5) is connected to the power assembly; the power assembly is connected to a mounting plate (6); the right part of the mounting plate (6) is connected to two L-shaped scrapers (7) which are symmetrically distributed in the front and rear directions; the lower surface of the mounting plate (6) is fixedly connected to an electric push rod (8); the two telescopic parts of the electric push rod (8) are each fixedly connected to a push block (9); each push block (9) is slidably connected to an inverted L-shaped scraper (10), and the two L-shaped scrapers (7) are located between the two inverted L-shaped scrapers. The mounting plate (6) and the L-shaped scraper (7) are connected to each other in a sliding manner; the two inverted L-shaped scrapers (10) are connected to the two L-shaped scrapers (7); a rolling assembly for pressing the bricks is connected to the mounting plate (6) and the L-shaped scraper (7); a scraping assembly for further scraping off the mortar is connected to the left side of the mounting plate (6); and a power assembly is used to drive the mounting plate (6), the L-shaped scraper (7), the electric push rod (8), the push block (9), the inverted L-shaped scraper (10), the rolling assembly and the scraping assembly to move up and down or to rotate.

2. The adjustable lifting structure for a construction robot according to claim 1, characterized in that: The rolling assembly comprises a fixed seat (201); the fixed seat (201) is fixedly connected to the lower surface of the mounting plate (6); a rolling roller (202) is rotatably connected to the fixed seat (201), and the rolling roller (202) is located between two L-shaped scrapers (7); two springs (203) are fixedly connected to the upper surface of the mounting plate (6); the two springs (203) are commonly fixedly connected to a connecting plate (204); the connecting plate (204) is fixedly connected to the two L-shaped scrapers (7); and the two L-shaped scrapers (7) are commonly slidably connected to the mounting plate (6).

3. The adjustable lifting structure for a construction robot according to claim 2, characterized in that: The scraping assembly comprises an electric slide rail (301); the electric slide rail (301) is fixedly connected to the left portion of the upper surface of the mounting plate (6); an electric slider (302) is slidably connected to the electric slide rail (301); an L-shaped plate (303) is fixedly connected to the electric slider (302); a linear slide groove (6001) is provided on the left side of the mounting plate (6); a fixed frame (304) is slidably connected in the linear slide groove (6001); the upper surface of the fixed frame (304) is fixedly connected to the L-shaped plate (303); the fixed frame (304) The upper portion of the electric push rod 2 (305) is fixedly connected; the telescopic portion of the electric push rod 2 (305) is fixedly connected to a vertical plate (306); the lower portion of the vertical plate (306) is slidably connected to a limit block (307); the left portion of the limit block (307) is fixedly connected to a connecting block (308); a second spring (309) is fixedly connected between the connecting block (308) and the vertical plate (306); a scraper strip (310) is slidably connected to the connecting block (308); and a third spring (311) is fixedly connected between the connecting block (308) and the scraper strip (310).

4. The adjustable lifting structure for a construction robot according to claim 3, characterized in that: The cleaning assembly is also included. The mounting plate (6) and the connecting plate (204) are connected to a cleaning assembly for scraping the L-shaped scraper (7) and the inverted L-shaped scraper (10). The cleaning assembly includes a fixing plate (401). The fixing plate (401) is fixedly connected to the connecting plate (204). Two electric push rods (402) are fixedly connected to the fixing plate (401). The telescopic parts of the two electric push rods (402) are each fixedly connected to a vertical scraper (403). The two vertical scrapers ( 403) is fitted with an L-shaped scraper (7); two electric push rods (404) are fixedly connected to the left and right parts of the mounting plate (6); the telescopic parts of the two electric push rods (404) on the left part of the mounting plate (6) are commonly fixedly connected to a horizontal scraper (405); the telescopic parts of the two electric push rods (404) on the right part of the mounting plate (6) are commonly fixedly connected to another horizontal scraper (405); and the two horizontal scrapers (405) are each fitted with an inverted L-shaped scraper (10).

5. The adjustable lifting structure for a construction robot according to claim 1, characterized in that: Truss one (2) is an assembled structure, and trusses one (2) can be added according to actual needs to extend the overall length of truss one (2).

6. The adjustable lifting structure for a construction robot according to claim 1, characterized in that: A warped edge (1001) is provided at the lower end of each inverted L-shaped scraper (10).

7. The adjustable lifting structure for a construction robot according to claim 3, characterized in that: Two guide plates (31001) are provided at the bottom of the scraper strip (310).

8. The adjustable lifting structure for a construction robot according to claim 4, characterized in that: The invention also comprises a collecting assembly, wherein the inner lower part of the second moving part (5) is connected to a collecting assembly for collecting scraped mortar; the collecting assembly comprises a cylinder (501); the inner lower part of the second moving part (5) is fixedly connected to the cylinder (501); an auger (502) is rotatably connected inside the cylinder (501); a motor (503) is fixedly connected to the front side of the cylinder (501); the output shaft of the motor (503) is fixedly connected to the auger (502); an electric push rod (504) is fixedly connected to the rear side of the second moving part (5); a collection box (505) is fixedly connected to the telescopic part of the electric push rod (504); a rear end of the cylinder (501) is connected to a telescopic tube (506); the telescopic tube (506) is connected to the collection box (505); a round tube (507) is connected to the lower part of the cylinder (501), and the round tube (507) passes through the second moving part (5) downward.

9. The adjustable lifting structure for a construction robot according to claim 8, characterized in that: The invention also comprises a filling component, wherein the moving part (5), the mounting plate (6), the scraping component and the collecting component are connected together with a filling component for filling the gap; the filling component comprises a sixth electric push rod (601); the front side of the collecting box (505) is fixedly connected to two sixth electric push rods (601); the telescopic parts of the two sixth electric push rods (601) are fixedly connected to a sealing plate (602), and the sealing plate (602) is plugged into the collecting box (505); the upper part of the cylinder (501) is connected to a vertical pipe (603), and the vertical pipe (603) passes through the moving part (505) upwards. (5); an arc-shaped slide groove (6002) is provided on the mounting plate (6); a vertical tube (603) is slidably arranged in the arc-shaped slide groove (6002); a telescopic hose (604) is connected to the vertical tube (603); a horizontal tube (605) is connected to the telescopic hose (604), and the horizontal tube (605) passes through the scraper strip (310); two electric push rods (606) are fixedly connected to the L-shaped plate (303); the telescopic parts of the two electric push rods (606) are commonly fixedly connected to a fixed block (607); the fixed block (607) is fixedly connected to the horizontal tube (605).

10. The adjustable lifting structure for a construction robot according to claim 9, characterized in that: The end of the transverse tube (605) is flush with the scraper strip (310), and the end of the transverse tube (605) and the scraper strip (310) together form a whole.

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