Limiting delivery device of slurry pipeline and bricklaying robot system comprising limiting delivery device

Abstract

The invention provides a limiting delivery device of a slurry pipeline and a bricklaying robot system comprising the limiting delivery device. The limiting delivery device comprises a fixed chassis, a pipeline limiting mechanism and a pipeline transmission mechanism. The pipeline limiting mechanism comprises a shell, three rolling wheel supports distributed in the shell in a triangular mode and rolling wheels arranged on the rolling wheel supports. The section defined by the rollers is circular, and the diameter of the section is matched with the outer diameter of a to-be-delivered pipeline; the pipeline transmission mechanism comprises a gear transmission set and friction rotating discs making contact with the two sides of a to-be-delivered pipeline. The gear transmission group comprises a driving wheel, a first driven wheel and a middle wheel which are meshed with the driving wheel, and a second driven wheel meshed with the middle wheel; the first driven wheel and the second driven wheel are coaxial with the friction rotating disc respectively and drive the friction rotating disc to rotate in the clockwise direction or the anticlockwise direction. Through reasonable structural design, a stable, efficient and easy-to-operate pipeline conveying solution is provided, and the problem of protective stop caused by pulling and interference of a slurry pipeline when a mechanical arm moves is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent masonry machinery, and in particular to a position limiting delivery device for a mud pipeline and a bricklaying robot system comprising the same. Background Art

[0002] With the development of industrial automation technology, robotics technology has also been continuously developing and innovating, and masonry robots have entered the construction field. Although the initial investment in masonry robots is high, in the long run, robots can improve construction efficiency, reduce quality defects, and replace workers in high-intensity and repetitive physical labor, thereby reducing the workload of workers and solving the problem of labor shortage, thereby achieving higher economic benefits.

[0003] At present, bricklaying robots usually use pipes to connect nozzles to apply mud. Due to the flow characteristics of the mud itself, the mud pipe needs to reach a certain strength, so it is heavy. The problem is that when the robot arm moves, the mud pipe is heavy and it is easy to collide or rub with the robot arm during movement, which causes the robot arm to stop protectively due to the pulling force, causing the mud application work to be suspended, affecting production efficiency. Therefore, developing a limited delivery device for the mud pipe to be suitable for the bricklaying robot system is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of the above-mentioned defects in the prior art, the present invention provides a limited delivery device for a mud pipe and a bricklaying robot system including the same, which provides a stable, efficient and easy-to-operate pipeline transmission solution through reasonable structural design, and solves the problem of protective stopping caused by the pulling and interference of the refractory mud pipe when the robot arm moves.

[0005] To achieve the above object, the present invention provides a position limiting delivery device for a mud pipeline, comprising:

[0006] Fixed chassis;

[0007] A pipeline limiting mechanism is fixed at both ends of the fixed chassis;

[0008] A pipeline transmission mechanism is arranged in the middle of the fixed chassis;

[0009] The pipeline limiting mechanism includes a housing, three roller brackets distributed in a triangular shape in the housing, and rollers arranged thereon; the cross section formed by the rollers is circular, and the diameter thereof matches the outer diameter of the pipeline to be delivered;

[0010] The pipeline transmission mechanism includes a gear transmission group and a friction rotating disk in contact with both sides of the pipeline to be delivered; the gear transmission group includes a driving wheel, a first driven wheel and an intermediate wheel meshed with the driving wheel, and a second driven wheel meshed with the intermediate wheel; the first driven wheel and the second driven wheel are respectively coaxial with the friction rotating disk, driving the friction rotating disk to rotate in a clockwise or counterclockwise direction.

[0011] The pipeline to be delivered is installed in the roller of the pipeline limiting mechanism; the roller plays a supporting and guiding role in the transmission process of the pipeline, and ensures that the pipeline remains stable during the entire movement process, effectively avoiding the problem of pipeline deviation or damage caused by uneven force. When the pipeline needs to be delivered forward, the driving wheel rotates clockwise, and the first driven wheel on one side and the corresponding friction turntable rotate in one direction; the direction is changed by the intermediate wheel, driving the second driven wheel on the other side of the driving wheel and the corresponding friction turntable to rotate in the opposite direction. The pipeline is delivered forward or backward through the reverse rotation of the two friction turntables. Through precise structural configuration, this design can eliminate the sudden stop of the equipment that may be caused by pipeline pulling, vibration or external force, thereby ensuring the continuity and stability of pipeline supply during long-term work.

[0012] In some embodiments, the gear transmission group is arranged below the friction rotating disk; the driving wheel, the first driven wheel, the intermediate wheel and the second driven wheel are arranged in parallel. With this technical solution, the transmission mechanism of the position-limiting delivery device occupies a small space, has a clear layout, and is easy to use and maintain.

[0013] In some embodiments, the center of the housing is in the same height as the center of the cross section formed by the rollers and the center of the friction turntable. With this technical solution, the position-limiting delivery device can minimize the bending deformation during the pipeline delivery process.

[0014] In some embodiments, the roller is made of high-strength, low-friction coefficient material to reduce friction, while ensuring that the pipeline can be delivered smoothly and efficiently, avoiding energy loss or pipeline damage due to excessive friction, and ensuring that the pipeline can move smoothly with minimal energy consumption.

[0015] In some embodiments, the portion of the friction turntable in contact with the pipeline to be delivered is made of high-friction rubber material, which can significantly increase the friction force of the portion in contact with the pipeline, ensuring that the movement of the pipeline is more stable and reliable.

[0016] In some embodiments, a driving motor is installed inside the fixed chassis, and an output end of the driving motor is connected to the driving wheel.

[0017] On the other hand, the present invention provides a bricklaying robot system, including a bricklaying robot arm, a mud spraying robot arm, a mud pipe and a bricklaying control system. The bricklaying robot arm places bricks on the bricklaying site, and the mud spraying robot arm is provided with a nozzle connected to the mud pipe for applying mud; the mud pipe is limited and delivered by the limiting delivery device as described above, and the drive motor is controlled and adjusted in forward and reverse directions by the bricklaying control system.

[0018] In some embodiments, the fixed chassis is fixed to the equipment near the spraying mud robot arm to provide a stable support for the entire limited delivery device, ensuring that the pipeline will not deviate or become unstable during the delivery process. At the same time, the fixed chassis also prevents the equipment from being displaced due to external interference during operation, ensuring the reliability and safety of the system.

[0019] Compared with the prior art, the above invention has the following advantages or beneficial effects:

[0020] (1) The pipeline limiting mechanism in the device of the present invention adopts a three-roller support design, which effectively ensures the stability of the pipeline position during the entire transmission process. Through precise structural configuration, the design can eliminate the emergency stop phenomenon that may be caused by pipeline pulling, vibration or external force, thereby ensuring the continuity and stability of the equipment during long-term operation, avoiding the frequent adjustment or equipment shutdown caused by unstable position of traditional devices, greatly improving work efficiency and equipment reliability, and ensuring the continuity and consistency of mud spraying work;

[0021] (2) The design of the pipeline transmission mechanism in the device of the present invention not only provides power but also completely eliminates the limitation on the moving length of the pipeline, so that the pipeline can always maintain stable operation during long-distance transmission, ensuring that the pipeline delivery task can be completed efficiently;

[0022] (3) The device of the present invention adopts a high-strength, high-friction coefficient turntable design, which significantly improves the friction of the pipeline during the transmission process, enhances its movement power, and enables the pipeline to move more smoothly;

[0023] (4) The device of the present invention, through reasonable structural design, can not only deliver heavy mud pipes, but also prevent the pipes from shaking during the delivery process, effectively solving the problem of protective stopping caused by the pulling and interference of the mud pipe on the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention and its features, appearance and advantages will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not drawn completely to scale, and emphasis is placed on illustrating the subject matter of the present invention.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of a position-limiting delivery device for a mud pipeline in one embodiment of the present invention;

[0026] Figure 2 It is a top view of a position limiting delivery device of a mud pipeline in one embodiment of the present invention;

[0027] Figure 3 It is a structural schematic diagram of a pipeline limiting mechanism in one embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of a pipeline transmission mechanism in one embodiment of the present invention;

[0029] Among them, 1. fixed chassis; 2. pipeline limiting mechanism; 3. pipeline transmission mechanism; 4. pipeline to be delivered; 21. shell; 22. roller bracket; 23. roller; 31. gear transmission group; 32. friction turntable; 311. driving wheel; 312. first driven wheel; 313. intermediate wheel; 314. second driven wheel. DETAILED DESCRIPTION

[0030] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be understood that all of these exemplary embodiments described are only partial embodiments and examples of the present invention, rather than all of them. On the contrary, these exemplary embodiments are provided so that those skilled in the art can more thoroughly understand the present disclosure and can more completely convey the technical content of the present disclosure to those skilled in the art.

[0031] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; the method can be welding, threaded connection, or binding connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] The gears, friction discs, rollers, etc. involved in the following effect embodiments and examples are all commercially available. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art, and the components known to those skilled in the art, their structures and principles are all known to those skilled in the art through technical manuals or conventional experimental methods.

[0033] Example 1

[0034] See also Figures 1 to 4The present embodiment provides a limited delivery device for a mud pipeline, comprising: a fixed chassis 1; a pipeline limiting mechanism 2, fixed at both ends of the fixed chassis 1; and a pipeline transmission mechanism 3, arranged in the middle of the fixed chassis 1. The pipeline limiting mechanism 2 comprises a housing 21, three roller brackets 22 distributed in a triangular shape in the housing 21, and rollers 23 arranged thereon; the cross section surrounded by the rollers 23 is circular, and its diameter matches the outer diameter of the pipeline 4 to be delivered; the pipeline transmission mechanism 3 comprises a gear transmission group 31 and a friction rotating disk 32 contacting both sides of the pipeline 4 to be delivered; the gear transmission group 31 comprises a driving wheel 311, a first driven wheel 312 meshing with the driving wheel 311 and an intermediate wheel 313, and a second driven wheel 314 meshing with the intermediate wheel 313; more specifically, a pinion is selected as the driving wheel, and the first driven wheel 312 and the second driven wheel 314 are respectively coaxial with the friction rotating disk 32, driving the friction rotating disk to rotate in a clockwise or counterclockwise direction.

[0035] In this embodiment, the pipeline is installed in the roller of the pipeline limiting mechanism 2 to ensure the stability and smoothness of the pipeline during movement. When the pipeline 4 to be delivered needs to be delivered forward, the driving wheel 311 is driven to rotate clockwise, and the first driven wheel 312 and the friction turntable 32 on the same side of the driving wheel rotate clockwise accordingly. The direction is changed by the intermediate wheel 313, driving the second driven wheel 314 and the friction turntable 32 on the opposite side of the driving wheel to rotate counterclockwise.

[0036] The reverse rotation of the two friction turntables 32 and the friction force with the pipe 4 to be delivered drive the pipe forward, and the low-friction contact and fixed support of the roller 23 between the pipe and the pipe limiting mechanism 2 enable smooth movement.

[0037] When the pipeline needs to be delivered in the reverse direction, the same working process is used as above, driving the driving wheel 311 to rotate counterclockwise, driving the driven wheel and the turntable to rotate, and completing the reverse delivery of the pipeline. The rotation of the friction turntable directly acts on the pipeline, and the forward and backward delivery of the pipeline during the transmission process is completed through the movement of the friction turntable.

[0038] As a preferred technical solution, further: the gear transmission group 31 is arranged below the friction rotating disk 32; the driving wheel 311, the first driven wheel 312, the intermediate wheel 313 and the second driven wheel 314 are arranged in parallel. Preferably, a small gear is selected as the driving wheel.

[0039] As a preferred technical solution, further: the center of the housing 21 and the center of the cross section surrounded by the roller 23 and the center of the friction turntable 32 are highly consistent.

[0040] As a preferred technical solution, further: the roller 23 is made of a material with high strength and low friction coefficient.

[0041] As a preferred technical solution, further: the portion of the friction turntable 32 that contacts the delivery pipe 4 is made of high-friction rubber material.

[0042] As a preferred technical solution, further: a driving motor is installed inside the fixed chassis 1 , and the output end of the driving motor is connected to the driving wheel 311 .

[0043] Example 2

[0044] Taking the mud application during the construction of the combustion chamber as an example, a detailed implementation method and a specific operation process are given on the premise of using the technical solution of the present invention, but the protection scope of the present invention is not limited to the following embodiments.

[0045] The mud needs to be pumped, passed through the pipe, and then sprayed out from the nozzle for brick coating. During the coating process, the robot arm holding the nozzle will move and rotate in various postures. When the mud fills the pipe, the pipe connected to the nozzle has a certain weight, which will affect the operation of the robot arm, causing friction, collision or pulling between the pipe and the robot arm, causing the robot arm to stop protectively during movement.

[0046] This embodiment provides a bricklaying robot system, including a bricklaying robot arm, a mud spraying robot arm, a mud pipeline and a bricklaying control system. The bricklaying robot arm places bricks at the bricklaying site, and the mud spraying robot arm is provided with a nozzle connected to the mud pipeline to apply mud; the mud pipeline is limited and delivered by the limiting delivery device as described in Example 1. A driving motor is installed inside the fixed chassis 1, and the output end of the driving motor is connected to the driving wheel 311. The driving motor performs forward and reverse control to adjust the speed and direction of the driving wheel 311 through the bricklaying control system, so that the pipeline can be quickly started or stopped as needed, and the running speed and direction of the pipeline can be accurately adjusted.

[0047] As a preferred technical solution, further: the fixed chassis is fixed to the equipment near the spraying mud mechanical arm to provide a stable support for the entire limited delivery device, ensuring that the pipeline will not be offset or unstable during the transmission process. At the same time, the fixed chassis also prevents the equipment from being displaced due to external force interference during operation, ensuring the reliability and safety of the system.

[0048] In some embodiments, a plurality of the above-mentioned limiting delivery devices may be provided on the travel path of the mud pipeline to stabilize the delivery of the long pipeline.

[0049] It can be understood that the device structure and drawings of the present invention mainly describe the principles of the present invention. In terms of the technology of the design principle, the settings of the power mechanism, power supply system and control system of the device are not fully described. On the premise that the technical personnel in this field understand the above-mentioned principles of the invention, the details of the power mechanism, power supply system and control system can be clearly known. The control method of the inventive principle can be automatic control through a controller, and the control circuit of the controller can be realized by simple programming by technical personnel in this field.

[0050] In summary, the present application provides a limited delivery device for a mud pipeline and a bricklaying robot system including the same, including a fixed chassis, a pipeline limiting mechanism and a pipeline transmission mechanism; the pipeline limiting mechanism includes a shell, three roller brackets distributed in a triangular shape in the shell and rollers arranged thereon; the cross section surrounded by the rollers is circular, and its diameter matches the outer diameter of the pipeline to be delivered; the pipeline transmission mechanism includes a gear transmission group and a friction turntable in contact with both sides of the pipeline to be delivered; the gear transmission group includes a driving wheel, a first driven wheel and an intermediate wheel meshed with the driving wheel, and a second driven wheel meshed with the intermediate wheel; the first driven wheel and the second driven wheel are respectively coaxial with the friction turntable, driving the friction turntable to rotate in a clockwise or counterclockwise direction. The present invention provides a stable, efficient and easy-to-operate pipeline delivery solution through a reasonable structural design, which solves the problem of protective stopping caused by the pulling and interference of the mud pipeline when the robot arm moves.

[0051] The above describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and the devices and structures that are not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solutions of the present invention without departing from the scope of the technical solutions of the present invention, or modify them into equivalent embodiments of equivalent changes, which does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention are still within the scope of protection of the technical solutions of the present invention.

Claims

1. A limited delivery device for a mud pipeline, characterized in that: include: Fixing the chassis (1); Pipeline limiting mechanisms (2) are fixed at two ends of the fixed chassis (1); A pipeline transmission mechanism (3) is arranged in the middle of the fixed chassis (1); The pipeline limiting mechanism (2) comprises a housing (21), three roller brackets (22) distributed in a triangular shape in the housing (21), and rollers (23) arranged thereon; the cross section formed by the rollers (23) is circular, and the diameter thereof matches the outer diameter of the pipeline (4) to be delivered; The pipeline transmission mechanism (3) comprises a gear transmission group (31) and a friction rotating disk (32) contacting two sides of the pipeline (4) to be delivered; the gear transmission group (31) comprises a driving wheel (311), a first driven wheel (312) meshing with the driving wheel (311) and an intermediate wheel (313), and a second driven wheel (314) meshing with the intermediate wheel (313); the first driven wheel (312) and the second driven wheel (314) are respectively coaxial with the friction rotating disk (32), and drive the friction rotating disk to rotate in a clockwise or counterclockwise direction.

2. A mud pipeline limited delivery device according to claim 1, characterized in that: The gear transmission group (31) is arranged below the friction rotating disk (32); the driving wheel (311), the first driven wheel (312), the intermediate wheel (313) and the second driven wheel (314) are arranged in parallel.

3. A mud pipeline limited delivery device according to claim 2, characterized in that: The center of the housing (21), the center of the cross section formed by the roller (23), and the center of the friction rotating disk (32) are at the same height.

4. A mud pipeline limited delivery device according to claim 1 or 3, characterized in that: The roller (23) is made of a material with high strength and low friction coefficient.

5. A mud pipeline limited delivery device according to claim 1 or 3, characterized in that: The portion of the friction rotating disk (32) that contacts the pipe (4) to be delivered is made of high-friction rubber material.

6. A slurry pipeline position limiting delivery device according to any one of claims 1 to 3, characterized in that: A drive motor is installed inside the fixed chassis (1), and an output end of the drive motor is connected to the driving wheel (311).

7. A bricklaying robot system, comprising a bricklaying robot arm, a mud spraying robot arm, a mud pipeline and a bricklaying control system, wherein the bricklaying robot arm places bricks at a bricklaying position, and the mud spraying robot arm is provided with a nozzle connected to the mud pipeline for applying mud, characterized in that: The mud pipeline is limited and delivered by the limiting delivery device as described in claim 6, and the driving motor is controlled and adjusted in forward and reverse directions by the bricklaying control system.

8. A bricklaying robot system according to claim 7, characterized in that: The fixed chassis (1) is fixed on equipment near the slurry spraying mechanical arm.

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