A robot for the masonry of a prefabricated building body

Abstract

The utility model discloses a robot for prefabricated building main body masonry, including elevating system, and the right side of elevating system is provided with angle mechanism, and angle mechanism includes first support arm, and the right side of first support arm is connected with second support arm through second angle motor, and the right side of second support arm is installed with clamping subassembly, and is provided with the down pressure subassembly on clamping subassembly, the right end both sides of second support arm are fixed with upper support block, and the inboard of upper support block is fixed with first support sliding block, and the inside of support sliding block is slidably installed support slide, and the inboard of support slide is fixed with rack, the down pressure subassembly includes female screw motor, and is installed with screw rod in the inside of female screw motor, and the lower extreme of screw rod is installed with down pressure plate. In actual use, the screw transmission of female screw motor drive screw rod, will rotate into linear down pressure, avoid pneumatic because of the compressibility of gas compaction force fluctuation and low precision, eliminate the height deviation and the inaccuracy of sticking of hydraulic pipe follow-up distortion.

Description

Technical Field

[0001] This utility model relates to the field of building equipment technology, specifically a robot used for the masonry of prefabricated building structures. Background Technology

[0002] With the rapid development of the prefabricated building industry, the requirements for construction efficiency and wall quality in the main building masonry process are increasing. Traditional manual masonry methods can no longer meet the needs of large-scale and standardized construction. Various masonry robots have emerged to gradually replace manual labor in the operation of clamping, transporting, laying and compacting bricks, effectively improving construction efficiency.

[0003] In the prior art, for example, utility model patent application number 201720536793.8 discloses a bricklaying robot that achieves rapid movement and bricklaying through a sliding plate, a drive device, and a clamping structure. However, its clamping block is fixedly connected to the main body, making replacement cumbersome after wear, and the clamping and compaction functions are separate, requiring additional procedures. To address this deficiency, utility model patent application number 202321106144.6 has optimized the design by using a detachable structure of "positioning block + positioning groove + fixing rod" to improve the efficiency of clamping block replacement and integrates bricklaying and compaction functions, thus improving the ease of operation to a certain extent.

[0004] In practical use, the pneumatic drive structure of application number 201720536793.8 has poor pressure and position control accuracy when the bricks are placed at an angle due to the compressibility of gas; the hydraulic drive structure of application number 202321106144.6 requires the hydraulic pipe to swing with the tilting operation, which can easily lead to inconsistent hydraulic rod height due to uneven force on the pipeline, affecting the bonding effect.

[0005] Therefore, a robot is needed for the construction of prefabricated building structures to solve the above problems. Utility Model Content

[0006] Technical problems to be solved To address the shortcomings of existing technologies, this utility model provides a robot for the main body masonry of prefabricated buildings, solving the problems mentioned in the background art, such as poor pressure and position control accuracy of pneumatic drive structures when bricks are placed at an angle due to the compressibility of gas; and the hydraulic drive structure, where the hydraulic pipes need to swing with the tilting operation, which is prone to uneven pressure on the pipeline and inconsistent hydraulic rod height, affecting the bonding effect.

[0007] Technical solution To achieve the above objectives, this utility model provides the following technical solution: A robot for the main body masonry of prefabricated buildings, comprising a support frame, a lateral movement mechanism, a lifting mechanism, an angle mechanism, a clamping assembly, and a pressing assembly. The lower end of the support frame is provided with a lateral movement mechanism, the upper end of the lateral movement mechanism is provided with a lifting mechanism, and the right side of the lifting mechanism is provided with an angle mechanism. The angle mechanism includes a first support arm, which is connected to the lifting mechanism via a first angle motor. A second support arm is connected to the right side of the first support arm via a second angle motor. A clamping assembly is installed on the right side of the second support arm, and a pressing assembly is provided on the clamping assembly. The clamping assembly includes a hollow shaft motor, which is installed at the right end of the second support arm. Upper support blocks are fixed on both sides of the right end of the second support arm. A first support slider is fixed inside the upper support block. A support slide bar is slidably installed inside the support slider, and a rack is fixed inside the support slide bar. The pressing assembly includes an internal thread motor, which has a threaded rod installed inside. A pressing plate is installed at the lower end of the threaded rod.

[0008] Preferably, the hollow shaft motor has a hollow gear at its lower end, and the hollow gear meshes with a rack on both sides.

[0009] Preferably, a clamping plate is fixed to one end of the rack.

[0010] Preferably, lower support blocks are fixed on both sides of the lower pressure plate, a sliding groove is provided on the inner side of the lower support block, a first sliding strip is fixed on the outer side of the upper support block, and the lower support block is slidably installed on the outer side of the first sliding strip through the sliding groove.

[0011] Preferably, the threaded rod passes through the hollow shaft motor and the hollow gear, and a bearing is provided at the connection between the lower end of the threaded rod and the lower pressure plate.

[0012] Preferably, the first angle motor and the second angle motor are servo motors, and the hollow shaft motor and the internal thread motor are servo motors.

[0013] Preferably, a caster wheel is provided at the lower corner of the support frame, and the caster wheel is a swivel wheel.

[0014] Beneficial effects This utility model provides a robot for the main body masonry of prefabricated buildings, which has the following beneficial effects: 1. The helical transmission structure of the internal thread motor driving the threaded rod directly converts the rotational motion into the linear pressing motion of the lower pressure plate. This avoids the pressure fluctuations and low position control accuracy caused by the compressibility of gas in pneumatic drives, and eliminates the problems of hydraulic rod height deviation and inaccurate fit caused by twisting and uneven force when the hydraulic pipe moves with the angle in hydraulic drives.

[0015] 2. The angle mechanism of "dual-angle motor + dual support arm" can flexibly adjust the tilt angle of the clamping component and the pressing component, breaking through the limitation of existing equipment that can only operate vertically and meeting the tilting placement requirements of special walls. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 for Figure 1 A magnified schematic diagram of point A; Figure 3 This is a schematic diagram of the disassembly structure of the clamping component and the pressing component in this utility model; Figure 4 This is a partial cross-sectional view of the clamping component and the pressing component in this utility model; Figure 5 This is a partial cross-sectional bottom view of the clamping component and the pressing component in this utility model.

[0017] In the diagram: 1. Support frame; 11. Moving wheel; 2. Lateral movement mechanism; 3. Lifting mechanism; 4. Angle mechanism; 41. First angle motor; 42. First support arm; 43. Second angle motor; 44. Second support arm; 5. Clamping assembly; 51. Hollow shaft motor; 52. Hollow gear; 53. Upper support block; 531. First slide bar; 54. Support slider; 55. Support slide bar; 56. Rack; 57. Clamping plate; 6. Lower pressing assembly; 61. Internal thread motor; 62. Threaded rod; 63. Lower pressure plate; 631. Bearing; 64. Lower support block; 641. Slide groove. Detailed Implementation

[0018] 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. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0021] Please see Figure 1-5 This utility model provides a technical solution: a robot for the main body masonry of prefabricated buildings, including a support frame 1, a transverse movement mechanism 2, a lifting mechanism 3, an angle mechanism 4, a clamping assembly 5, and a pressing assembly 6. The lower end of the support frame 1 is provided with the transverse movement mechanism 2, the upper end of the transverse movement mechanism 2 is provided with the lifting mechanism 3, and the right side of the lifting mechanism 3 is provided with the angle mechanism 4. The angle mechanism 4 includes a first support arm 42, which is connected to the lifting mechanism 3 via a first angle motor 41. A second support arm 44 is connected to the right side of the first support arm 42 via a second angle motor 43. A clamping assembly 5 is installed on the right side of the second support arm 44, and a pressing assembly 6 is provided on the clamping assembly 5. The clamping assembly 5 includes a hollow shaft motor 51, which is installed on the right end of the second support arm 44. Upper support blocks 53 are fixed on both sides of the right end of the second support arm 44. A first support slider 54 is fixed inside the upper support block 53. A support slide bar 55 is slidably installed inside the support slider 54. A rack 56 is fixed inside the support slide bar 55. The pressing assembly 6 includes an internal thread motor 61, a threaded rod 62 is installed inside the internal thread motor 61, and a pressing plate 63 is installed at the lower end of the threaded rod 62. During use, the support frame 1 serves as the basic load-bearing structure for the entire robot, the lateral movement mechanism 2 enables the robot to move and position in the horizontal direction, such as the length of the wall, and the lifting mechanism 3 is responsible for the vertical height adjustment. The angle mechanism 4 and the clamping assembly 5 are driven to rise and fall in the vertical direction by the electric push rod. The first angle motor 41 is connected to the first support arm 42 and the lifting mechanism 3, and can drive the first support arm 42 to rotate around the lifting mechanism 3; the second angle motor 43 is connected to the first support arm 42 and the second support arm 44, and can drive the second support arm 44 to rotate relative to the first support arm 42. The two motors work together to adjust and can precisely control the tilt angle of the second support arm 44 and the clamping component 5 and the pressing component 6 installed on it, so as to meet the different tilting placement requirements of bricks. The internal thread motor 61 drives the threaded rod 62 to rotate, and the rotational motion is converted into the linear downward pressing motion of the lower pressure plate 63 through the screw transmission, thus solving the problems of pneumatic inaccuracy and hydraulic deviation. The hollow shaft motor 51, together with the support slider 54, support slide bar 55, and rack 56, drives the clamping block to hold and place the tilted brick.

[0022] A hollow shaft motor 51 has a hollow gear 52 at its lower end. The hollow gear 52 meshes with the rack 56 on both sides. The hollow shaft motor 51 is the power source for the clamping action, outputting rotational torque to drive the hollow gear 52 at the lower end to rotate synchronously. The rack 56 achieves linear motion by meshing with the hollow gear 52, moving closer or further away.

[0023] A clamping plate 57 is fixed to one end of the rack 56. Since the clamping plate 57 is fixed to one end of the rack 56, the movement of the rack 56 directly drives the clamping plates 57 on both sides to move closer to clamp the brick or move away from the brick to release it.

[0024] Lower support blocks 64 are fixed on both sides of the lower pressure plate 63. A sliding groove 641 is provided on the inner side of the lower support block 64. A first sliding strip 531 is fixed on the outer side of the upper support block 53. The lower support block 64 is slidably installed on the outer side of the first sliding strip 531 through the sliding groove 641. The lower support block 64 is an intermediate component connecting the lower pressure plate 63 and the guide structure. It is fixed on both sides of the lower pressure plate 63. The sliding groove 641 provided on its inner side provides space for cooperation with the first sliding strip 531, and constrains the lifting and lowering movement of the lower pressure plate 63 within the track formed by the sliding groove 641 and the sliding strip.

[0025] The threaded rod 62 passes through the hollow shaft motor 51 and the hollow gear 52. A bearing 631 is provided at the connection between the lower end of the threaded rod 62 and the lower pressure plate 63. By utilizing the hollow structure of the motor and gear, the threaded rod 62 can pass through the center of both along the axis, saving equipment space and avoiding motion interference between the threaded rod 62 and the transmission structure of the clamping assembly 5. When the threaded rod 62 rotates, the lower pressure plate 63 moves linearly up and down, changing sliding friction into rolling friction, which greatly reduces frictional resistance.

[0026] The first angle motor 41 and the second angle motor 43 are servo motors, while the hollow shaft motor 51 and the internal thread motor 61 are servo motors. The servo motors have angle closed-loop control characteristics, which can accurately feed back the current rotation angle through the built-in encoder and stably stay at any set angle within the range according to the command. The servo motors have high-precision position, speed and torque three-closed-loop control capabilities, fast response speed and stable output.

[0027] A caster wheel 11 is provided at the lower corner of the support frame 1. The caster wheel 11 is a universal wheel and is a mobile support component of the robot. Its core function is to enable the flexible movement and position adjustment of the equipment.

[0028] As an embodiment of this utility model: when using the robot for the main body masonry of prefabricated buildings, the robot is first moved to the work area of ​​the wall to be built by the moving wheels 11, and the locking state of the universal wheels is adjusted to fix the position of the robot and prevent it from deviating during operation. The horizontal movement mechanism 2 drives the lifting mechanism 3 and the angle mechanism 4 to move along the length of the wall, so that the clamping component 5 is aligned with the brick stacking area or the initial masonry point; the lifting mechanism 3 is started, and the angle mechanism 4 and the clamping component 5 are adjusted to the initial position that matches the height to be masonry through the electric push rod; The first angle motor 41 and the second angle motor 43 work together to adjust the clamping assembly 5 to a preset tilt angle. The closed-loop control of the servo motor ensures that the angle is stable and without drift. The hollow shaft motor 51 starts and outputs rotational torque to drive the lower hollow gear 52 to rotate. The gear meshes with the rack 56 to drive the two side support slides 55 to slide along the first support slider 54, driving the clamping plate 57 to open synchronously. The robot finely adjusts the position through the lateral movement or lifting mechanism 3 so that the clamping plate 57 is aligned with the brick to be clamped. The hollow shaft motor 51 rotates in the opposite direction, driving the rack 56 to move closer to the clamping plate 57. With the precise torque control of the servo motor, the clamping plate 57 clamps the brick with appropriate force. After clamping the brick, the horizontal movement mechanism 2 and the lifting mechanism 3 work together to move the brick to the wall construction position. The angle mechanism 4 maintains the preset tilt angle to ensure that the brick is accurately placed on the construction base in an inclined posture. The internal thread motor 61 starts, driving the threaded rod 62 to rotate. Through the screw drive, the lower pressure plate 63 descends vertically along the first slide bar 531, applying pressure to the tilted brick. The threaded rod 62 passes through the hollow structure of the hollow shaft motor 51 and the hollow gear 52, avoiding interference with the clamping assembly 5. The lower end bearing 631 converts sliding friction into rolling friction, ensuring the smooth descent of the lower pressure plate 63. The servo motor precisely controls the amount of pressure by controlling the number of rotations and torque. After compaction, the internal thread motor 61 rotates in the opposite direction to reset the lower pressure plate 63, and the hollow shaft motor 51 drives the clamping plate 57 to open and release the bricks. The robot moves a distance of one brick length along the wall direction through the transverse mechanism 2, the lifting mechanism 3 finely adjusts the height according to the masonry layer height, and the angle mechanism 4 maintains or adjusts to the tilt angle of the next brick. The above clamping, transferring, placing and compacting steps are repeated until the masonry work of this section of the inclined wall is completed.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for fabricated building main body masonry, comprising a support frame (1), a horizontal moving mechanism (2), a lifting mechanism (3), an angle mechanism (4), a clamping assembly (5) and a pressing assembly (6), characterized in that: The support frame (1) is provided with a horizontal movement mechanism (2) at its lower end, and a lifting mechanism (3) is provided at its upper end. An angle mechanism (4) is provided on the right side of the lifting mechanism (3). The angle mechanism (4) includes a first support arm (42), which is connected to the lifting mechanism (3) via a first angle motor (41). A second support arm (44) is connected to the right side of the first support arm (42) via a second angle motor (43). A clamping assembly (5) is installed on the right side of the second support arm (44), and a pressing assembly (6) is provided on the clamping assembly (5). The clamping assembly (5) includes a hollow shaft motor (51), which is installed on the right end of the second support arm (44). Upper support blocks (53) are fixed on both sides of the right end of the second support arm (44). A first support slider (54) is fixed inside the upper support block (53). A support slide bar (55) is slidably installed inside the support slide bar (54). A rack (56) is fixed inside the support slide bar (55). The pressing assembly (6) includes an internal thread motor (61), a threaded rod (62) is installed inside the internal thread motor (61), and a pressing plate (63) is installed at the lower end of the threaded rod (62).

2. A robot for use in the masonry of a fabricated building body according to claim 1, characterized in that: The hollow shaft motor (51) is provided with a hollow gear (52) at its lower end, and the hollow gear (52) meshes with the rack (56) on both sides.

3. The robot for use in masonry of a fabricated building body according to claim 1, characterized in that: A clamp (57) is fixed to one end of the rack (56).

4. The robot for use in masonry of a fabricated building body according to claim 1, characterized in that: The lower pressure plate (63) is fixed with lower support blocks (64) on both sides. The lower support block (64) has a sliding groove (641) on its inner side. The upper support block (53) is fixed with a first sliding strip (531) on its outer side. The lower support block (64) is slidably installed on the outer side of the first sliding strip (531) through the sliding groove (641).

5. The robot for masonry of prefabricated building bodies according to claim 1 or 2, characterized in that: The threaded rod (62) passes through the hollow shaft motor (51) and the hollow gear (52). A bearing (631) is provided at the connection between the lower end of the threaded rod (62) and the lower pressure plate (63).

6. The robot for use in masonry of a fabricated building body according to claim 1, characterized in that: The first angle motor (41) and the second angle motor (43) are servo motors, and the hollow shaft motor (51) and the internal thread motor (61) are servo motors.

7. The robot for use in masonry of a fabricated building body according to claim 1, characterized in that: The support frame (1) is provided with a movable wheel (11) at the lower corner, and the movable wheel (11) is a universal wheel.

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