Wall masonry system for constructional engineering

Abstract

The utility model discloses a wall masonry system for constructional engineering, which is characterized in that a ground rail assembly (1) provides high-precision guidance, a sliding module (2) drives a masonry manipulator (3) and a grouting assembly (4) to move synchronously, and a brick carrying trolley (5) supplies bricks automatically, so that the automation of the whole process of masonry-grouting is realized. The construction efficiency of the system is improved by 2.5 times compared with that of manual work, the positioning precision reaches + / -0.5 mm, and the system is suitable for prefabricated building and high-rise shear wall construction.

Description

TECHNICAL FIELD

[0001] The utility model relates to building construction equipment technical field, concretely relates to a wall building system for building engineering. BACKGROUND

[0002] Traditional wall building mainly relies on manual operation, and has problems of low efficiency (skilled workers' daily building quantity is about 600-800 bricks), unstable quality (verticality error often exceeds ±5mm), high labor cost and the like. The existing automatic building equipment is mostly single function module, and the brick building manipulator lacks synchronous grouting function, and needs secondary artificial mortar supplement. In addition, the existing system mostly adopts fixed rail or wheeled mobile platform, and has insufficient positioning accuracy (more than ±3mm), and it is difficult to meet the construction requirements of high-rise building shear wall. The utility model solves the above technical bottleneck through integration of ground rail guidance, accurate building of manipulator and synchronous grouting. SUMMARY

[0003] In view of the problems and deficiencies in the prior art, the utility model provides a wall building system for building engineering.

[0004] The utility model technical scheme is as follows:

[0005] A wall building system for building engineering, comprising a rectangular wall building area composed of a brick body stacking area and a fence, and further comprising a ground rail assembly, a sliding module, a building manipulator, a grouting assembly and a brick body carrying trolley.

[0006] The ground rail assembly is arranged parallel to the building wall, comprises a frame base, two linear guides are arranged parallel above the frame base, and a rack is arranged on the inner side of the frame base parallel to the edge frame of the guide.

[0007] The sliding module moves linearly along the extension direction of the ground rail assembly, comprises a sliding base, the bottom of the sliding base is provided with a sliding block and a driving gear, the sliding block is matched with the linear guide, the driving gear is engaged with the rack, and is driven by a servo motor.

[0008] The building manipulator is connected to the top of the sliding base, and comprises a six-degree-of-freedom manipulator and an end brick body gripper.

[0009] The grouting assembly is connected to the rear part of the sliding module and moves together with the sliding module, and comprises a slurry tank, the bottom outlet of the slurry tank is connected to a conveying pipeline, the tail of the conveying pipeline is connected to the end brick body gripper of the building manipulator, and a mud nozzle is arranged at the tail.

[0010] The brick body carrying trolley is provided with a visual positioning system, can automatically identify the position of the brick body stacking area and transfer to the working range of the building manipulator.

[0011] The grouting assembly further comprises a bottom plate fixedly connected with the sliding base, a slurry tank and an electric control cabinet are arranged on the bottom plate, and the electric control cabinet is internally provided with a PLC for controlling the slurry injection pressure and flow.

[0012] An automatic stirring mechanism is arranged in the slurry tank, and the automatic stirring mechanism comprises a control motor at the top and a stirrer arranged inside.

[0013] The slurry nozzle is of a fan-shaped adjustable angle structure, and the injection angle ranges from 30° to 120°.

[0014] In order to increase the operation range, the ground rail assembly comprises a longitudinal ground rail assembly and a transverse ground rail assembly, and is arranged along the inner side of the wall to be built.

[0015] In order to improve the stability of transmission, the rack is a helical rack, and the driving gear is a helical gear.

[0016] The system coordinates the linkage operation of the building mechanical hand, the grouting assembly and the brick body carrying trolley through the central controller.

[0017] The beneficial effects of the utility model are as follows:

[0018] Construction efficiency is improved: through the cooperative operation of the mechanical hand and the carrying trolley, the building speed can reach 2000 bricks per day, which is 2.5 times higher than the manual efficiency.

[0019] Quality precision control: the rack transmission of the ground rail assembly is matched with the servo drive to realize the positioning of the mechanical hand at the level of ±0.5 mm; the pressure closed-loop control of the grouting assembly ensures that the mortar joint thickness error is ≤±1 mm.

[0020] Modular expansion: the slurry nozzle angle of the grouting assembly is adjustable, and is suitable for different wall thicknesses of 240 mm-370 mm; the ground rail assembly can be spliced and extended, and is suitable for super-long wall construction. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic view of the three-dimensional structure of the embodiment;

[0022] Figure 2 It is a top view of Figure 1 ; and

[0023] The parts represented by the reference numerals in the drawings are as follows:

[0024] 1, ground rail assembly; 2, sliding module; 3, building mechanical hand; 4, grouting assembly; 5, brick body carrying trolley; 6, brick body stacking area; 7, building wall; 11, linear guide rail; 12, rack; 21, sliding base; 41, bottom plate; 42, slurry tank; 421, slurry nozzle; 43, electric control cabinet; 44, cable groove. DETAILED DESCRIPTION

[0025] The technical means adopted to achieve the intended purpose of this utility model will be further described below with reference to the accompanying drawings of the embodiments of this utility model.

[0026] Example

[0027] See Figure 1 and Figure 2 As shown, a wall construction system for building engineering includes a rectangular wall construction area consisting of a brick stacking area 6 and a fence, and also includes a ground rail assembly 1, a sliding module 2, a bricklaying robot 3, a grouting assembly 4, and a brick transport trolley 5.

[0028] The fence adopts a detachable steel structure frame with a height of no less than 1.2m. Infrared positioning marks are set on the inside of the fence. The brick stacking area is divided into a main stacking area and a spare area. The main stacking area is equipped with pressure sensors to monitor the brick inventory in real time and transmits the data to the central controller via wireless signal.

[0029] The ground rail assembly 1 is arranged parallel to the masonry wall 7 and includes a frame base. Two linear guide rails 11 are arranged parallel to each other above the frame base. A rack 12 is provided on the inner side of the frame base parallel to the edge of the guide rail.

[0030] The frame base of the ground rail assembly 1 is assembled from high-strength cast steel profiles with an "I"-shaped cross-section. Two linear guide rails 11 are spaced 800-1200mm apart and fixed to the upper surface of the base with pre-tightened bolts. The rack 12 is made of carburized and quenched alloy steel with a module ≥4 and a tooth surface hardness of HRC58-62, forming a hardened tooth surface meshing transmission pair with the drive gear. To improve transmission stability, the rack 12 is a helical rack 12, and the drive gear is a helical gear.

[0031] The sliding module 2 moves linearly along the extension direction of the ground rail assembly 1. It includes a sliding base 21, with a slider and a drive gear at the bottom of the sliding base 21. The slider cooperates with the linear guide rail 11, and the drive gear meshes with the rack 12 and is driven by a servo motor.

[0032] In one embodiment, the slider at the bottom of the sliding base 21 adopts two rows of ball-bearing linear guide sliders, with three sliders in each row. Each slider is equipped with an automatic lubrication oil injection hole for cooperating with the single-row linear guide 11. The drive gear is connected to the servo motor through a harmonic reducer. The motor encoder resolution is ≥17bit, which, together with the rack 12, achieves a repeatability positioning accuracy of ±0.3mm. An absolute encoder is integrated inside the base to provide real-time feedback of the position signal to the electrical control cabinet 43.

[0033] The masonry robot 3 is connected to the top of the sliding base 21, and includes a six-degree-of-freedom robot arm and an end brick gripper. The six-degree-of-freedom robot arm adopts a carbon fiber composite arm rod, the end brick gripper is equipped with a vacuum suction disc array and a force feedback sensor, and photoelectric limit switches are installed at the joints of the robot arm. The robot arm can be rotated above the brick carrying trolley 5, the bricks on the brick carrying trolley 5 are gripped to the wall masonry position, and the mud is sprayed on the masonry bricks to connect and fix the adjacent bricks while accurately stacking, so as to ensure the strength of the wall.

[0034] The grouting assembly 4 is connected to the rear of the sliding module 2 and moves with the sliding module 2, and includes a slurry tank 42. The bottom outlet of the slurry tank 42 is connected to a conveying pipeline, the tail of the conveying pipeline is connected to the end brick gripper of the masonry robot 3, and the end is provided with a mud nozzle 421.

[0035] The slurry tank 42 adopts a double-layer stainless steel structure, the interlayer circulates water to keep the slurry at 15-25℃; the conveying pipeline is a pressure-resistant steel wire reinforced PVC pipe, the working pressure is adjustable at 0.6-1.2MPa, and pipeline accessories such as a booster pump, a pressure gauge and a flowmeter are arranged on the conveying pipeline; the mud nozzle 421 is driven to rotate by a stepping motor, the angle adjustment step is 0.9°, and the nozzle outlet is provided with an ultrasonic flowmeter.

[0036] The brick carrying trolley 5 is provided with a visual positioning system, which can automatically identify the position of the brick stacking area 6 and transfer to the working range of the masonry robot 3. The visual positioning system includes a 2 million pixel industrial camera and a laser ranging sensor, and the recognition accuracy is ±1mm; the trolley adopts a Mecanum wheel omnidirectional mobile platform, and is equipped with a 6-axis inertial navigation module; the trolley body is provided with a collision avoidance laser radar, and the detection range is 0.1-5m.

[0037] The grouting assembly 4 further includes a bottom plate 41 fixedly connected with the sliding base 21, and the slurry tank 42 and an electric control cabinet 43 are arranged on the bottom plate 41. The electric control cabinet 43 is provided with a PLC, which controls the mud injection pressure and flow.

[0038] Further, the slurry tank 42 is provided with an automatic stirring mechanism, which includes a control motor at the top and a stirrer arranged inside. The control motor of the automatic stirring mechanism is a variable frequency three-phase asynchronous motor, with a power of 1.5kW and a speed of 30-120rpm steplessly adjustable; the stirrer adopts an anchor type spiral blade, and the surface of the blade is plated with hard chromium; the PLC in the electric control cabinet 43 controls the stirring speed and the slurry viscosity through a PID algorithm.

[0039] Preferably, the mud nozzle 421 is a fan-shaped adjustable angle structure, and the spraying angle range is 30°-120°.

[0040] In one embodiment, in order to increase the working range, the ground rail assembly 1 comprises a longitudinal ground rail assembly 1 and a transverse ground rail assembly 1 arranged along the inner side of the wall 7 to be built. At this time, the sliding block of the sliding base 21 adopts four rows of ball type linear guide sliding blocks, two rows of which are perpendicular to the other two rows and are located at different heights, and can be used for cooperation with two rows of linear guides 11 arranged vertically.

[0041] In order to improve the stability of transmission, the rack 12 adopts a helical rack 12, and the driving gear adopts a helical gear.

[0042] Preferably, the system coordinates the linkage operation of the building mechanical hand 3, the grouting assembly 4 and the brick carrying trolley 5 through a central controller.

[0043] The central controller adopts an industrial embedded system, runs a real-time Linux kernel, synchronously controls each subsystem through an EtherCAT bus, is provided with an HMI touch screen, can display building progress, slurry consumption and other parameters, and supports G code import building path planning.

[0044] The above is the preferred embodiment of the utility model, but the utility model is not limited to the above-mentioned embodiments and examples, various changes, equivalent replacements, improvements and the like made within the knowledge range of the person skilled in the art without departing from the concept of the present application should be included in the protection scope of the utility model.

Claims

1. A wall building system for construction work, comprising a rectangular wall building area consisting of a brick deposit area (6) and a fence, characterized in that, It also includes ground rail assembly (1), sliding module (2), masonry robot (3), grouting assembly (4), brick carrying trolley (5); The ground rail assembly (1) is arranged parallel to the masonry wall (7), comprising a frame base, two linear guides (11) are arranged in parallel above the frame base, and a rack (12) is arranged on the inner side of the frame base parallel to the side frame of the guide rail; The sliding module (2) moves linearly along the extension direction of the ground rail assembly (1), including a sliding base (21), the bottom of the sliding base (21) is provided with a sliding block and a driving gear, the sliding block is matched with the linear guide (11), and the driving gear is engaged with the rack (12) and driven by a servo motor; The masonry robot (3) is connected to the top of the sliding base (21) and includes a six-degree-of-freedom mechanical arm and an end brick gripper; The grouting assembly (4) is connected to the rear of the sliding module (2) and moves with the sliding module (2), including a slurry tank (42), the bottom outlet of the slurry tank (42) is connected to a conveying pipeline, the tail of the conveying pipeline is connected to the end brick gripper of the masonry robot (3), and the tail is provided with a mud nozzle (421).

2. The masonry system of claim 1, wherein, The brick carrying trolley (5) is equipped with a visual positioning system, which can automatically identify the position of the brick stacking area (6) and transfer it to the working range of the masonry robot (3).

3. Masonry system according to claim 1 or 2, characterized in that The grouting assembly (4) further comprises a bottom plate (41) fixedly connected with the sliding base (21), the bottom plate (41) is provided with a slurry tank (42) and an electric control cabinet (43), and the electric control cabinet (43) is provided with a PLC control mud injection pressure and flow.

4. The masonry system of claim 1, wherein, The slurry tank (42) is provided with an automatic stirring mechanism, including a control motor at the top and a stirrer arranged inside.

5. The masonry system according to claim 1, wherein, The mud nozzle (421) is a fan-shaped adjustable angle structure, and the injection angle range is 30°-120°.

6. The masonry system of claim 1, wherein, The ground rail assembly (1) includes longitudinal ground rail assembly and transverse ground rail assembly, and is arranged along the inner side of the wall to be built (7).

7. The masonry system according to claim 1, wherein, The rack adopts a helical rack, and the driving gear adopts a helical gear.

8. The masonry system according to any one of claims 1-7, wherein, The system coordinates the linkage operation of the masonry robot (3), the grouting assembly (4) and the brick carrying trolley (5) through a central controller.

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