Mortar scraping robot for automated wall building equipment
By designing a mortar scraping robot for automated bricklaying equipment, the problem of mortar waste during the bricklaying process was solved, achieving efficient recycling and reuse, and reducing construction costs and environmental impact.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
- Filing Date
- 2025-06-24
- Publication Date
- 2026-06-26
AI Technical Summary
Existing semi-automatic/automatic bricklaying equipment cannot promptly remove overflowing cement mortar between bricks, resulting in waste and manual intervention, which increases operational complexity and cost.
Design an automated bricklaying equipment mortar scraping robot device, which adopts a three-axis cylinder, a stepper motor or servo motor, a gear and rack mechanism, a pair of mechanical scrapers and a pressure bar mechanism, to recover excess mortar between bricks by squeezing and scraping, and reuse it for subsequent bricklaying.
It achieves efficient recycling of excess mortar between bricks, with a mortar recycling rate of up to 90%, meeting LEED green building certification standards, significantly reducing construction costs and environmental impact, and simplifying the device structure.
Smart Images
Figure CN224413188U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a mortar scraping robot device, and more particularly to a mortar scraping robot device for automated bricklaying equipment. Background Technology
[0002] Currently, the global construction industry is facing an increasingly severe labor shortage. The shortage of bricklayers and societal demand have spurred the development of semi-automatic / automatic bricklaying equipment, highlighting the industry's urgent need for automation solutions. To address these challenges, developing semi-automatic / automatic bricklaying equipment has become a key direction for construction technology innovation, aiming to alleviate labor pressure and effectively control costs through technological means.
[0003] For example, Chinese invention patent document CN202011187512.5 describes an automatic bricklaying machine and its bricklaying method; Chinese invention patent application document CN202211741077.5 describes an integrated automatic bricklaying robot bricklaying process.
[0004] Currently, semi-automatic / automatic bricklaying equipment can perform operations such as applying mortar, stacking, and sorting bricks. However, the cement mortar that overflows after the bricks are compacted cannot be scraped off in time and still needs to be cleaned manually. This is not only troublesome to operate, but also easily leads to the waste of cement mortar.
[0005] Therefore, this utility model is proposed. Summary of the Invention
[0006] The purpose of this invention is to provide a mortar scraping robot for automated bricklaying equipment to overcome the shortcomings of the prior art. This robot can press down the freshly stacked mortar-coated bricks and collect the excess mortar that overflows between the bricks for reuse in subsequent bricklaying.
[0007] To achieve the above objectives, the present invention provides an automated mortar scraping robot for bricklaying equipment, comprising:
[0008] A three-axis cylinder, a stepper motor or servo motor, a gear and rack mechanism, a pair of mechanical scrapers and a pair of pressure rod mechanisms;
[0009] A stepper motor or servo motor is fixed to the baffle of the three-axis cylinder by a bracket. The three-axis cylinder drives the stepper motor or servo motor to perform reciprocating linear motion on the stroke of its piston rod. A guide frame is fixed on the bracket to support and guide a pair of racks of the gear and rack mechanism. A support plate is fixed on the guide frame.
[0010] The motor shaft of the stepper motor or servo motor is connected to a gear of the gear and rack mechanism to drive a pair of racks of the gear and rack mechanism to reciprocate linearly perpendicular to the piston rod of the three-axis cylinder.
[0011] A pair of mechanical scrapers corresponds one-to-one with a pair of racks and is fixed to their respective racks;
[0012] Each pair of pressure rod mechanisms includes a guide rod sleeve, a helical spring, and a pressure rod. The three are coaxially distributed parallel to the piston rod of the three-axis cylinder. The helical spring is sleeved onto the pressure rod, and one end of the helical spring abuts against one shoulder of the stepped portion formed on the surface of the pressure rod. One side of the pressure rod passes through the guide rod sleeve, and both the helical spring and the stepped portion of the pressure rod are inserted into the guide rod sleeve. Meanwhile, the other end of the helical spring abuts against the shoulder of the stepped hole formed on one end of the guide rod sleeve. The other side of the pressure rod extends through a pre-set through hole on the support plate to the space between a pair of mechanical scrapers, and the other shoulder of its stepped portion abuts against the support plate. At the same time, the other end of the guide rod sleeve is fixed to the support plate.
[0013] Furthermore, in the mortar scraping robot device of the aforementioned automated bricklaying equipment, a rod cap is preferably provided at the end of the pressure rod extending between a pair of mechanical scrapers, which can increase the contact area between the pressure rod and the brick, thereby reducing the pressure applied to the brick by the pressure rod mechanism, making the pressure applied to the brick by the pressure rod mechanism more balanced, and thus improving the bricklaying effect.
[0014] Compared with the prior art, the mortar scraping robot device for automated bricklaying equipment obtained by this utility model has the following technical effects:
[0015] During the bricklaying process, the automated bricklaying equipment, which incorporates a mortar scraping robot device as described in this utility model, can compact the freshly stacked mortar-coated bricks and recover the excess mortar that overflows between the bricks, and then reuse it for subsequent bricklaying. The mortar recycling rate is as high as 90%, which meets the LEED green building certification's circular construction standards and significantly reduces construction costs and environmental impact.
[0016] This invention solves the problem of mortar waste in traditional bricklaying by using a closed-loop design of mechanical "extrusion + scraping + circulation", and also reduces the complexity of the device through structural integration. Attached Figure Description
[0017] Figure 1 This is a structural diagram of a mortar scraping robot device for automated bricklaying equipment.
[0018] Figure 2 yes Figure 1 Bottom view of the intermediate pressure bar mechanism;
[0019] Figure 3 yes Figure 2 Sectional view at point aa;
[0020] Figure 4 This is a schematic diagram of the mortar scraping robot device of another type of automated bricklaying equipment.
[0021] In the diagram: 1. Three-axis cylinder, 1-1. Baffle, 1-2. Piston rod, 2. Stepper motor or servo motor, 3. Mechanical scraper, 4. Pressure rod mechanism, 4-1. Guide rod sleeve, 4-1-1. Stepped hole, 4-2. Helical spring, 4-3. Pressure rod, 4-3-1. Rod cap, 4-4. Bracket, 5. Guide frame, 6. Rack, 7. Support plate, 8. Gear. Detailed Implementation
[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model are within the protection scope of the present utility model.
[0023] like Figure 1 As shown, as one embodiment of the present utility model, the mortar scraping robot of the automated bricklaying equipment provided in this embodiment includes a three-axis cylinder 1, a stepper motor or servo motor 2, a gear and rack mechanism, a pair of mechanical scrapers 3 and a pair of pressure rod mechanisms 4.
[0024] A stepper motor or servo motor 2 is fixed to the baffle 1-1 of the three-axis cylinder 1 via a bracket 5. The three-axis cylinder 1 drives the stepper motor or servo motor 2 to perform reciprocating linear motion on the stroke of its piston rod 1-2. A guide frame 6 is fixed on the bracket 5 to support and guide a pair of racks 7 of the gear and rack mechanism. A support plate 8 is fixed on the guide frame 6.
[0025] The motor shaft of the stepper motor or servo motor 2 is connected to a gear 9 of the gear and rack mechanism to drive a pair of racks 7 of the gear and rack mechanism to reciprocate linearly perpendicularly to the piston rod 1-2 of the three-axis cylinder 1.
[0026] A pair of mechanical scrapers 3 correspond one-to-one with a pair of racks 7, and are respectively fixed to their corresponding racks 7;
[0027] like Figure 2 and Figure 3As shown, each of the pair of pressure rod mechanisms 4 includes a guide rod sleeve 4-1, a helical spring 4-2, and a pressure rod 4-3. These three components are coaxially distributed parallel to the piston rod 1-2 of the three-axis cylinder 1. The helical spring 4-2 is sleeved onto the pressure rod 4-3, and one end of the helical spring 4-2 abuts against one shoulder of the stepped portion 4-3-1 formed on the surface of the pressure rod 4-3. One side of the pressure rod 4-3 passes through the guide rod sleeve 4-1, and the helical spring 4-2 and the pressure rod... The stepped portion 4-3-1 of rod 4-3 is inserted into the guide rod sleeve 4-1. At the same time, the other end of the helical spring 4-2 abuts against the shoulder of the stepped hole portion 4-1-1 formed on one side of the guide rod sleeve 4-1. The other side of the pressure rod 4-3 extends through the pre-set through hole on the support plate 8 to the space between a pair of mechanical scrapers 3. The other shoulder of its stepped portion 4-3-1 abuts against the support plate 8. At the same time, the other end of the guide rod sleeve 4-1 is fixed to the support plate 8.
[0028] This embodiment describes a mortar scraping robotic arm device for automated bricklaying equipment, the operation of which is as follows:
[0029] Step 1: Stepper motor or servo motor 2 drives a pair of mechanical scrapers 3 to move in opposite directions through a gear and rack mechanism until the distance between the pair of mechanical scrapers 3 is greater than the width of the just stacked mortar-coated bricks.
[0030] Step 2: The three-axis cylinder 1 drives a pair of pressure rod mechanisms 4 and a pair of mechanical scrapers 3 to move synchronously toward the stacked mortar-coated bricks. During the movement, the ends of the pressure rods 4-3 located between the pair of mechanical scrapers 3 will abut against the bricks. At this time, the pair of mechanical scrapers 3 are located on both sides of the bricks in the width direction.
[0031] Step 3: The three-axis cylinder 1 drives a pair of pressure rod mechanisms 4 and a pair of mechanical scrapers 3 to continue moving synchronously toward the newly stacked mortar-coated bricks. At this time, the pair of pressure rod mechanisms 4 apply pressure to the newly stacked mortar-coated bricks, causing the excess mortar between the newly stacked mortar-coated bricks and the bricks below to overflow onto the surface of the bricks due to the squeezing force. At the same time, the pressure rod 4-3 of the pressure rod mechanism 4 applies a reaction force to the spiral spring 4-2, causing it to undergo elastic deformation until the reaction force applied by the pressure rod 4-3 to the spiral spring 4-2 reaches the preset value. At this time, the pair of mechanical scrapers 3 are located below the excess mortar overflowing between the bricks.
[0032] Step 4: Stepper motor or servo motor 2 drives a pair of mechanical scrapers 3 to move in opposite directions through a gear and rack mechanism until the blades of the pair of mechanical scrapers 3 are close to the surface of the brick. Then, the three-axis cylinder 1 drives a pair of pressure rod mechanisms 4 and a pair of mechanical scrapers 3 to move in opposite directions from the stacked mortar-coated bricks. At this time, the pair of mechanical scrapers 3 scrapes off the excess mortar that overflows between the bricks until the excess mortar is piled on top of the stacked mortar-coated bricks for use when stacking the next brick.
[0033] Step 5: Stepper motor or servo motor 2 drives a pair of mechanical scrapers 3 to reset via a gear and rack mechanism, and three-axis cylinder 1 drives a pair of pressure rod mechanisms 4 and a pair of mechanical scrapers 3 to reset synchronously.
[0034] As a second embodiment of this utility model, its general structure is consistent with the first embodiment described above, such as... Figure 4 As shown, however, in this embodiment of an automated bricklaying equipment, the mortar scraping robot device has a structure in which the end of the pressure rod 4-3 extending between a pair of mechanical scrapers 3 is also provided with a rod cap 4-4 that can increase the contact area between the pressure rod 4-3 and the brick, thereby reducing the pressure applied to the brick by the pressure rod mechanism 4, making the pressure applied to the brick by the pressure rod mechanism 4 more balanced, and thus improving the bricklaying effect.
[0035] This utility model is not limited to the above-described preferred embodiments. Anyone can derive other forms of products under the guidance of this utility model. However, regardless of any changes made in their shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this utility model.
Claims
1. A mortar scraping robot for automated bricklaying equipment, characterized in that: include: A three-axis cylinder, a stepper motor or servo motor, a gear and rack mechanism, a pair of mechanical scrapers and a pair of pressure rod mechanisms; A stepper motor or servo motor is fixed to the baffle of the three-axis cylinder by a bracket. The three-axis cylinder drives the stepper motor or servo motor to perform reciprocating linear motion on the stroke of its piston rod. A guide frame is fixed on the bracket to support and guide a pair of racks of the gear and rack mechanism. A support plate is fixed on the guide frame. The motor shaft of the stepper motor or servo motor is connected to a gear of the gear and rack mechanism to drive a pair of racks of the gear and rack mechanism to reciprocate linearly perpendicular to the piston rod of the three-axis cylinder. A pair of mechanical scrapers corresponds one-to-one with a pair of racks and is fixed to their respective racks; Each pair of pressure rod mechanisms includes a guide rod sleeve, a helical spring, and a pressure rod. The three are coaxially distributed parallel to the piston rod of the three-axis cylinder. The helical spring is sleeved onto the pressure rod, and one end of the helical spring abuts against one shoulder of the stepped portion formed on the surface of the pressure rod. One side of the pressure rod passes through the guide rod sleeve, and both the helical spring and the stepped portion of the pressure rod are inserted into the guide rod sleeve. Meanwhile, the other end of the helical spring abuts against the shoulder of the stepped hole formed on one end of the guide rod sleeve. The other side of the pressure rod extends through a pre-set through hole on the support plate to the space between a pair of mechanical scrapers, and the other shoulder of its stepped portion abuts against the support plate. At the same time, the other end of the guide rod sleeve is fixed to the support plate.
2. The mortar scraping robot device for automated bricklaying equipment according to claim 1, characterized in that: The end of the pressure bar extending between a pair of mechanical scrapers is provided with a bar cap that can increase the contact area between the pressure bar and the brick.