Parallelism adjusting mechanism for masonry robot

Abstract

The parallelism adjusting mechanism for the masonry robot comprises a bottom plate and a controller, electric push rods are installed at the positions of the four end corners of the bottom plate, sealing boxes are installed on the bottom plate in the transverse direction and the vertical direction, leveling structures are assembled in the sealing boxes, and each leveling structure comprises a rotating rod rotationally connected to the interior of the corresponding sealing box. A contact block is fixed to the bottom of the rotating rod, two symmetrical pressure sensors are installed in the sealing box and arranged at the two ends of the contact block respectively, and the controller is in communication connection with the sealing box and the electric push rods and used for receiving induction signals from the sealing box and adjusting the heights of the corresponding electric push rods according to the induction signals. Therefore, the leveling of the bottom plate is realized. By means of the arrangement, the inclination condition of the ground can be sensitively and comprehensively sensed, accurate adjusting actions can be rapidly made, and the problem that in the prior art, the parallelism of the robot and the ground is difficult to accurately and timely adjust under the complex construction environment is effectively solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of masonry robot, concretely relates to a parallelism adjusting mechanism for masonry robot. BACKGROUND

[0002] In the field of modern building construction, with the continuous rise of labor cost and the increasing requirement for construction efficiency and quality, the application of masonry robots is becoming more and more widespread, and the masonry robots can efficiently and accurately complete the wall masonry work, greatly improving the construction progress and reducing the labor intensity, however, in the actual operation process, the masonry robots face many challenges, one of which is to ensure that the robot and the ground maintain good parallelism.

[0003] At present, there are various parallelism adjusting technical schemes for masonry robots on the market, some existing technologies adopt a simple level combined with manual adjustment, through the observation of the level indication by the construction personnel, the height of the robot leg is adjusted by manual operation of the adjusting mechanism, this method not only consumes manpower and time, but also has low adjustment accuracy, and it is difficult to meet the demand of high-precision masonry operation, once the adjustment is inaccurate, it is easy to cause uneven brick laying in the subsequent masonry process, affecting the overall quality and stability of the wall.

[0004] Under such technical background, the utility model provides an innovative parallelism adjusting mechanism for masonry robot.

[0005] It should be noted that the information disclosed in the above background technology section is only for understanding the background of the present application, and therefore can include information which does not constitute prior art known to those skilled in the art. CONTENT OF THE UTILITY MODEL

[0006] The utility model aims at providing a parallelism adjusting mechanism for masonry robot, which can sensitively and comprehensively perceive the inclination of the ground and make accurate adjustment action quickly, effectively overcoming the problem that the prior art is difficult to accurately and timely adjust the parallelism between the robot and the ground in complex construction environment.

[0007] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0008] The parallelism adjusting mechanism for the masonry robot comprises a base plate, a plurality of electric push rods mounted on the bottom of the base plate, at least one sealed box provided on the base plate, a leveling structure assembled in the sealed box for sensing the inclination of the base plate, and a controller in communication with the sealed box and the electric push rods, the controller being configured to receive the sensing signal from the sealed box and adjust the height of the corresponding electric push rod according to the sensing signal to realize the self-adaptive leveling of the base plate.

[0009] In some embodiments, the leveling structure comprises a rotating rod rotatably connected inside the sealed box, the rotating rod being able to swing relative to the sealed box according to the inclination of the base plate, the rotating rod being provided with a contact block, and the sealed box being further provided with a pressure sensor in communication with the controller, the pressure sensor being symmetrically arranged on both sides of the contact block.

[0010] In some embodiments, the pressure sensor is provided with a sliding block at the bottom, the sealed box is provided with a sliding groove at the corresponding position of the pressure sensor, and the sliding block is slidingly connected to the sliding groove.

[0011] The pressure sensor is further fixed with a mounting sheet on the outer wall, a threaded rod is screwedly connected in the mounting sheet, and the threaded rod is rotatably connected to the sealed box.

[0012] A driving mechanism for driving the rotation of the threaded rod is mounted in the sealed box, the driving mechanism drives the rotation of the threaded rod to move the pressure sensor.

[0013] In some embodiments, the driving mechanism comprises a worm gear fixed on the outer side of the threaded rod, a worm shaft meshingly connected to one side of the worm gear, and a motor mounted in the sealed box, the output end of the motor being connected to the worm shaft through a connecting rod.

[0014] In some embodiments, a conduit is assembled on the sealed box, one end of the conduit being in communication with the inside of the sealed box, and a vacuum pump being mounted at the other end of the conduit away from the sealed box.

[0015] In some embodiments, the sealed box is provided as two, and the extension directions of the two sealed boxes are perpendicular to each other.

[0016] In some embodiments, a mounting rack is mounted on the top of the base plate, a clamping hand is assembled on the mounting rack, the stroke rod of the electric push rod is vertically downwardly arranged and fixed with a contact sheet for contacting the ground.

[0017] In some embodiments, a plurality of wheels are assembled on the bottom of the base plate.

[0018] The utility model discloses technical effect achieved is:

[0019] The utility model discloses a contact block and pressure sensor are set up suspension, when the contact block is inclined because the ground is inclined, will contact pressure sensor, and then trigger controller, make it control electric push rod drive corresponding robot support leg extend elongation, and then can acutely, comprehensively perceive the inclined condition of ground, and make accurate adjustment action quickly, the problem that the prior art is difficult to accurately, in time adjustment robot and ground parallelism under complex construction environment is effectively overcome.

[0020] The other beneficial effects of the utility model will be further described in the following. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structure schematic view of parallelism adjusting mechanism of the utility model,

[0022] Figure 2 It is a sectional view of sealing box of the utility model,

[0023] Figure 3 It is structure schematic view between pressure sensor, contact block and threaded rod in the utility model,

[0024] Figure 4 It is the utility model in Figure 3 The enlarged view of A in the middle.

[0025] In the drawings, the component list represented by each sign is as follows:

[0026] 1, bottom plate, 2, mounting frame, 3, clamp hand, 4, guide pipe, 5, electric push rod, 6, contact sheet, 7, wheel, 8, sealing box, 9, rotating rod, 10, contact block, 11, pressure sensor, 12, mounting sheet, 13, threaded rod, 14, worm wheel, 15, worm, 16, motor. DETAILED DESCRIPTION

[0027] The following detailed description of the embodiments of the utility model is described. It should be emphasized that the following description is merely exemplary, and is not intended to limit the scope of the utility model and its applications.

[0028] It should be noted that when an element is referred to as "fixed to" or "set to" another element, it can be directly on another element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to another element or indirectly connected to the other element. In addition, the connection can be for fixing or for coupling or communicating.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0030] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the utility model, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0031] As Figures 1-4 shown, a parallelism adjusting mechanism for a masonry robot includes a bottom plate 1, a mounting frame 2 is installed on the top of the bottom plate 1, a clamping hand 3 is assembled on the mounting frame 2, when the robot is working on wall building and the like, the clamping hand 3 can clamp the masonry block for stacking, the worker can lay the mortar on the side, the bottom plate 1 is also provided with a counterweight on the opposite side of the clamping hand 3, which is used to balance the load moment of the clamping hand 3 during work, to avoid the bottom plate 1 from tilting due to unilateral stress, and further improve the stability of the device. The four end corner positions of the bottom plate 1 are each provided with an electric push rod 5, the stroke rod of the electric push rod 5 is vertically downwardly fixed with a contact sheet 6, and the contact sheet 6 is in contact with the ground.

[0032] A plurality of wheels 7 are assembled on the bottom of the bottom plate 1, through the arrangement of the wheels 7, the user can push the robot to the working position, after moving the robot to the position where the stacking is required, the electric push rod 5 is started, so that the electric push rod 5 extends the contact sheet 6 to be in contact with the ground, so that the wheels 7 are lifted, so that the device cannot be easily moved, and the device is convenient for working.

[0033] As Figure 1 shown by the dashed arrow, the top of the bottom plate 1 is provided with a sealing box 8 in the transverse direction and the vertical direction, and the sealing box 8 is provided with a leveling structure. In some embodiments, the sealing box 8 can also be installed on the bottom of the bottom plate 1.

[0034] Referring to the drawings Figures 2-3The leveling structure comprises a rotating rod 9 rotatably connected inside the sealing box 8, the bottom of the rotating rod 9 is fixed with a contact block 10, two symmetrical pressure sensors 11 are installed in the sealing box 8, and the two pressure sensors 11 are arranged at the two ends of the contact block 10 respectively. When the device is tilted, based on the rotating connection between the rotating rod 9 and the sealing box 8, the contact block 10 will tilt to one side under the action of gravity, and then contact and abut against one of the pressure sensors 11.

[0035] A controller is installed on the bottom plate 1, the controller is electrically connected with the pressure sensors 11 and the plurality of electric push rods 5, signals are transmitted to a processor through the pressure sensors 11, and the corresponding electric push rod 5 is started by controlling the controller through the processor, so that the stroke rod of the electric push rod 5 continues to extend until the device is in a vertical state, or the stroke rod of the electric push rod 5 on the other side is retracted by a part until the device is vertical. After the parallelism adjustment of the device is completed, the power supply of the pressure sensor 11 and the controller and the like can be disconnected, so that the vibration and the like generated during the subsequent work of the device will not affect whether the electric push rod 5 is started or not. By arranging the vertical and horizontal sealing boxes 8, the tilting state in the four directions of front, back, left and right can be detected.

[0036] In some embodiments, the controller can adopt existing technology, and the control logic can be: continuously monitoring the signals of the pressure sensors 11. When one of the pressure sensors 11 in the sealing box 8 in a certain direction detects that the pressure value exceeds a preset threshold value, it is determined that the bottom plate 1 is tilted in that direction. The controller immediately issues a control instruction to one or more electric push rods 5 on the tilting side to make it elongate or shorten. Until the pressure signals of all sealing boxes 8 return to a balanced state, thereby realizing rapid and stable automatic leveling.

[0037] Further, the sealing box 8 is provided with a conduit 4, the conduit 4 is in communication with the inside of the sealing box 8, and the other end of the conduit 4 away from the sealing box 8 is provided with a vacuum pump. Through the arrangement of the vacuum pump, the sealing box 8 can be pumped to a vacuum state through the conduit 4, so as to reduce the friction and the like of the contact block 10 when it swings with air, etc. After vacuumizing, a negative pressure is formed in the sealing box, and the atmospheric pressure presses the sealing ring of the sealing box tightly, preventing dust and mortar debris on the construction site from entering the box, protecting the movement mechanism of the pressure sensor and the contact block, avoiding jamming, and in the negative pressure environment, there is no air convection between the contact block 10 and the inner wall of the sealing box, avoiding external airflow disturbance to the contact block, ensuring that the contact block is only affected by gravity and support force caused by tilting, and the detection result is more accurate.

[0038] The electric push rod 5 is provided with the same or similar structure as the worm wheel 14 and the worm 15 in the following to realize the locking of the electric push rod 5 after extension.

[0039] Refer to the drawings Figure 3 The same side of the two pressure sensors 11 is fixed with a mounting sheet 12, the two mounting sheets 12 are threadedly connected with threaded rods 13, the threaded rods 13 are rotationally connected with the sealing box 8, the bottom of the two pressure sensors 11 is provided with a sliding block, the sealing box 8 is provided with a sliding groove, the sliding block is slidingly connected in the sliding groove, the sealing box 8 is provided with a driving mechanism for driving the threaded rods 13 to rotate, when it is needed to slightly incline the wall body according to the terrain or the designer's design, so as to adapt to the inclination of the ground, the threaded rods 13 can be synchronously rotated by the driving mechanism, then the threaded rods 13 are threadedly connected with the two mounting sheets 12, and the sliding block at the bottom of the pressure sensor 11 is slidingly connected with the sliding groove, so that the two pressure sensors 11 are synchronously moved to the same direction, because the rotating rod 9 and the contact block 10 are on the inclined ground, the suspended contact block 10 is also in an inclined state compared with the ground plane, at this time, the two pressure sensors 11 are moved to the position suitable for the contact block 10, so that the electric push rod 5 is prevented from being started due to the mutual contact between the inclined contact block 10 and the pressure sensor 11, and the robot is in the closed state when moving, at this time, even if the pressure sensor 11 is impacted, no signal is generated, and the robot is a fixed robot, once the angle of the device is adjusted, the pressure sensor 11 and other components can be closed, even if vibration and other factors are generated, no control signal is generated.

[0040] Refer to the drawings Figure 3 The driving mechanism comprises a worm wheel 14 fixed outside the threaded rod 13, one side of the worm wheel 14 is meshingly connected with a worm 15, and a motor 16 is installed in the sealing box 8, and the output end of the motor 16 is connected with the worm 15 through a connecting rod.

[0041] When the motor 16 is driven, the worm 15 can be driven to rotate, the meshing connection between the worm 15 and the worm wheel 14 enables the worm 15 to drive the worm wheel 14 to rotate, and the threaded rod 13 is driven to rotate by the worm wheel 14, and the cooperation of the worm 15 and the worm wheel 14 can lock the threaded rod 13, so that the rotation effect of the threaded rod 13 is avoided due to vibration or other reasons.

[0042] The background part of the utility model can contain the background information about the problem or environment of the utility model, and is not necessarily to describe the prior art. Therefore, the content contained in the background art part is not the acknowledgement of the prior art by the applicant.

[0043] The above is further detailed description of the utility model in combination with specific / preferred embodiments, and cannot be deemed as limitation of the specific implementation of the utility model to these descriptions. For ordinary skilled in the art to which the utility model belongs, without departing from the concept of the utility model, some substitutions or variations can be made to the described embodiments, and these substitutions or variations shall be deemed as falling within the protection scope of the utility model. In the description of the specification, the description of the reference terms "an embodiment", "some embodiments", "preferred embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In the case of not mutually contradictory, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of different embodiments or examples. Although the embodiments of the utility model and its advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the protection scope of the patent application.

Claims

1. A parallelism adjusting mechanism for a masonry robot, characterized by, The parallelism adjusting mechanism comprises a base plate (1), a plurality of electric push rods (5) are mounted on the bottom of the base plate (1), and at least one sealed box (8) is arranged on the base plate (1), a leveling structure is arranged in the sealed box (8) and is used for sensing the inclination of the base plate (1), and the parallelism adjusting mechanism further comprises a controller which is in communication connection with the sealed box (8) and the electric push rod (5), the controller is configured to receive a sensing signal from the sealed box (8) and adjust the height of the corresponding electric push rod (5) according to the sensing signal, so as to realize self-adaptive leveling of the base plate (1).

2. The parallelism adjustment mechanism for a masonry robot according to claim 1, characterized by, The leveling structure comprises a rotating rod (9) which is rotatably connected in the sealed box (8), the rotating rod (9) can swing relative to the sealed box (8) according to the inclination of the base plate (1), the rotating rod (9) is provided with a contact block (10), and a pressure sensor (11) which is in communication connection with the controller is further arranged in the sealed box (8), and the pressure sensor (11) is symmetrically arranged on both sides of the contact block (10).

3. The parallelism adjustment mechanism for a masonry robot according to claim 2, characterized by, The pressure sensor (11) is provided with a sliding block at the bottom, the sealed box (8) is provided with a sliding groove at the corresponding position of the pressure sensor (11), and the sliding block is slidably connected to the sliding groove. The pressure sensor (11) is further fixed with a mounting sheet (12) on the outer wall, a threaded rod (13) is threadedly connected in the mounting sheet (12), and the threaded rod (13) is rotatably connected with the sealed box (8). A driving mechanism for driving the threaded rod (13) to rotate is arranged in the sealed box (8), the driving mechanism drives the threaded rod (13) to rotate, so as to drive the pressure sensor (11) to move.

4. The parallelism adjustment mechanism for a masonry robot according to claim 3, characterized by, The driving mechanism comprises a worm gear (14) fixed on the outer side of the threaded rod (13), one side of the worm gear (14) is meshingly connected with a worm (15), a motor (16) is arranged in the sealed box (8), and the output end of the motor (16) is connected with the worm (15) through a connecting rod.

5. The parallelism adjustment mechanism for a masonry robot according to claim 1, wherein A conduit (4) is arranged on the sealed box (8), one end of the conduit (4) is in communication with the inside of the sealed box (8), and a vacuum pump is arranged at the other end of the conduit (4) away from the sealed box (8).

6. The parallelism adjustment mechanism for a masonry robot according to claim 1, wherein The sealed box (8) is provided as two, and the extension directions of the two sealed boxes (8) are perpendicular to each other.

7. The parallelism adjustment mechanism for a masonry robot according to claim 1, wherein An installation frame (2) is mounted on the top of the base plate (1), a clamping hand (3) is arranged on the installation frame (2), the stroke rod of the electric push rod (5) is vertically downward and is fixed with a contact sheet (6), and the contact sheet (6) is used for contacting the ground.

8. The parallelism adjustment mechanism for a masonry robot according to claim 1, wherein A plurality of wheels (7) are arranged on the bottom of the base plate (1).

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