Mechanical arm terminal structure for aerated block wall building

Abstract

The utility model provides a mechanical arm terminal structure for aerated block wall building. The mechanical arm terminal structure comprises a carrier plate. The drill bit is used for drilling an aerated block; the number of the drill bits is multiple, the multiple drill bits are all arranged below the carrier plate, and an electric driving mechanism used for driving the drill bits to rotate and move up and down is arranged above the carrier plate. And the pressing mechanism is mounted below the carrying plate. The electric driving mechanism is used for driving the drill bit to move up and down and rotate, and can enter the aerated block or leave the aerated block, so that the electric block taking and placing operation under electric driving is realized; and in the process of taking and placing the electrical block, the pressing mechanism is used for pressing and limiting the aerated block.

Description

Technical Field

[0001] This utility model relates to the field of aerated concrete block masonry, and in particular to the terminal structure of a robotic arm for aerated concrete block masonry. Background Technology

[0002] Aerated concrete blocks, also known as aerated concrete bricks, are a new type of building material that is lightweight, porous, has good thermal insulation and fire resistance, can be nailed, sawed, and planed, and has a certain degree of earthquake resistance. They are widely used in high-rise frame structure buildings, but are not used as load-bearing wall bricks; they are generally used as partition bricks between rooms.

[0003] With the development of the construction industry, bricklaying robotic arms and robots are widely used in the field of aerated concrete block bricklaying. The terminal structure of the bricklaying robotic arm is used to pick up and put down aerated concrete blocks. The terminal structure of traditional bricklaying robotic arms mostly adopts a pneumatic gripper design, such as using finger cylinders to drive the gripper to pick up and put down aerated concrete blocks. This requires consideration of the air supply problem and the installation of air supply equipment, pipelines and valves, resulting in inconvenience in overall use. Utility Model Content

[0004] This utility model provides a robotic arm terminal structure for aerated concrete block wall construction to solve the technical problem of the need to set up an air supply, which makes the overall use inconvenient.

[0005] This utility model solves the above-mentioned technical problems through the following technical solutions:

[0006] This utility model provides a robotic arm terminal structure for aerated concrete block wall construction, including a carrier plate; and further including: a drill bit for drilling into the aerated concrete block; the number of drill bits is multiple, and the multiple drill bits are all arranged below the carrier plate, and an electric drive mechanism for driving the drill bits to rotate and move up and down is arranged above the carrier plate; and a clamping mechanism installed below the carrier plate.

[0007] In this technical solution, the electric drive mechanism is used to drive the drill bit to move up and down and rotate, and can enter or leave the gas block to realize the gas block removal and discharge operation under electric drive; and during the gas block removal and discharge process, the gas block is provided with a clamping limit by the clamping mechanism.

[0008] Preferably, the electric drive mechanism includes a motor and a transmission unit; the motor is connected to a plurality of lead screws through the transmission unit, and the bottom ends of the plurality of lead screws are respectively fixedly connected to the top ends of the plurality of drill bits; a plurality of threaded sleeves are fixedly installed on the carrier plate, and the plurality of lead screws are respectively threadedly connected to the plurality of threaded sleeves.

[0009] In this technical solution, the electric drive mechanism uses a motor as a power source to drive the drill bit to rotate and move up and down.

[0010] Preferably, the electric drive mechanism further includes a protective shell and a base plate. The base plate is fixedly installed at the bottom opening of the protective shell, and a protective cavity is formed between the protective shell and the base plate. The transmission part is disposed in the protective cavity, and the motor is fixedly installed on the top of the protective shell.

[0011] In this technical solution, the protective shell and the base plate form a protective cavity to provide an installation position for the transmission part and to provide protection during operation.

[0012] Preferably, the transmission unit includes a driving gear and a driven gear, both of which are rotatably mounted in the protective cavity. There are multiple driven gears, and these multiple driven gears mesh around the driving gear. The driving gear is fixedly connected to the output shaft end of the motor, and the multiple driven gears are respectively fixedly connected to the top ends of the multiple lead screws.

[0013] In this technical solution, the transmission unit is driven by a motor, and through transmission, multiple lead screws rotate synchronously.

[0014] Preferably, it also includes a fixing frame, which is fixedly installed on the side wall of the carrier plate, and the fixing frame has multiple mounting holes.

[0015] In this technical solution, the mounting bracket is used to connect the entire robotic arm terminal structure to the external robotic arm.

[0016] Preferably, a guide assembly is provided on one side of the electric drive mechanism. The guide assembly includes a guide sleeve and a guide post. The bottom end of the guide post is fixedly connected to the fixing frame. The guide sleeve is slidably sleeved onto the guide post and is fixedly connected to the protective shell of the electric drive mechanism.

[0017] In this technical solution, the guiding component is used to provide guidance for the operation.

[0018] Preferably, the number of clamping mechanisms is several, and the several clamping mechanisms are distributed in a ring array.

[0019] Preferably, the clamping mechanism includes a fixed cylinder, a pressure head, a permanent magnet, and an electromagnet. The top end of the fixed cylinder is fixedly connected to the bottom surface of the carrier plate. A guide hole is provided inside the fixed cylinder along the axial length direction. The bottom end of the guide hole is connected to the pressure head. A return spring is provided between the pressure head and the fixed cylinder. A permanent magnet is fixedly connected to the top of the pressure head. The electromagnet is located above the permanent magnet.

[0020] Preferably, the electromagnet is fixedly installed inside the top end of the fixed cylinder.

[0021] Preferably, the reset spring is sleeved on the permanent magnet, and a fixing block is fixedly connected to the top end of the reset spring. The fixing block is fixedly connected to the guide hole wall of the fixing cylinder, and the bottom end of the reset spring is fixedly connected to the top surface of the pressure head.

[0022] In this technical solution, the clamping mechanism is used to clamp the air-filling block, so that the air-filling block is in a clamped state, allowing the drill bit to enter or leave the air-filling block.

[0023] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this utility model.

[0024] The positive and progressive effects of this utility model are as follows:

[0025] The aforementioned robotic arm terminal structure for aerated concrete block wall construction uses an electric drive mechanism to drive the drill bit to move up and down and rotate, enabling it to drill into or out of the aerated concrete block and to pick up and place the block. The electric drive eliminates the need for a gas source, providing convenience. Furthermore, a clamping mechanism is included to provide clamping limits to the aerated concrete block during the picking and placing process, facilitating the drill bit's entry and exit from the block. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0027] Figure 2 This is a schematic diagram of the transmission part of this utility model.

[0028] Figure 3 This is a schematic diagram of the overall planar structure of this utility model.

[0029] Figure 4 This is a schematic diagram of the pressing mechanism of this utility model.

[0030] Explanation of reference numerals in the attached figures

[0031] 1. Carrier plate;

[0032] 2. Electric drive mechanism; 201. Base plate; 202. Protective shell; 203. Motor; 204. Lead screw; 205. Drive gear; 206. Driven gear; 207. Sleeve;

[0033] 3. Fixture;

[0034] 4. Guide assembly; 401. Guide sleeve; 402. Guide post;

[0035] 5. Drill bit;

[0036] 6. Clamping mechanism; 601. Fixed cylinder; 602. Pressure head; 603. Permanent magnet; 604. Return spring; 605. Fixing block; 606. Electromagnet;

[0037] 7. Gas blocks. Detailed Implementation

[0038] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0039] like Figure 1-4 As shown, the robotic arm terminal structure for aerated concrete block wall construction includes a carrier plate 1; it also includes: a drill bit 5, which is used to drill into the aerated concrete block 7; there are multiple drill bits 5, and all of the drill bits 5 are arranged below the carrier plate 1; an electric drive mechanism 2 for driving the drill bits 5 to rotate and move up and down is arranged above the carrier plate 1; and a clamping mechanism 6, which is installed below the carrier plate 1.

[0040] like Figure 1 As shown, as a specific technical solution, it also includes a fixing frame 3, which is fixedly installed on the side wall of the carrier plate 1, and the fixing frame 3 is provided with multiple mounting holes.

[0041] The mounting bracket 3 is used to fix the entire robotic arm terminal structure to the robotic arm. It provides mounting holes and is fixed by screws or bolts.

[0042] like Figure 1-3 As shown, as a specific technical solution, the electric drive mechanism 2 includes a motor 203 and a transmission part; the motor 203 is connected to a plurality of lead screws 204 through the transmission part, and the bottom ends of the plurality of lead screws 204 are respectively fixedly connected to the top ends of the plurality of drill bits 5; a plurality of threaded sleeves 207 are fixedly installed on the carrier plate 1, and the plurality of lead screws 204 are respectively threadedly connected to the plurality of threaded sleeves 207.

[0043] The electric drive mechanism 2 also includes a protective shell 202 and a base plate 201. The base plate 201 is fixedly installed at the bottom opening of the protective shell 202, and the protective shell 202 and the base plate 201 form a protective cavity. The transmission part is disposed in the protective cavity, and the motor 203 is fixedly installed on the top of the protective shell 202.

[0044] The transmission unit includes a driving gear 205 and a driven gear 206. Both the driving gear 205 and the driven gear 206 are rotatably mounted in the protective cavity. There are multiple driven gears 206, and the multiple driven gears 206 mesh with the circumference of the driving gear 205. The driving gear 205 is fixedly connected to the output shaft end of the motor 203, and the multiple driven gears 206 are respectively fixedly connected to the top ends of the multiple lead screws 204.

[0045] A guide component 4 is provided on one side of the electric drive mechanism 2. The guide component 4 includes a guide sleeve 401 and a guide post 402. The bottom end of the guide post 402 is fixedly connected to the fixing frame 3. The guide sleeve 401 is slidably sleeved onto the guide post 402, and the guide sleeve 401 is fixedly connected to the protective shell 202 of the electric drive mechanism 2.

[0046] When retrieving the gas block 7, the robotic arm moves its entire end-effector structure above the gas block 7, as follows: Figure 3 As shown, the drill bit 5 contacts the top surface of the aerated block 7; then the motor 203 drives the drive gear 205 to rotate forward. Through the meshing of the drive gear 205 and the driven gear 206, all the driven gears 206 synchronously drive all the lead screws 204 to rotate. The lead screws 204 and the threaded sleeve 207 perform threaded transmission, causing the electric drive mechanism 2 to move downward as a whole. During the downward movement, the guide sleeve 401 and the guide post 402 provide guidance, and the drill bit 5 rotates together with the lead screw 204, thereby realizing that the drill bit 5 rotates and moves downward at the same time, drilling into the aerated block 7, and realizing the removal of the aerated block 7.

[0047] The robotic arm moves the aerated concrete block 7 to the stacking position for wall construction. After the block is placed in place, the motor 203 drives the main gear to rotate in the opposite direction. Through the above transmission, the drill bit 5 rotates and moves upward, leaving the aerated concrete block 7.

[0048] As described above, driven by motor 203, drill bit 5 can be driven to drill into or leave air block 7.

[0049] After the aerated concrete block 7 is laid, vertical holes are drilled into it.

[0050] like Figure 3-4 As shown, there are several clamping mechanisms 6, and these clamping mechanisms 6 are arranged in a circular array.

[0051] The clamping mechanism 6 includes a fixed cylinder 601, a pressure head 602, a permanent magnet 603, and an electromagnet 606. The top end of the fixed cylinder 601 is fixedly connected to the bottom surface of the carrier plate 1. A guide hole is provided inside the fixed cylinder 601 along the axial length direction. The bottom end of the guide hole is connected to the pressure head 602. A return spring 604 is provided between the pressure head 602 and the fixed cylinder 601. The permanent magnet 603 is fixedly connected to the top of the pressure head 602. The electromagnet 606 is located above the permanent magnet 603.

[0052] The electromagnet 606 is fixedly installed inside the top of the fixed cylinder 601.

[0053] The reset spring 604 is sleeved on the permanent magnet 603, and a fixing block 605 is fixedly connected to the top of the reset spring 604. The fixing block 605 is fixedly connected to the guide hole wall of the fixing cylinder 601, and the bottom end of the reset spring 604 is fixedly connected to the top surface of the pressure head 602.

[0054] During the process of placing and removing the aerated concrete block 7, i.e., when the drill bit 5 enters or leaves the aerated concrete block 7, the clamping mechanism 6 presses down on the aerated concrete block 7. The clamping mechanism 6 is activated by switching the electromagnet 606 on and off. Figure 3 As shown, the clamping mechanism 6 does not clamp the air block 7, and the drill bit 5 does not enter the air block 7. At this time, the bottom surface of the pressure head 602 is higher than the bottom of the drill bit 5. Before the drill bit 5 drills into the air block 7, the electromagnet 606 is energized, and the electromagnet 606 generates magnetic force, which provides magnetic repulsion to the permanent magnet 603. This causes the permanent magnet 603 to drive the pressure head 602 to press down on the air block 7 and stretch the return spring 604. After the drill bit 5 drills in, the electromagnet 606 is de-energized, and the spring force of the return spring 604 drives the pressure head 602 and the permanent magnet 603 to return to their original positions.

[0055] The aerated concrete block 7 is transported to the location where the wall needs to be built. The aerated concrete block 7 is placed on top of other aerated concrete blocks 7 or on the ground. Then, the electromagnet 606 is energized to make the pressure head 602 press the aerated concrete block 7. While the aerated concrete block 7 is in the pressed state, the drill bit 5 is made to drill away from the aerated concrete block 7. After that, the electromagnet 606 is de-energized to reset the pressing mechanism 6.

[0056] This utility model is not limited to the above-described embodiments. Any changes in its shape or structure fall within the protection scope of this utility model. The protection scope of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the protection scope of this utility model.

Claims

1. Aerated block wall building robot arm end structure, comprising a carrier plate (1); characterized in that, Also include: Drill bit (5), the drill bit (5) is used for drilling into aerated block (7); The number of the drill bit (5) is multiple, and multiple drill bits (5) are arranged below the carrier plate (1), and the carrier plate (1) is provided with electric drive mechanism (2) for driving drill bit (5) to rotate and move up and down above; Pressing mechanism (6) is installed below the carrier plate (1).

2. An aerated block walling machine arm end structure as claimed in claim 1, wherein: The electric drive mechanism (2) includes motor (203) and transmission part; The motor (203) is connected with a plurality of lead screws (204) through the transmission part, the bottom end of the plurality of lead screws (204) is respectively fixedly connected with the top end of the plurality of drill bits (5); A plurality of lead sleeves (207) are fixedly installed on the carrier plate (1), and the plurality of lead screws (204) are respectively screwed with the plurality of lead sleeves (207).

3. An aerated block walling machine arm end structure as claimed in claim 2, wherein: The electric drive mechanism (2) further includes a protective shell (202) and a bottom plate (201), the bottom plate (201) is fixedly installed at the bottom opening of the protective shell (202), and a protection cavity is formed between the protective shell (202) and the bottom plate (201), the transmission part is arranged in the protection cavity, and the motor (203) is fixedly installed at the top of the protective shell (202).

4. An aerated block walling machine arm end structure as claimed in claim 3, wherein: The transmission part includes driving gear (205) and driven gear (206), the driving gear (205) and the driven gear (206) are rotatably installed in the protection cavity, the number of the driven gear (206) is multiple, and the plurality of driven gears (206) are engaged around the driving gear (205), the driving gear (205) is fixedly connected with the output shaft end of the motor (203), and the plurality of driven gears (206) are respectively fixedly connected with the top ends of the plurality of lead screws (204).

5. An aerated block walling machine arm end structure as claimed in claim 3, wherein: It further includes a fixing frame (3), which is fixedly installed on the side wall of the carrier plate (1), and a plurality of mounting holes are formed in the fixing frame (3).

6. An aerated block walling machine arm end structure as claimed in claim 5, wherein: One side of the electric drive mechanism (2) is provided with a guide assembly (4), the guide assembly (4) includes a guide sleeve (401) and a guide column (402), the bottom end of the guide column (402) is fixedly connected with the fixing frame (3), the guide sleeve (401) is slidably connected to the guide column (402), and the guide sleeve (401) is fixedly connected with the protective shell (202) of the electric drive mechanism (2).

7. An aerated block walling machine arm end structure as claimed in claim 1, wherein: The number of the pressing mechanism (6) is several, and the several pressing mechanisms (6) are arranged in an annular array.

8. An aerated block walling machine arm end structure as claimed in claim 7, wherein: The pressing mechanism (6) includes a fixed cylinder (601), a pressure head (602), a permanent magnet (603) and an electromagnet (606), the top end of the fixed cylinder (601) is fixedly connected with the bottom surface of the carrier plate (1), the fixed cylinder (601) is provided with a guide hole in the axial length direction, the bottom end of the guide hole is connected with the pressure head (602), a return spring (604) is arranged between the pressure head (602) and the fixed cylinder (601), the top of the pressure head (602) is fixedly connected with the permanent magnet (603), and the electromagnet (606) is located above the permanent magnet (603).

9. An aerated block walling machine arm end structure as claimed in claim 8, wherein: The electromagnet (606) is fixedly installed inside the top end of the fixed cylinder (601).

10. An aerated block walling machine arm end structure as claimed in claim 8, wherein: The reset spring (604) is sleeved on the permanent magnet (603), and the top end of the reset spring (604) is fixedly connected with a fixed block (605), the fixed block (605) is fixedly connected with the guide hole wall of the fixed cylinder (601), and the bottom end of the reset spring (604) is fixedly connected with the top surface of the pressure head (602).

Images