CN110125902A - Building element forming machine people component and building element forming method - Google Patents
Building element forming machine people component and building element forming method Download PDFInfo
- Publication number
- CN110125902A CN110125902A CN201910459180.2A CN201910459180A CN110125902A CN 110125902 A CN110125902 A CN 110125902A CN 201910459180 A CN201910459180 A CN 201910459180A CN 110125902 A CN110125902 A CN 110125902A
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- building element
- element forming
- forming machine
- machine people
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 50
- 238000010146 3D printing Methods 0.000 claims abstract description 26
- 230000009194 climbing Effects 0.000 claims abstract description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000000465 moulding Methods 0.000 claims abstract description 11
- 239000002994 raw material Substances 0.000 claims description 19
- 230000003028 elevating effect Effects 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 238000005183 dynamical system Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000003319 supportive effect Effects 0.000 description 6
- 230000008602 contraction Effects 0.000 description 5
- 230000000630 rising effect Effects 0.000 description 5
- 238000002156 mixing Methods 0.000 description 4
- 238000009833 condensation Methods 0.000 description 3
- 230000005494 condensation Effects 0.000 description 3
- 206010000372 Accident at work Diseases 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000004570 mortar (masonry) Substances 0.000 description 1
- 238000009416 shuttering Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G19/00—Auxiliary treatment of forms, e.g. dismantling; Cleaning devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
Abstract
The present invention discloses a kind of building element forming machine people's component, the building 3D printing robot (200) of die cavity is delivered to including the building element forming machine people (100) for template to be formed to die cavity and by building cementing material, building element forming machine people (100) includes pedestal (10), first walking system (20), the first frame body (30), jacking system (40), at least one crawl leveling system (50), at least one auxiliary shoring system (60) and first fixed system (80)；Building 3D printing robot includes chassis (210), transportation system (240), hybrid system (250) and climbing system (260).The application realize vertically and horizontal member using template automatic assembling and carry out automatic pouring, realize the molding of building element, realize and comprehensive proposes effect drop originally.The application is also disclosed a kind of using above-mentioned building element forming machine people's component progress molding method of building element.
Description
Technical field
The present invention relates to technical field of buildings more particularly to a kind of building element forming machine people component and building element at
Type method.
Background technique
Existing building element is roughly divided into masonry, pours in building course, and spray is built, the methods of assembling, and pouring is
A kind of common method, pouring is the inner cavity that building element shape is formed using template, is cast into building cementing material in die cavity,
The substances such as mortar, when later building cementing material condensation molding just obtains required building element.Therefore, building element is poured
Before building, need template assemblies fixation surrounding die cavity.Currently, the assembling fixation of template 90 is manually usually surrounded into building element
Shape, then building cementing material is cast in the template, when building cementing material condensation molding just obtain later needed for
Building element.And it pours and is usually transported building cementing material to scene in mixing plant by mixer truck, then by manually pouring
It builds.Mixer truck on the way encounter traffic congestion delay it is too long will lead to building cementing material condensation and be not available.Man-made assembly
Fixed form and the working strength manually poured are larger, relatively tired, and need more labour, and work efficiency is not high, and with people
The change of idea, more and more young men are unwilling that being engaged in assembling fixed form and building element pours work, cost of labor
It is higher and higher, therefore, it is necessary to develop a kind of building element forming machine people component to realize template assemblies and building element
The work poured.
Summary of the invention
One of the objects of the present invention is to provide a kind of building element forming machine people's components, can be realized the automatic of template
Change assembling and obtain die cavity, while realizing and building cementing material is poured to die cavity in real time automatically, to realize that building element forms, can keep away
Exempt from building cementing material to condense during transportation, reduce the dependence to worker, reduces cost of labor, and construction efficiency is high.
The second object of the present invention is to provide it is a kind of using above-mentioned building element forming machine people's component realize template from
Dynamicization assembles and pours automatically to die cavity the building element forming method of building cementing material.
To achieve the above object, the present invention provides a kind of building element forming machine people's component, including building element at
Humanoid robot (100) and building 3D printing robot (200), the building element forming machine people (100) are used for template
(90) die cavity is formed, building cementing material is delivered to die cavity by the building 3D printing robot (200)；
The building element forming machine people (100) includes pedestal (10), first walking system (20), the first frame body
(30), jacking system (40), at least one crawl leveling system (50), at least one auxiliary shoring system (60) and first are fixed
System (80), first walking system (20) and the first fixed system (80) are set to pedestal (10) bottom, and the first frame body (30) is set to
Pedestal (10), jacking system (40) include controllable the first crane (41) of lifting, and the first crane (41) is slidably connected first
Frame body (30), crawl leveling system (50) include being set to base portion (51) and rotation connection base portion (51) of the first crane (41)
Flexible controllable several telescopic rods (53), auxiliary shoring system (60) includes the flexible of the first crane of rotary setting (41) can
The telescope support (61) of control；
The building 3D printing robot (200) include chassis (210), transportation system (240), hybrid system (250) and
Climbing system (260) on the chassis (210), the climbing system (260) drive the hybrid system (250) to carry out
Elevating movement, the hybrid system (250) are connected to the transportation system (240), and the hybrid system (250) is used for building
The raw material that component pours are mixed to get building cementing material, and the transportation system (240) is used for the hybrid system (250)
Interior building cementing material is delivered to die cavity.
Compared with prior art, in the construction process, it is driven by the jacking system (40) of building element forming machine people
Crawl leveling system (50) is moved to design position, realizes the automatic assembling of template to be formed using crawl leveling system (50)
Die cavity；Hybrid system (250) is mixed to get building cementing material, climbing system (260) band to the raw material that building element pours
It moves the hybrid system (250) progress elevating movement and reaches design position；Then utilize transportation system (240) by the mixed stocker
Building cementing material in system (250) is delivered to die cavity, to realize the molding of building element.Thus, the building element molding machine
Device people's component can be realized vertical and horizontal member template automatic assembling and form die cavity, avoid the complexity of man-made assembly with
Uneven stability reduces the dependence to worker, reduces cost of labor, reduces industrial accident incidence, improves construction speed, shortens work
Phase promotes building element formed precision, while realizing and pouring building cementing material to die cavity automatically, can avoid building cementing material
It condenses during transportation, and construction efficiency is high, pushes the process that wisdom is built and nobody builds, there are good returns of investment
And social benefit.
Preferably, the building element forming machine people (100) further includes horizontally extending and sliding is set on described
Flexible at least one controllable mechanical arm (70) of first crane (41), the building element forming machine people include two and grab
Leveling system (50) are taken, the crawl leveling system (50) of one of them is set to the stretching of the mechanical arm (70) of vertical direction
End, wherein another crawl leveling system (50) is set to the extension end of the mechanical arm (70) of horizontal direction.
Preferably, the jacking system (40) further includes the first hydraulic control device and the first telescopic mast (43), described
One telescopic mast (43) is connected with first crane (41), and first hydraulic control device drives first telescopic mast
(43) it stretches out or retracts to drive first crane (41) to rise or fall.
Preferably, the building element forming machine people (100) further include pedestal (10) it is horizontally disposed have it is flexible
Controllable telescopic strut (11), it is described flexible when the telescopic strut (11) and the telescope support (61) are in stretching state
Strut (11), the telescope support (61) and first telescopic mast (43) form triangular structure.
Preferably, the transportation system (240) includes compression system (241) and conveyance conduit (243), the conveyance conduit
It (243) include the first conveyance conduit (244) and the second conveyance conduit (245), one end of first conveyance conduit (244) is connected to
In the hybrid system (250), the other end of first conveyance conduit (244) is connected to second conveyance conduit (245),
First conveyance conduit (244) is flexible structure, and the compression system (241) drives building in the hybrid system (250)
Cementitious material is built successively to export through first conveyance conduit (244) and second conveyance conduit (245).
Preferably, one end connection first conveyance conduit (244) of second conveyance conduit (245), described second
The arc-shaped bending structure of the other end of conveyance conduit (245).
Preferably, building 3D printing robot (200) further includes the ingredient being connected with the hybrid system (250)
System (270) is delivered to the hybrid system (250) by the raw material that the feed proportioning system (270) pours building element.
Preferably, the building 3D printing robot (200) further includes metering system, the metering system includes the first meter
Amount system (281) and the second metering system (283), first metering system (281) weigh feed proportioning system (270) conveying
The weight of the raw material poured to building element in the hybrid system (250), described in second metering system (283) weighs
The weight of transportation system (240) output building cementing material.
Preferably, the climbing system (260) includes the second frame body (261), the second crane (262), the second telescopic mast
(263), interconnecting piece (264) and dynamical system, second frame body (261) are set on the chassis (210), second lifting
Frame (262) is slidably connected to second frame body (261), second telescopic mast (263) and the second crane (262) phase
Even, one end of the interconnecting piece (264) is installed on second crane (262), the other end of the interconnecting piece (264) and institute
It states hybrid system (250) to be connected, the dynamical system drives second telescopic mast (263) to stretch out or retract to drive described the
Two cranes (262) rise or fall, drive the interconnecting piece (264) mobile so that the hybrid system (250) rise or under
Drop.
Correspondingly, the present invention also provides a kind of building element forming method, steps are as follows:
(1) template is formed die cavity by operation building element forming machine people (100):
(11) it is moved to design position using first walking system (20), is then propped up using the first fixed system (80)
Support；
(12) support building element forming machine people is stretched out by the telescope support (61) of auxiliary shoring system (60)
(100)；
(13) jacking system (40) drives crawl leveling system (50) to be moved to design position, utilizes crawl leveling system
(50) realize the automatic assembling of template to form die cavity；
(2) building cementing material is delivered to die cavity by building 3D printing robot (200):
(21) starting hybrid system (250) is mixed to get building cementing material to the raw material that building element pours；
(22) climbing system (260) drives hybrid system (250) the progress elevating movement to reach design position；
(23) building cementing material in the hybrid system (250) is delivered to die cavity using transportation system (240).
Detailed description of the invention
Fig. 1 is the structural schematic diagram of building element forming machine people's component of the present invention.
Fig. 2 is the front view of the people's component of building element forming machine shown in Fig. 1.
Fig. 3 is the knot of another embodiment of building element forming machine people in the people's component of building element forming machine shown in Fig. 1
Structure schematic diagram.
Fig. 4 is the front view of the people of building element forming machine shown in Fig. 3.
Fig. 5 is the knot of the another embodiment of building element forming machine people in the people's component of building element forming machine shown in Fig. 1
Structure schematic diagram.
Fig. 6 is the structural schematic diagram of another angle of the people of building element forming machine shown in Fig. 5.
Fig. 7 is the knot of building element forming machine people's another embodiment in the people's component of building element forming machine shown in Fig. 1
Structure schematic diagram.
Fig. 8 is the structure that another embodiment of 3D printing robot is built in the people's component of building element forming machine shown in Fig. 1
Schematic diagram.
Fig. 9 is the front view of building 3D printing robot shown in Fig. 8.
Specific embodiment
The embodiment of the present invention described referring now to the drawings, similar element numbers represent similar element in attached drawing.
As Figure 1-Figure 2, building element forming machine people component 300 of the invention, including building element forming machine
People 100 and building 3D printing robot 200, building element forming machine people are used to template 90 forming die cavity, build 3D printing
Building cementing material is delivered to die cavity and poured by robot, to complete building element molding.Building element forming machine people
100 include pedestal 10, first walking system 20, the first frame body 30, jacking system 40, at least one crawl leveling system 50, extremely
A few auxiliary shoring system 60 and the first fixed system 80, first walking system 20 and the first fixed system 80 are set to pedestal 10
Bottom, the first frame body 30 are set to pedestal 10, and jacking system 40 includes the first controllable crane 41 of lifting, and the first crane 41 is sliding
The first frame body 30 of dynamic connection, crawl leveling system 50 include the base portion 51 and rotation connection base portion 51 for being set to the first crane 41
Flexible controllable several telescopic rods 53, auxiliary shoring system 60 includes that the flexible controllable of the first crane of rotary setting 41 is stretched
Contracting bracket 61；Building 3D printing robot includes chassis 210, transportation system 240, hybrid system 250 and on chassis 210
Climbing system 260, climbing system 260 drive hybrid system 250 to carry out elevating movement, and hybrid system 250 is connected to transportation system
240, for being mixed to get building cementing material to the raw material that building element pours, transportation system 240 is used for hybrid system 250
Die cavity is delivered to the building cementing material in hybrid system 250.
Wherein, when first walking system 20 is located at contraction state, the first fixed system 80 plays a supportive role, the first Running System
When system 20 is located at holding state, first walking system 20 plays a supportive role.In actual use, first walking system 20 is with stretching
The universal wheel of contracting function can facilitate and move to building element forming machine people 100, when being moved to required position, first
Running gear 20 is contracted to contraction state, so that the first fixed system 80 resists loading end, so that building element molding machine
Device people 100 can be stable be supported, will not be moved with ensureing it at work.In the present embodiment, referring to FIG. 2, crawl
Leveling system 50 is set on the horizontal position of the first crane 41, can be used for using vertical member the automation group of template 90
Dress.
Fig. 3-Fig. 4 is please referred to, building element forming machine people 100 further includes that sliding can set on the flexible of the first crane 41
At least one mechanical arm 70 of control, building element forming machine people 100 include two crawl leveling systems 50, one of them is grabbed
Leveling system 50 is taken to may be disposed at the extension end of mechanical arm (70) of vertical direction, another crawl leveling system 50 may be disposed at water
Square to mechanical arm 70 extension end.In the present embodiment, the crawl leveling system 50 of one of them is set to the first crane
41 top can be used for using horizontal member the automatic assembling of template 90；Another crawl leveling system 50 is set to level
The extension end of the mechanical arm 70 in direction can be used for using vertical member the automatic assembling of template 90.That is, wherein it
One crawl leveling system 50 is arranged along 41 vertical direction of crane, and another crawl leveling system 50 is horizontally disposed.Please
With reference to Fig. 1-Fig. 4, jacking system 40 further includes the first hydraulic control device and the first telescopic mast 43, the first telescopic mast 43 and first
Crane 41 is connected, and the first hydraulic control device drives the first telescopic mast 43 to stretch out or retract to drive the first crane 41 to rise
Or decline.Rise when the first hydraulic control device controls the first telescopic mast 43, drives the first crane 41 to rise, so that position
Crawl leveling system 50 above the first crane 41, which rises, is at horizontal direction to grab template 90.Further, it grabs
Taking leveling system 50 further includes the second hydraulic control device, and the second hydraulic control device drives telescopic rod 53 to stretch out or retract.Benefit
90 position of template is adjusted to realize with the driving movement of telescopic rod 53 of the second hydraulic control device, improves precision.More into
One step, crawl leveling system 50 further include control system, and control system control telescopic rod 53 is rotated around base portion 51.Benefit
It is rotated with control system control telescopic rod 53 around base portion 51 and flexibly and easily reaches adjustment purpose.Control system can be used
General activity control mode, the big data that Internet of Things collection especially can be used accurately adjust 90 position of template
It is whole.In order to keep the activity of crawl leveling system 50 positioned at 41 side of the first crane more convenient, crawl leveling system 50 includes the
Three hydraulic control devices, third hydraulic control device drive mechanical arm 70 to stretch out or retract.Crawl leveling system 50 further includes driving
Dynamic device, driving device drive mechanical arm 70 to carry out rising or falling movement in the first crane 41.That is, when first liter
When drop frame 41 rises to certain position, mechanical arm 70 is driven to carry out rising or falling fortune in the first crane 41 by driving device
It is dynamic, to reach more suitable position, then moved using third hydraulic control device driving mechanical arm 70, thus facilitate crawl and
Fixed form 90.It is highly preferred that the both ends of telescopic rod 53 have spherical protrusion 531, base portion 51 is equipped with for a wherein protrusion 531
The groove of rotary setting.By hydraulic-driven protrusion 531 is rotated in groove so as to it is convenient to any angle into
Row adjustment is correspondingly arranged the groove of installation protrusion 531 in the back side of template 90, to facilitate docking to grab.Specifically, mechanical arm 70
Including the support arm 71, crawl arm 73 and auxiliary support arm 75 for stretching controllable, support arm 71, crawl arm 73 and auxiliary support arm 75
It is controlled respectively by different driving devices, grabs template 90 first with crawl arm 73, it is then solid using support arm 71 and template 90
It is fixed, template 90 is extended into design position.When 90 width of template is larger, assists to support by auxiliary support arm 75, guarantee template
90 it is firm.Stablize to grab template 90, telescopic rod 53 is located at another 531 end of protrusion equipped with the engaging for engaging template 90
Portion.In the groove that the protrusion of telescopic rod 53 531 is located at template 90, it is engaged using holding section, so that protrusion 531 is fixed
In the groove of template 90, while it can rotate in the groove of template 90 and be adjusted at any angle with realizing.
Fig. 3-Fig. 4 is please referred to, auxiliary shoring system 60 further includes the 4th hydraulic control device, and the 4th hydraulic control device drives
Dynamic telescope support 61 is stretched out or is retracted.It is stretched out using the 4th hydraulic control device driving telescope support 61 to abut loading end.Into
One step, building element forming machine people 100, which further includes that pedestal 10 is horizontally disposed, the telescopic strut 11 for stretching controllable, stretches
When contracting strut 11 and telescope support 61 are in stretching state, telescopic strut 11, telescope support 61 and the first telescopic mast 43 form three
Angular structure.It namely controls telescope support 61 by hydraulic-driven and stretches out and stretched out with telescopic strut 11, the two engaging is connected to
Certain position, telescopic strut 11 abuts ground by fixed system 80, when telescopic strut 11, telescope support 61 and the first telescopic mast
When 43 formation triangular structure, to be further ensured that the stability of building element forming machine people 100 at work.When being not required to
When using telescope support 61, telescope support 61 can be driven to retract by the 4th hydraulic control device, reduce occupied space, it is convenient
Transport and movement.
Fig. 5-Fig. 6 is please referred to, in the embodiment, building element forming machine people 100 includes three crawl leveling systems 50,
The crawl leveling system 50 of one of them is set to the top of the first crane 41, and another two crawl leveling system 50 is respectively set
In the extension end of two mechanical arms 70 of horizontal direction, to be completed at the same time the automatic assembling that vertical and horizontal member uses template 90
To form multiple die cavitys.Referring to FIG. 7, building element forming machine people includes five crawl leveling systems 50, one of them
Crawl leveling system 50 is set to the top of the first crane 41, and other four crawl leveling system 50 is respectively arranged at horizontal direction
Mechanical arm 70 extension end, be completed at the same time vertical and multiple horizontal members use template 90 automatic assembling.
Fig. 1-Fig. 2 is please referred to, building 3D printing robot 200 includes the second running gear 220 set on 210 bottom of chassis
With the second fixed system 230, the second running gear 220 is flexible controllably to have holding state and contraction state, the second running gear
Chassis 210 easily can be moved to required position by 220.Wherein, the second running gear 220 includes shrinkable with holding state
With the universal wheel of contraction state, when the second running gear 220 is located at contraction state, the second fixed system 230 plays a supportive role, with
Ensure that building 3D printing robot 200 will not move at work；When second running gear 220 is located at holding state, the second row
Walking system 220 plays a supportive role.Wherein, settable mixing arrangement and motor in hybrid system 250, motor drive mixing arrangement fast
Speed rotation mixes raw material, and mixing arrangement can be stirring rod, certainly can also be using other hybrid modes, herein not
Do concrete restriction.
Please continue to refer to Fig. 1-Fig. 2, transportation system 240 includes compression system 241 and conveyance conduit 243, compression system 241
The building cementing material in hybrid system 250 is driven to export from conveyance conduit 243.Further, conveyance conduit 243 includes first defeated
Pipeline 244 and the second conveyance conduit 245 are sent, one end of the first conveyance conduit 244 is connected to hybrid system 250, the first delivery pipe
The other end in road 244 is connected to the second conveyance conduit 245, and the first conveyance conduit 244 is flexible structure.Climbing system 260 drives
First conveyance conduit 244 rises or falls.In the present embodiment, compression system 241 can be set to chassis 210, and but not limited to this.More
Further, one end of the second conveyance conduit 245 is connected to the first conveyance conduit 244, and the other end of the second conveyance conduit 245 is arc-shaped
Bending structure.Due to the arc-shaped bending structure of the other end of the second conveyance conduit 245, it can be quick by building cementing material
In the smooth die cavity for being transported to higher position.Further, Fig. 8-Fig. 9 is please referred to, building 3D printing robot 200 further includes driving
Dynamic device and the telescopic strut 291 being installed between the first conveyance conduit 244 and the second conveyance conduit 245, driving device drive are stretched
Contracting strut 291 is stretched out or is shunk, to change the angle between the first conveyance conduit 244 and the second conveyance conduit 245, to facilitate reality
Slurry conveying now is carried out to the die cavity of different height.
Please continue to refer to Fig. 1-Fig. 2, climbing system 260 includes the second frame body 261, the second crane 262, the second telescopic mast
263, interconnecting piece 264 and dynamical system, the second frame body 261 are set on chassis 210, and the second crane 262 is slidably connected to second
Frame body 261, the second telescopic mast 263 are connected with the second crane 262, and one end of interconnecting piece 264 is installed on the second crane 262,
The other end of interconnecting piece 264 is connected with hybrid system 250, and dynamical system drives the second telescopic mast 263 to stretch out or retract to drive
Second crane 262 rises or falls, and band rotation connection 264 is mobile so that hybrid system 250 rises or falls.It is understood that
It is that dynamical system drives the second telescopic mast 263 to carry out rising or falling movement, and linkage drives the second crane 262 in the second frame
Body 261 carries out rising or falling movement, and linkage rotation connection 264 carries out rising or falling movement, and linkage drives hybrid system
250 rise or fall.The purpose is to realize that hybrid system 250 stops in place.For example, pouring higher building element
When, hybrid system 250 can be risen to apart from the higher position of loading end by climbing system 260, substantially increase transportation system
240 rate of feed reduces the power output of transportation system 240.Two climbing systems wherein are set at 250 both ends of hybrid system
260, so that the fixation and elevating movement of hybrid system 250 are more stable.
Please continue to refer to Fig. 1-Fig. 2, building 3D printing robot 200 further includes the ingredient being connected with hybrid system 250
System 270 is delivered to hybrid system 250 by the raw material that feed proportioning system 270 pours building element, improves construction efficiency.
Wherein, feed proportioning system 270 includes third conveyance conduit 271 and charging absorption pump 273, and building element is poured use by charging absorption pump 273
Raw material are delivered to hybrid system 250 through third conveyance conduit 271.
Please continue to refer to Fig. 1-Fig. 2, building 3D printing robot 200 further includes metering system, and metering system includes first
Metering system 281 and the second metering system 283, the first metering system 281 weigh feed proportioning system 270 and are delivered to hybrid system 250
The weight for the raw material that middle building element pours, the second metering system 283 weigh transportation system 240 and export building cementing material
Weight.It can be apparent from by the effect of the first metering system 281 and the second metering system 283 and provide specific building structure
The raw material that part pours and the building cementing material for pouring die cavity, therefore, can based on practical experience or calculate control throw
Enter to pour the weight of the building cementing material of die cavity, to not overflow building gelling material during pouring building element
Material, is greatly saved materials cost, avoids the situation of artificial treatment die cavity outer waste material and blanking.
Illustrate the application method and work of lower building element forming machine people component 300 of the present invention below with reference to Fig. 1-Fig. 9
Principle:
A kind of building element forming method, steps are as follows:
(1) template 90 is formed die cavity by operation building element forming machine people 100:
(11) it is moved to design position using first walking system 20, is then supported using the first fixed system 80；
(12) support building element forming machine people 100 is stretched out by the telescope support 61 of auxiliary shoring system 60；
(13) jacking system 40 drives crawl leveling system 50 to be moved to design position, is realized using crawl leveling system 50
The automatic assembling of template 90 is to form die cavity；
(2) building cementing material is delivered to die cavity by building 3D printing robot 200:
(21) starting hybrid system 250 is mixed to get building cementing material to the raw material that building element pours；
(22) climbing system 260 drives the progress elevating movement of hybrid system 250 to reach design position；
(23) building cementing material in hybrid system 250 is delivered to die cavity using transportation system 240.
Specific work process is as follows:
When building element forming machine people 100 works, easily building element can be formed using first walking system 20
Robot 100 is moved to required position, and then first walking system 20 is shunk, and the first fixed system 80 is supported in loading end, uses
In playing a supportive role.First hydraulic control device drives the first telescopic mast 43 to stretch out to drive the first crane 41 to rise, thus
The crawl leveling system 50 that driving is located at 41 top of the first crane realizes that horizontal member uses the automatic assembling of template 90, with
Form die cavity.Third hydraulic control device driving mechanical arm 70 stretches out the crawl tune to drive the extension end for being installed on mechanical arm 70
Flat system 50 realizes that vertical member uses the automatic assembling of template 90, to form die cavity.The driving of second hydraulic control device is stretched
Contracting bar 53 is stretched out or is retracted, to adjust the position of template 90.Control system control telescopic rod 53 is rotated around base portion 51,
The position of accurate adjustment template 90.
Then it is worked using building 3D printing robot 200,3D will can easily be built by first passing through the second running gear 220
Printer device people 200 is moved to required position, and then the second running gear 220 is shunk, and the second fixed system 230 is supported in carrying
Face, for playing a supportive role.It is delivered to hybrid system 250 by the raw material that feed proportioning system 270 pours building element, is mixed
The raw material that system 250 pours building element are mixed to get building cementing material, and compression system 241 leads to building cementing material
It crosses the first conveyance conduit 244 and the second conveyance conduit 245 is sent into die cavity to be poured, realize building element molding.
Compared with prior art, in the construction process, it is grabbed by the drive of jacking system 40 of building element forming machine people
It takes leveling system 50 to be moved to certain position, realizes the automatic assembling of template to form die cavity using crawl leveling system 50；
Hybrid system 250 is mixed to get building cementing material to the raw material that building element pours, and climbing system 260 drives hybrid system
250 progress elevating movements reach certain position；Then utilize transportation system 240 by the building cementing material in hybrid system 250
It is delivered to die cavity, to realize the molding of building element.Thus, building element forming machine people component (300) can be realized perpendicular
Die cavity is formed using the automatic assembling of template to horizontal member, the complexity and uneven stability of man-made assembly is avoided, reduces
Dependence to worker, reduce cost of labor, reduce industrial accident incidence, improve construction speed, shorten the construction period, climbing shuttering at
Type precision, while realizing and building cementing material is poured to die cavity automatically, it can avoid building cementing material and condense during transportation,
And construction efficiency is high, pushes the process that wisdom is built and nobody builds, and has good returns of investment and social benefit.
The above disclosure is only a preferred embodiment of the invention, cannot limit the right of the present invention with this certainly
Range, therefore according to equivalent variations made by scope of the present invention patent, it is still within the scope of the present invention.
Claims (10)
1. a kind of building element forming machine people's component, it is characterised in that: including building element forming machine people (100) and building
3D printing robot (200), the building element forming machine people are used to template (90) forming die cavity, the building 3D printing
Building cementing material is delivered to die cavity by robot,
The building element forming machine people (100) includes pedestal (10), first walking system (20), the first frame body (30), rises
Drop system (40), at least one crawl leveling system (50), at least one auxiliary shoring system (60) and first fixed system
(80), first walking system (20) and the first fixed system (80) are set to pedestal (10) bottom, and the first frame body (30) is set to pedestal
(10), jacking system (40) includes controllable the first crane (41) of lifting, and the first crane (41) is slidably connected the first frame body
(30), crawl leveling system (50) includes being set to the base portion (51) of the first crane (41) and stretching for rotation connection base portion (51)
The controllable several telescopic rods (53) of contracting, auxiliary shoring system (60) include the flexible controllable of the first crane of rotary setting (41)
Telescope support (61)；
The building 3D printing robot includes chassis (210), transportation system (240), hybrid system (250) and is set to the bottom
Climbing system (260) on frame (210), the climbing system (260) drive the hybrid system (250) to carry out elevating movement,
The hybrid system (250) is connected to the transportation system (240), and the hybrid system (250) is for pouring building element
Raw material be mixed to get building cementing material, the transportation system (240) is used for the building in the hybrid system (250)
Cementitious material is delivered to die cavity.
2. building element forming machine people's component as described in claim 1, it is characterised in that: the building element forming machine
People (100) further includes flexible at least one controllable mechanical arm (70) that sliding is set to first crane (41), described to build
Two crawl leveling systems (50) of molding component machine people are built, the crawl leveling system (50) of one of them is set to vertically
The extension end of the mechanical arm (70) in direction, wherein another crawl leveling system (50) is set to the machinery of horizontal direction
The extension end of arm (70).
3. building element forming machine people's component as claimed in claim 2, it is characterised in that: the jacking system (40) is also wrapped
Include the first hydraulic control device and the first telescopic mast (43), first telescopic mast (43) and the first crane (41) phase
Even, first hydraulic control device drives first telescopic mast (43) to stretch out or retract to drive first crane
(41) it rises or falls.
4. building element forming machine people's component as claimed in claim 3, it is characterised in that: the building element forming machine
People (100), which further includes that pedestal (10) is horizontally disposed, to be had stretch controllable telescopic strut (11), the telescopic strut (11)
When being in stretching state with the telescope support (61), the telescopic strut (11), the telescope support (61) and described first
Telescopic mast (43) forms triangular structure.
5. building element forming machine people's component as described in claim 1, it is characterised in that: transportation system (240) packet
Compression system (241) and conveyance conduit (243) are included, the conveyance conduit (243) includes that the first conveyance conduit (244) and second are defeated
It send pipeline (245), one end of first conveyance conduit (244) is connected to the hybrid system (250), first delivery pipe
The other end in road (244) is connected to second conveyance conduit (245), and first conveyance conduit (244) is flexible structure, institute
Stating compression system (241) drives the building cementing material in the hybrid system (250) successively through first conveyance conduit
(244) it is exported with second conveyance conduit (245).
6. building element forming machine people's component as claimed in claim 5, it is characterised in that: second conveyance conduit
(245) one end is connected to first conveyance conduit (244), the arc-shaped bending of the other end of second conveyance conduit (245)
Structure.
7. building element forming machine people's component as described in claim 1, it is characterised in that: the building 3D printing robot
(200) further include the feed proportioning system (270) being connected with the hybrid system (250), will be built by the feed proportioning system (270)
It builds the raw material that component pours and is delivered to the hybrid system (250).
8. building element forming machine people's component as claimed in claim 7, it is characterised in that: the building 3D printing robot
It (200) further include metering system, the metering system includes the first metering system (281) and the second metering system (283), described
First metering system (281) weighs the feed proportioning system (270) and is delivered to what building element in the hybrid system (250) poured
The weight of raw material, second metering system (283) weigh the weight of transportation system (240) the output building cementing material
Amount.
9. building element forming machine people's component as described in claim 1, it is characterised in that: climbing system (260) packet
Include the second frame body (261), the second crane (262), the second telescopic mast (263), interconnecting piece (264) and dynamical system, described
Two frame bodies (261) are set on the chassis (210), and second crane (262) is slidably connected to second frame body
(261), second telescopic mast (263) is connected with second crane (262), one end installation of the interconnecting piece (264)
It is connected in the other end of second crane (262), the interconnecting piece (264) with the hybrid system (250), the power
Second telescopic mast (263) described in system drive is stretched out or is retracted to drive second crane (262) to rise or fall, and is driven
The interconnecting piece (264) is mobile so that the hybrid system (250) rises or falls.
10. a kind of building element forming method, which is characterized in that steps are as follows:
(1) template (90) are formed die cavity by operation building element forming machine people (100):
(11) it is moved to design position using first walking system (20), is then supported using the first fixed system (80)；
(12) it stretches out by the telescope support (61) of auxiliary shoring system (60) to support building element forming machine people (100)；
(13) jacking system (40) drives crawl leveling system (50) to be moved to design position, utilizes the crawl leveling system
(50) realize the automatic assembling of template to form die cavity；
(2) building cementing material is delivered to die cavity by building 3D printing robot (200):
(21) starting hybrid system (250) is mixed to get building cementing material to the raw material that building element pours；
(22) climbing system (260) drives hybrid system (250) the progress elevating movement to reach design position；
(23) building cementing material in the hybrid system (250) is delivered to die cavity using transportation system (240).
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