Building construction robot

Abstract

The invention discloses a building construction robot which comprises a frame (1) with a rectangular plane, the frame (1) is formed by mutually welding profiles, an operation case (2) is arranged on one side of the frame (1), a front arm support capable of moving up and down in the height direction of the frame (1) is arranged in the frame (1), and a scraper (3) is arranged in the front arm support. A first motor (4) for driving the front arm support to move up and down is installed on the top of the frame (1), and the power output shaft end of the first motor (4) penetrates through the frame (1) to be in butt joint with a first lead screw (5) arranged in the frame (1). According to the wall plastering machine, the integration of guniting operation and wall plastering operation can be achieved, the overall working efficiency is improved, meanwhile, the angle of the scraping plate is adjustable, and therefore the wall plastering machine can be more suitable for various plastering procedures during application, the overall applicability of the wall plastering machine is higher, and overall storage of the wall plastering machine is more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field related to construction robots, and in particular to a construction robot used for plastering walls. Background Art

[0002] Wall plastering refers to the application of cement mortar, mixed mortar, and lime mortar to the wall surface. Indoor and outdoor wall plastering is a job that is done after the completion of the building structure construction. Scientific plastering can play a role in moisture-proofing, weathering-proofing, and heat-insulating, and prevent the building walls from being eroded by wind, rain, snow, etc. The concrete wall constructed with large formwork is smooth and flat, but the wall constructed with large formwork needs to be plastered and straightened at the intersection of vertical and horizontal walls, the intersection of upper and lower floors in the stairwell, and the door and window openings. Therefore, most of the wall plastering is still done manually, and the overall labor intensity is high. In order to solve this problem, a robot used for wall plastering has emerged. This robot needs to spray a layer of mortar on the wall in advance, and then use a scraper moving from bottom to top to smooth the mortar sprayed on the wall. Therefore, it is necessary to switch back and forth between the two devices. It has little effect on improving work efficiency, and the angle of the scraper of the existing robot is fixed compared to the wall. As we all know, plastering is divided into two steps: plastering on the wall and scraping. When plastering on the wall, it is necessary to place the mortar on the iron plate, and then keep a certain angle between the plastering iron plate and the wall, and move the iron plate vertically from bottom to top to apply the mortar on the wall. Scraping is to move the plastering iron plate against the wall to achieve the purpose of leveling, and the existing fixed scraper structure cannot achieve the switching of the above two operations. Summary of the invention

[0003] The purpose of the present invention is to provide a construction robot which can effectively solve the problems existing in the background technology.

[0004] In order to solve the problems existing in the background technology, it comprises a rectangular frame 1 formed by welding profiles together, an operating box 2 is arranged on one side of the frame 1, a forearm bracket that can move up and down along its height direction is arranged inside the frame 1, a scraper 3 is arranged inside the forearm bracket, a first motor 4 for driving the forearm bracket to move up and down is installed on the top of the frame 1, the power output shaft end of the first motor 4 passes through the frame 1 and docks with a first screw rod 5 arranged in the frame 1, the lower end of the first screw rod 5 is rotatably connected and matched with the bottom of the frame 1, and a mortar spraying device driven by the driving forearm is installed on the top of the driving forearm; The driving forearm comprises a support arm frame 6 with a rectangular plane formed by welding profile strips together. The two sides of the support arm frame 6 perpendicular to the frame 1 can slide up and down in contact with the inner side of the frame 1. The support arm frame 6 is provided with a screw hole that can be spirally matched with the first screw 5. The bottom of the support arm frame 6 is provided with a driving seat 7 that can slide horizontally along its length direction. Gear plates 8 are respectively installed on both sides of the lower bottom surface of the driving seat 7. The bottom of the gear plate 8 is provided with a tooth groove 9 with a concave cross-section. A rack 10 with a clearance sliding fit along its length direction is provided in the tooth groove 9. The center of the outer side of the gear plate 8 is provided with a tooth groove 9 with a concave cross-section. A driving gear 11 and a driven gear 12 are symmetrically installed on the part, and the driving gear 11 and the driven gear 12 are both meshed with the rack 10. A driving connecting rod 13 is fixedly installed on the end of the driving gear 11, and a guide shaft 14 that can be rotatably connected and cooperated with it is installed on the end of the driving connecting rod 13. The two driven gears 12 are connected by a gear shaft 15 that is rotatably connected and cooperated with the gear plate 8. Both sides of the driving forearm are respectively provided with driving auxiliary devices that can drive the driving connecting rod 13 to swing and drive the driving gear 11 to rotate. A scraper bracket 151 is fixedly installed on the gear shaft 15, and a scraper 3 is fixedly installed on the scraper bracket 151.

[0005] The mortar spraying device includes a driving panel 16 that is integrally horizontally covered on the support arm frame 6, and a first driving slot 17 that is inclined is opened through the driving panel 16. One end of the first driving slot 17 is provided with a first positioning slot 18 that is connected to it. A shotcrete bracket 19 composed of profile strips welded together is provided at the end of the driving panel 16. The bottom of the shotcrete bracket 19 is fixedly installed on the upper top surface of the support arm frame 6. The end of the driving panel 16 can move horizontally along the length direction of the shotcrete bracket 19. A nozzle fixing bracket 20 that can move horizontally in the shotcrete bracket 19 is fixedly installed at the end of the driving panel 16. A nozzle 21 that is docked with the shotcrete machine is installed on the nozzle fixing bracket 20. A driving shaft 23 that can slide and fit with the first driving slot 17 and the first positioning slot 18 respectively is fixedly installed on the upper top surface of the driving seat 7.

[0006] The auxiliary driving device comprises two positioning plates 24 symmetrically arranged on both sides of the support arm frame 6, the ends of the positioning plates 24 are bent downward to form a driving plate 25, the positioning plates 24 are provided with a second positioning slot 26 arranged along the length direction thereof, the driving plates 25 are provided with a second driving slot 27 arranged along the length direction thereof and communicating with the second positioning slot 26, and the top of the positioning plates 24 is fixedly mounted on the support arm frame 6 via a positioning plate mounting bracket 28; Screw seats 32 are respectively installed at both ends of the support arm frame 6, and a second screw 31 that can be rotatably connected and cooperated with the two screw seats 32 is arranged between the two screw seats 32. One end of the second screw 31 extends out of the screw seat 32 and docks with the power output shaft end of the second motor 33.

[0007] The two sides of the arm frame 6 are symmetrically provided with mutually parallel guide shafts 30, and the two ends of the guide shafts 30 are fixedly installed on the arm frame 6 through shaft seats 29, and the two sides of the driving seat 7 are respectively provided with shaft holes that are loosely slidably matched with the guide shafts 30.

[0008] Cable hooks 34 are respectively installed at both ends of the top of the spraying bracket 19, and a steel cable 35 is fixedly installed on the cable hook 34. The other end of the steel cable 35 is connected to the counterweight plate assembly 37 through a pulley 36 on the same side, and the pulley 36 is fixedly installed on both sides of the top of the frame 1.

[0009] Two parallel steel column linear guide seats 38 are installed on the inner side surface of the spraying bracket 19, and the end of the driving panel 16 can be fitted between the two linear guide seats 38 and slide horizontally left and right. A slide rail 39 is installed on the upper top surface of the support arm frame 6 near one end of the frame 1, and a slide groove 40 that can slide with the slide rail 39 is opened on the lower bottom surface of the driving panel 16.

[0010] Due to the adoption of the above technical scheme, the present invention has the following beneficial effects: it can not only realize the integration of spraying operation and wall plastering operation, and improve the overall work efficiency, but also the scraper angle is adjustable, so that when it is used, it can be more adapted to the use of various plastering processes, making its overall applicability stronger and the overall storage is also more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0012] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the structure of the driving auxiliary device in the present invention. DETAILED DESCRIPTION

[0013] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0014] Reference Figure 1-2 This specific embodiment is implemented by adopting the following technical scheme, which comprises a rectangular frame 1 formed by welding profiles to each other, an operating chassis 2 is arranged on one side of the frame 1, a forearm bracket that can move up and down along its height direction is arranged inside the frame 1, a scraper 3 is arranged inside the forearm bracket, a first motor 4 for driving the forearm bracket to move up and down is installed on the top of the frame 1, the power output shaft end of the first motor 4 passes through the frame 1 and docks with a first screw rod 5 arranged in the frame 1, the lower end of the first screw rod 5 is rotatably connected and matched with the bottom of the frame 1, and a mortar spraying device driven by the driving forearm is installed on the top of the driving forearm; The driving forearm comprises a support arm frame 6 with a rectangular plane formed by welding profile strips together. The two sides of the support arm frame 6 perpendicular to the frame 1 can slide up and down in contact with the inner side of the frame 1. The support arm frame 6 is provided with a screw hole that can be spirally matched with the first screw 5. The bottom of the support arm frame 6 is provided with a driving seat 7 that can slide horizontally along its length direction. Gear plates 8 are respectively installed on both sides of the lower bottom surface of the driving seat 7. The bottom of the gear plate 8 is provided with a tooth groove 9 with a concave cross-section. A rack 10 with a clearance sliding fit along its length direction is provided in the tooth groove 9. The center of the outer side of the gear plate 8 is provided with a tooth groove 9 with a concave cross-section. A driving gear 11 and a driven gear 12 are symmetrically installed on the part, and the driving gear 11 and the driven gear 12 are both meshed with the rack 10. A driving connecting rod 13 is fixedly installed on the end of the driving gear 11, and a guide shaft 14 that can be rotatably connected and cooperated with it is installed on the end of the driving connecting rod 13. The two driven gears 12 are connected by a gear shaft 15 that is rotatably connected and cooperated with the gear plate 8. Both sides of the driving forearm are respectively provided with driving auxiliary devices that can drive the driving connecting rod 13 to swing and drive the driving gear 11 to rotate. A scraper bracket 151 is fixedly installed on the gear shaft 15, and a scraper 3 is fixedly installed on the scraper bracket 151.

[0015] The mortar spraying device includes a driving panel 16 that is integrally horizontally covered on the support arm frame 6, and a first driving slot 17 that is inclined is opened through the driving panel 16. One end of the first driving slot 17 is provided with a first positioning slot 18 that is connected to it. A shotcrete bracket 19 composed of profile strips welded together is provided at the end of the driving panel 16. The bottom of the shotcrete bracket 19 is fixedly installed on the upper top surface of the support arm frame 6. The end of the driving panel 16 can move horizontally along the length direction of the shotcrete bracket 19. A nozzle fixing bracket 20 that can move horizontally in the shotcrete bracket 19 is fixedly installed at the end of the driving panel 16. A nozzle 21 that is docked with the shotcrete machine is installed on the nozzle fixing bracket 20. A driving shaft 23 that can slide and fit with the first driving slot 17 and the first positioning slot 18 respectively is fixedly installed on the upper top surface of the driving seat 7.

[0016] The auxiliary driving device comprises two positioning plates 24 symmetrically arranged on both sides of the support arm frame 6, the ends of the positioning plates 24 are bent downward to form a driving plate 25, the positioning plates 24 are provided with a second positioning slot 26 arranged along the length direction thereof, the driving plates 25 are provided with a second driving slot 27 arranged along the length direction thereof and communicating with the second positioning slot 26, and the top of the positioning plates 24 is fixedly mounted on the support arm frame 6 via a positioning plate mounting bracket 28; Screw seats 32 are respectively installed at both ends of the support arm frame 6, and a second screw 31 that can be rotatably connected and cooperated with the two screw seats 32 is arranged between the two screw seats 32. One end of the second screw 31 extends out of the screw seat 32 and docks with the power output shaft end of the second motor 33; in this embodiment, when the guide shaft 14 is located in the second positioning groove 26, the driving connecting rod 13 and the scraper 3 are in a horizontal state parallel to the support arm frame 6.

[0017] The two sides of the arm frame 6 are symmetrically provided with mutually parallel guide shafts 30, and the two ends of the guide shafts 30 are fixedly installed on the arm frame 6 through shaft seats 29, and the two sides of the driving seat 7 are respectively provided with shaft holes that are loosely slidably matched with the guide shafts 30.

[0018] Cable hooks 34 are respectively installed at both ends of the top of the spraying bracket 19, and a steel cable 35 is fixedly installed on the cable hook 34. The other end of the steel cable 35 is connected to the counterweight plate assembly 37 through a pulley 36 on the same side, and the pulley 36 is fixedly installed on both sides of the top of the frame 1.

[0019] Two parallel steel column linear guide seats 38 are installed on the inner side surface of the spraying bracket 19, and the end of the driving panel 16 can be fitted between the two linear guide seats 38 and slide horizontally left and right. A slide rail 39 is installed on the upper top surface of the support arm frame 6 near one end of the frame 1, and a slide groove 40 that can slide with the slide rail 39 is opened on the lower bottom surface of the driving panel 16.

[0020] The following is a further description of the method and principle of using the technical solution in this specific implementation method in conjunction with the accompanying drawings: First, move the frame 1 and the chassis 2 to the specified position, and then adjust them to a horizontal state according to the level bubble on the chassis 2 in accordance with conventional operating specifications. First, start the second motor 33 to drive the second screw 31 to rotate so as to achieve the purpose of driving the driving seat 7 to slide along the length direction of the guide shaft 30. In the process of sliding forward, the driving seat 7 uses the clearance between the driving shaft 23 and the first driving slide groove 17 to slide the driving panel 16 along the length direction of the slide rail 39 and the linear guide seat 38, and drives the nozzle fixing bracket 20 and the nozzle 21 to move horizontally in the spraying bracket 19 along the length direction of the spraying bracket 19. When the nozzle fixing bracket 20 and the nozzle 21 start to move, the spraying machine that is sleeved and docked with the nozzle 21 is started, thereby achieving the purpose of automatically spraying horizontally on the wall. When the driving shaft 23 completely enters the first positioning slide groove 18, the nozzle fixing bracket 20 and the nozzle 21 have moved from one end of the spraying bracket 19 to the other end of the spraying bracket 19, and remain in the spraying bracket 19. The lengthwise position on the frame 19 remains unchanged. As the driving seat 7 further slides forward, the scraper 3 is not only gradually pushed out between the arm frame 6 and the driving auxiliary device, but also the guide shaft 14 enters the second driving slide groove 27 from the second positioning slide groove 26, driving the entire driving connecting rod 13 to fold downward, and driving the active gear 11 to rotate forward. During the forward rotation, the active gear 11 drives the driven gear 12 to rotate forward synchronously through the rack 10, thereby achieving the purpose of adjusting the overall angle of the scraper 3 fixedly mounted on the gear shaft 15. When plastering the wall, firstly, according to the gray cake leveled on the wall, the direction and position of the entire frame 1 and the chassis 2 are finely adjusted, and then the scraper 3 is adjusted to maintain an angle between 35° and 55° with the wall. When in the final scraping process, the scraper 3 can be adjusted to the mortar that fits the wall as a whole. Finally, the first motor 4 and the first screw rod 5 are started to drive the entire arm frame 6 to rise and the mortar that has been sprayed on the wall is scraped flat on the wall using the scraper 3.

[0021] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A construction robot, characterized in that It comprises a rectangular frame (1) formed by welding profiles together, an operating box (2) is arranged on one side of the frame (1), a forearm bracket which can move up and down along its height direction is arranged inside the frame (1), a scraper (3) is arranged inside the forearm bracket, a first motor (4) for driving the forearm bracket to move up and down is installed on the top of the frame (1), the power output shaft end of the first motor (4) passes through the frame (1) and docks with a first screw rod (5) arranged in the frame (1), the lower end of the first screw rod (5) is rotatably connected to the bottom of the frame (1), and a mortar spraying device driven by the driving forearm is installed on the top of the driving forearm; The driving forearm comprises a support arm frame (6) with a rectangular plane formed by welding profile strips together. The two sides of the support arm frame (6) perpendicularly intersecting the frame (1) can slide up and down in contact with the inner side of the frame (1). The support arm frame (6) is provided with a screw hole that can be spirally matched with the first screw (5). The bottom of the support arm frame (6) is provided with a driving seat (7) that can slide horizontally along its length direction. Gear plates (8) are respectively installed on both sides of the lower bottom surface of the driving seat (7). The bottom of the gear plate (8) is provided with a tooth groove (9) with a concave cross-section structure. A rack (10) is provided in the tooth groove (9) that can slide along its length direction. The middle part of the outer side of the gear plate (8) is symmetrical. A driving gear (11) and a driven gear (12) are installed, and the driving gear (11) and the driven gear (12) are meshed with the rack (10). A driving connecting rod (13) is fixedly installed at the end of the driving gear (11), and a guide shaft (14) is installed at the end of the driving connecting rod (13) to be rotatably connected and matched with the driving connecting rod. The two driven gears (12) are connected through a gear shaft (15) to be rotatably connected and matched with the gear plate (8). Both sides of the driving forearm are respectively provided with driving auxiliary devices that can drive the driving connecting rod (13) to swing and drive the driving gear (11) to rotate. A scraper bracket (151) is fixedly installed on the gear shaft (15), and a scraper (3) is fixedly installed on the scraper bracket (151).

2. A construction robot according to claim 1, characterized in that The mortar spraying device comprises a driving panel (16) which is integrally and horizontally covered on the support arm frame (6), and a first driving chute (17) which is arranged obliquely is opened through the driving panel (16). A first positioning chute (18) which is connected to the first driving chute (17) is arranged at one end thereof, and a spraying bracket (19) which is formed by welding profile strips to each other is arranged at the end of the driving panel (16), and the bottom of the spraying bracket (19) is fixedly installed on the upper top surface of the support arm frame (6). The end of the driving panel (16) can move horizontally along the length direction of the spraying bracket (19), and a nozzle fixing bracket (20) that can move horizontally in the spraying bracket (19) is fixedly installed at the end of the driving panel (16), and a nozzle (21) that is connected to the spraying machine is installed on the nozzle fixing bracket (20). A driving shaft (23) that can be respectively slidably matched with the first driving slide groove (17) and the first positioning slide groove (18) is fixedly installed on the upper top surface of the driving seat (7).

3. A construction robot according to claim 1, characterized in that The auxiliary driving device comprises two positioning plates (24) symmetrically arranged on both sides of the support arm frame (6), the ends of the positioning plates (24) are bent downward to form a driving plate (25), the positioning plates (24) are provided with a second positioning slot (26) arranged along the length direction thereof, the driving plates (25) are provided with a second driving slot (27) arranged along the length direction thereof and communicating with the second positioning slot (26), and the top of the positioning plates (24) is fixedly mounted on the support arm frame (6) via a positioning plate mounting bracket (28); Screw seats (32) are respectively installed at both ends of the support arm frame (6), and a second screw (31) that can be rotatably connected and matched with the two screw seats (32) is arranged between the two screw seats (32), and one end of the second screw (31) extends out of the screw seat (32) and connects with the power output shaft end of the second motor (33).

4. A construction robot according to claim 1, characterized in that Guide shafts (30) parallel to each other are symmetrically arranged on both sides of the support arm frame (6), and both ends of the guide shafts (30) are fixedly mounted on the support arm frame (6) through shaft seats (29), and shaft holes that are slidably matched with the guide shafts (30) are respectively opened on both sides of the drive seat (7).

5. A construction robot according to claim 2, characterized in that Cable hooks (34) are respectively installed at both ends of the top of the shotcrete support (19), and a steel cable (35) is fixedly installed on the cable hook (34). The other end of the steel cable (35) is connected to the counterweight plate assembly (37) through a pulley (36) on the same side. The pulley (36) is fixedly installed on both sides of the top of the frame (1).

6. A construction robot according to claim 2, characterized in that Two parallel steel column linear guide seats (38) are installed on the inner side surface of the spraying bracket (19), and the end of the driving panel (16) can be fitted between the two linear guide seats (38) and slide horizontally left and right. A slide rail (39) is installed on the upper top surface of the support arm frame (6) close to one end of the frame (1), and a slide groove (40) is provided on the lower bottom surface of the driving panel (16) to be able to slide with the slide rail (39) in a clearance.

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