Brick gripping robot device for automated wall building equipment

Abstract

The utility model discloses a clamping mechanical hand device, especially a brick clamping mechanical hand device of automatic wall building equipment, and its stepper motor or servo motor is fixed to the baffle of three -axis air cylinder through support, three -axis air cylinder drives stepper motor or servo motor to make reciprocating linear motion on the stroke of its piston rod, fixes the guide frame on the support, and rack of gear and rack mechanism is supported and the effect of guiding, motor shaft of stepper motor or servo motor and gear and rack mechanism gear drive connection to drive rack of gear and rack mechanism always make reciprocating linear motion, and mechanical finger and rack correspond one by one, and are fixed to its corresponding rack respectively, and mechanical finger and the jack on clamping fixture correspond one by one and are inserted and are driven to make clamping fixture hold brick by the mutual movement of mechanical finger. Its solved "brick clamping mechanical hand device structure simplification, the technical problem of reducing manufacturing cost", and its structure is simpler, and the manufacturing cost is lower.

Description

Technical Field

[0001] This utility model relates to a clamping robot device, and more particularly to a brick clamping 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, the existing semi-automatic / automatic brick-holding robotic arms in bricklaying equipment still suffer from technical drawbacks such as relatively complex structures and relatively high manufacturing costs.

[0005] Therefore, this utility model is proposed. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of the prior art by providing a brick clamping robot for automated bricklaying equipment, which has a simpler structure and thus a lower manufacturing cost.

[0007] To achieve the above objectives, the present invention provides a brick clamping robotic arm for an automated bricklaying machine, comprising:

[0008] A three-axis cylinder, a stepper motor or servo motor, a gear and rack mechanism, a pair of mechanical fingers, and one or more gripping fixtures;

[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 in the gear and rack mechanism.

[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 always perform reciprocating linear motion.

[0011] A pair of mechanical fingers corresponds one-to-one with a pair of racks and is fixed to their respective racks;

[0012] A pair of mechanical fingers are inserted into a pair of holes on any clamping fixture one by one, and the clamping fixture is driven to clamp the brick by the opposing movement of the pair of mechanical fingers.

[0013] Furthermore, in the aforementioned automated brick-clamping robotic arm device, the specific structure of the clamping fixture is preferably selected to include:

[0014] A rectangular frame has a notch on its outline, and a pair of ends of the notch extend outward from the rectangular frame to form a pair of plug-in parts, each plug-in part having a plug hole.

[0015] A pair of mechanical fingers are inserted into a pair of sockets one by one, and the rectangular frame is deformed by the opposing movement of the pair of mechanical fingers, thereby clamping the brick.

[0016] Furthermore, the specific structure of the clamping fixture is preferably selected to include:

[0017] Extending from the frame wall opposite the notch toward the notch, and extending out of the notch a pair of stiffening plates, the pair of stiffening plates being located between a pair of interlocking parts;

[0018] Each pair of stiffener plates has one or more abutting parts on its facing surfaces.

[0019] In the above preferred technical solution, the brick is placed in the rectangular frame of the clamping fixture. Only a pair of mechanical fingers need to move in opposite directions to drive the rectangular frame to deform and thus clamp the brick. The brick clamping method of the clamping fixture is simple and at the same time can ensure that the clamping is firm and stable.

[0020] Compared with the prior art, the brick clamping manipulator device of the automated bricklaying equipment obtained by this utility model has the following technical effects:

[0021] The brick-clamping robotic arm device of the automated brick-building equipment in this utility model combines the advantages of versatility and specialization through the combined use of mechanical fingers and clamping fixtures. It has significant advantages in the field of automated brick handling (and is also applicable to the automated handling and assembly of other materials).

[0022] 1. Enhance versatility and flexibility:

[0023] Core advantage: The robotic finger is universal and can be adapted to different gripping fixtures through quick replacement.

[0024] It can handle bricks of various shapes, sizes, and materials. This greatly expands the application range of a single brick-holding robot, eliminating the need for dedicated robots for bricks of different specifications and sizes.

[0025] Quick changeover: Simply change the fixture to quickly adapt to bricklaying tasks, significantly reducing downtime for changeover.

[0026] 2. Optimize clamping performance and protect bricks:

[0027] Precise fit: The clamping fixture can be precisely designed and manufactured according to the specific contour of the brick and key clamping points, providing the best contact area and pressure distribution to ensure firm, stable clamping without easily damaging the brick.

[0028] Special function integration: The clamping fixture can be easily integrated with soft contact surfaces (silicone, polyurethane), contour lines, sensors (position detection, pressure detection), etc., to meet specific clamping requirements (such as anti-slip, precise positioning, process monitoring, etc.).

[0029] 3. Protecting the relatively more expensive robotic fingers:

[0030] Barrier function: The clamping fixture acts as a physical barrier between the robotic finger and the workpiece. Wear, impact, and debris primarily affect the relatively inexpensive and easily replaceable fixture, rather than the precision robotic finger itself.

[0031] Reduced maintenance costs: Replacing or repairing a damaged gripper is much cheaper and faster than repairing or replacing the entire mechanical finger module.

[0032] 4. Simplify the design of mechanical fingers:

[0033] Reduce complexity: The mechanical finger itself can be designed to be simpler and more standardized (e.g., only providing basic opening and closing movements and sufficient gripping force). Complex gripping shapes and special functions are handled by jigs.

[0034] Improved reliability: Simpler mechanical fingers generally mean higher reliability, lower failure rates, and lower manufacturing costs.

[0035] 5. Improve efficiency and positioning accuracy:

[0036] Precise positioning: Specialized clamping fixtures can guide bricks into predetermined positions more accurately and quickly, reducing the positioning accuracy requirements of the mechanical fingers themselves and improving the accuracy and speed of overall assembly or placement.

[0037] Reduced adjustments: For specific bricks, using a dedicated clamping fixture is generally faster and more reliable than adjusting the travel and position of a general-purpose mechanical finger or changing finger sleeves.

[0038] 6. Reduce costs (total cost of ownership):

[0039] Clamping fixtures are relatively cheaper: the design and manufacturing costs of specialized fixtures are relatively low.

[0040] Inventory management optimization: Instead of storing multiple specialized and complex mechanical finger modules, only various jigs need to be stored.

[0041] 7. Facilitates design and iteration:

[0042] Modular design: The entire system adopts a modular design concept. The robotic fingers are standard modules, while the jigs are dedicated modules.

[0043] Rapid response to changes: When the specifications and dimensions of the bricks are changed, usually only a new fixture needs to be redesigned and manufactured, without changing the core robotic arm and finger system, resulting in a fast response speed. Attached Figure Description

[0044] Figure 1 This is a structural diagram of a brick-clamping robotic arm device used in automated bricklaying equipment.

[0045] Figure 2 yes Figure 1 Schematic diagram of the clamping fixture;

[0046] Figure 3 This is a schematic diagram illustrating the usage status of a brick-clamping robotic arm device in an automated bricklaying machine.

[0047] In the diagram: 1. Three-axis cylinder, 1-1. Baffle, 2. Stepper motor or servo motor, 3. Mechanical finger, 4. Clamping fixture, 4-1. Rectangular frame, 4-2. Notch, 4-3. Insertion, 4-3-1. Rib plate, 4-4. Abutment, 4-5. Bracket, 5. Guide frame, 6. Rack, 7. Gear, 8. Brick, 9. Detailed Implementation

[0048] 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.

[0049] like Figure 1 and Figure 2 As shown in the figure, as one embodiment of the present invention, the brick clamping manipulator device of the automated bricklaying equipment provided in this embodiment includes:

[0050] 1. A three-axis cylinder, 2. A stepper motor or servo motor, 3. A gear and rack mechanism, 4. A pair of mechanical fingers, 5. A clamping fixture;

[0051] The 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. A guide frame 6 is fixed on the bracket 5 to support and guide the pair of racks 7 of the gear and rack mechanism.

[0052] The motor shaft of the stepper motor or servo motor 2 is connected to a gear 8 of the gear and rack mechanism to drive a pair of racks 7 of the gear and rack mechanism to always perform reciprocating linear motion.

[0053] A pair of mechanical fingers 3 correspond one-to-one with a pair of racks 7, and are respectively fixed to their corresponding racks 7;

[0054] The clamping fixture 4 includes:

[0055] A rectangular frame 4-1 has a notch 4-2 on its outline, and a pair of ends of the notch 4-2 extend outward from the rectangular frame 4-1 to form a pair of plug-in portions 4-3, and each plug-in portion 4-3 has a plug hole 4-3-1.

[0056] Extending from the opposite side frame wall of the notch 4-2 toward the notch 4-2, and extending out of the notch 4-2 a pair of stiffening plate portions 4-4, the pair of stiffening plate portions 4-4 are located between a pair of insertion portions 4-3; a pair of abutting portions 4-5 are provided on the facing surfaces of the pair of stiffening plate portions 4-4.

[0057] A pair of mechanical fingers 3 are inserted into a pair of holes 4-3-1 on a clamping fixture 4 one by one, and the rectangular frame 4-1 is deformed by the opposing movement of the pair of mechanical fingers 3, thereby clamping the brick 9.

[0058] like Figure 3 As shown in this embodiment, the brick clamping robot of the automated bricklaying equipment operates as follows:

[0059] Step 1: Place brick 9 inside the rectangular frame 4-1 of clamping fixture 4;

[0060] Step 2: The three-axis cylinder 1 drives the mechanical fingers 3 to move toward the clamping fixture 4 until a pair of mechanical fingers 3 are inserted into a pair of holes 4-3-1 on the clamping fixture 4 one by one.

[0061] Step 3: The stepper motor or servo motor 2 drives the rectangular frame 4-1 of the clamping fixture 4 to deform and clamp the brick 9 by moving in opposite directions through a pair of mechanical fingers 3 until the pair of abutting parts 4-5 of the clamping fixture 4 abut against each other. At this time, the clamping fixture 4 firmly and stably clamps the brick 9.

[0062] Step 4: The three-axis cylinder 1 drives the mechanical fingers 3 and the clamping fixture 4 to reset synchronously, and then runs to the bricklaying position. Then, the stepper motor or servo motor 2 resets and drives a pair of mechanical fingers 3 to move in opposite directions. At this time, the clamping fixture 4 releases the brick 9 synchronously.

[0063] 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 brick-clamping robotic arm device 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 fingers, and one or more gripping fixtures; 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 in the gear and rack mechanism. 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 always perform reciprocating linear motion. A pair of mechanical fingers corresponds one-to-one with a pair of racks and is fixed to their respective racks; A pair of mechanical fingers are inserted into a pair of holes on any clamping fixture one by one, and the clamping fixture is driven to clamp the brick by the opposing movement of the pair of mechanical fingers.

2. The brick clamping robotic arm device for an automated bricklaying machine according to claim 1, characterized in that: The specific structure of the clamping fixture includes: A rectangular frame has a notch on its outline, and a pair of ends of the notch extend outward from the rectangular frame to form a pair of plug-in parts, each plug-in part having a plug hole. A pair of mechanical fingers are inserted into a pair of sockets one by one, and the rectangular frame is deformed by the opposing movement of the pair of mechanical fingers, thereby clamping the brick.

3. The brick clamping robotic arm device for an automated bricklaying equipment according to claim 2, characterized in that: The specific structure of the clamping fixture also includes: Extending from the frame wall opposite the notch toward the notch, and extending out of the notch a pair of stiffening plates, the pair of stiffening plates being located between a pair of interlocking parts; Each pair of stiffener plates has one or more abutting parts on its facing surfaces.

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