CN107443353A - A kind of wall-building robot and its method of work - Google Patents
A kind of wall-building robot and its method of work Download PDFInfo
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- CN107443353A CN107443353A CN201610368659.1A CN201610368659A CN107443353A CN 107443353 A CN107443353 A CN 107443353A CN 201610368659 A CN201610368659 A CN 201610368659A CN 107443353 A CN107443353 A CN 107443353A
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- brick
- axis
- guide rail
- aerated blocks
- stage body
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- 238000000034 method Methods 0.000 title claims description 18
- 239000011449 brick Substances 0.000 claims abstract description 321
- 238000012546 transfer Methods 0.000 claims abstract description 54
- 238000013519 translation Methods 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 210000003739 neck Anatomy 0.000 description 7
- 238000011161 development Methods 0.000 description 2
- 239000011229 interlayer Substances 0.000 description 2
- PWHULOQIROXLJO-UHFFFAOYSA-N Manganese Chemical compound [Mn] PWHULOQIROXLJO-UHFFFAOYSA-N 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 229910052748 manganese Inorganic materials 0.000 description 1
- 239000011572 manganese Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
-
- 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
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
Abstract
A kind of wall-building robot,Including the stage body that works,Brick car transfer mechanism is provided with the work stage body,Double four-axle linked control systems,Automatic claying device,Hydraulic pressure brick cutter,Brick folding pallet,Lifting,Translation mechanism,The brick car transfer mechanism is moved up and down by the guide rail of stage body support first and the guide rail of stage body support second on the workbench,Double four-axle linked control systems carry out space orientation and movement to brick picking manipulators,The automatic claying device is parallel to each other with hydraulic pressure brick cutter and is set across the brick folding pallet,The automatic claying device is connected by hopper support plate and the workbench body phase and is provided with hopper,Impeller and motor,The hydraulic pressure brick cutter is provided with blade support,The lifting,Translation mechanism is arranged at the hollow part between stage body base and work top support frame in the work stage body,The robot can replace people to perform and take brick,Claying,Clip,The action such as build a wall,Automaticity is high,Efficiency high,It is easy to use.
Description
Technical field
The present invention relates to the robot of the building wall for building, and in particular to a kind of wall-building robot and its work
Method.
Background technology
At present, with the development of industrial technology, especially in building trade, it is necessary to which work of largely building a wall, most
Working environment of building a wall is poor, and worker is mostly the elderly, and muscle power is very limited, and not only labor intensity is big by manual work, and efficiency is low,
And easily because longevity of service, it is easily tired out, miswork is caused, in building operation environment, worker's person also be present
Potential safety hazard, therefore, manpower operation can not meet the needs of growing industrial development, common to build a wall operation at least
Cooperations more than 2 people is needed to complete, operating efficiency is extremely low.Traditional flow of building a wall is also more complicated, before this at least through 1
Individual worker and mud, it is also necessary to which worker shovels mud, fortune mud, applies the operation such as mud, and process is various, it is necessary to the hand labor of input is more, builds
It is higher to build up this.
The content of the invention
In order to overcome the shortcomings of above-mentioned technology, it is an object of the invention to provide a kind of wall-building robot and its method of work,
It can be automatically performed and take brick, claying, clip, build a wall, its technical scheme is as follows：
A kind of wall-building robot, including work stage body, the work stage body include work top, stage body base, work top branch
Support, the guide rail of stage body support first, the guide rail of stage body support second, it is characterised in that be provided with transfer brick on the work stage body
The brick car transfer mechanism of car, the brick car transfer mechanism is by the guide rail of stage body support first and the guide rail of stage body support second described
Moved up and down on workbench, be provided with the hollow part that the work top support frame is formed with the stage body base
Perform aerated blocks to build a wall the lifting of action, translation mechanism, be provided with described work top and space seat is carried out to aerated blocks
Demarcate double four-axle linked control systems of position, to the automatic claying device of the automatic claying of aerated blocks, cut off unnecessary aerated blocks automatically
Hydraulic pressure brick cutter, carrying aerated blocks and the brick folding pallet that aerated blocks are positioned, wherein, the automatic claying device and the hydraulic cutting
Brick device is parallel to each other and is set across the brick folding pallet, and double four-axle linked set-up of control system are in the automatic claying
Device, the hydraulic pressure brick cutter, the side of the top of the brick folding pallet and the work stage body.
Preferably, double four-axle linked control systems include the first X-axis guide rail and are arranged in first X-axis guide rail
The first X-servo motor and the first X-axis slide block, the second X-axis guide rail and the second X-axis being arranged in second X-axis guide rail
Servomotor and the second X-axis slide block, the Y-axis guide rail and Y-axis servomotor and Y-axis sliding block, Z being arranged in the Y-axis guide rail
Axle telescopic arm and the brick picking manipulators being arranged on the Z axis telescopic arm, first X-axis guide rail is by being arranged on described first
First X-axis slide block in X-axis guide rail is slidably connected with the Y-axis guide rail, and second X-axis guide rail is by being arranged on
Second X-axis slide block stated in the second X-axis guide rail is slidably connected with the Y-axis guide rail, first X-axis guide rail, the Y
Axis rail is connected by the first X-axis guide rail support frame and the workbench body phase, and second X-axis guide rail, Y-axis guide rail pass through second
X-axis guide rail support frame connects with the workbench body phase, and the Z axis telescopic arm is led via installing plate by Y-axis sliding block and the Y-axis
Rail is slidably connected.
Preferably, brick picking manipulators pass through with the brick picking manipulators installing plate being arranged on the Z axis telescopic arm and taking
Brick mechanical hand hydraulic cylinder is connected with the Z axis telescopic arm, and the brick picking manipulators include gripping aerated blocks and parallel relative
The first clamping jaw and the second clamping jaw set.
Preferably, the brick folding pallet is arranged in tray rail and including the first pallet gear edge and first pallet
Tray bottom of the gear along the second pallet gear edge, connection the first pallet gear edge and second pallet gear edge being oppositely arranged in parallel
Portion, the first tray rail for being arranged at the tray bottom and being connected with roller bearing screw mandrel, the first tray rail sliding block, the second pallet
Guide rail and the second tray rail sliding block and the pallet servomotor for driving the roller bearing screw mandrel movement.
Preferably, the automatic claying device is provided with hopper, the impeller being arranged in the hopper and the drive of carrying mud
The impeller drive motor of the dynamic impeller rotation.
Preferably, the hydraulic pressure brick cutter is provided with is oppositely arranged in parallel by the first supporting plate, with first supporting plate
The second supporting plate, connect the supporting plate crossbeam of first supporting plate and second supporting plate, be arranged on described first
Fixation blade on fagging, the blade hydraulic cylinder being arranged in second supporting plate, it is arranged on the blade hydraulic cylinder
The moving blade of end, the blade hydraulic cylinder cross second supporting plate and set and installed by blade hydraulic cylinder
Plate is arranged in second supporting plate.
Preferably, the lifting, translation mechanism include transverse axis mechanical arm, longitudinal axis mechanical arm, manipulator for laying brick, the transverse axis
Mechanical arm, longitudinal axis mechanical arm are connected by transverse axis mechanical arm support base, and the longitudinal axis mechanical arm passes through with the manipulator for laying brick
Manipulator for laying brick installing plate connects.
Preferably, the transverse axis mechanical arm is to be set in the mechanical arm and the transverse axis mechanical arm for can carry out way moving
There are transverse axis mechanical arm servomotor and steel wire rope.
Preferably, the manipulator for laying brick include be connected with the manipulator for laying brick installing plate installing arm, hinge, regulation
The manipulator for laying brick hydraulic cylinder of the hinge length, with hinged 3rd clamping jaw, be connected with installing arm the 4th
Clamping jaw.
Preferably, the brick car transfer mechanism is arranged to by being arranged on the first brick car in the guide rail of stage body support first
Transfer sliding block and the second brick car transfer sliding block being arranged in the guide rail of stage body support second are led with the stage body support first
The rectangle profile structure that rail and the guide rail of stage body support second are engaged, the brick car transfer mechanism top are provided with semicircle
Parallel a pair of the relative sheet materials of shape, the neck of fastening brick car is formed between the pair of sheet material.
A kind of method of work of wall-building robot, comprises the following steps：
S0：Start；
S1：Brick car is in place
It is artificial to promote brick car to be moved to work stage body, aerated blocks entrucking is piled up neatly, brick car is placed into brick car transfer mechanism
On；
S2：Aerated blocks are in place
Make brick car card firm by the neck on brick car transfer mechanism, brick car transfer mechanism is in the guide rail of stage body support first and stage body branch
Driven in the guide rail of frame second by transfer mechanism servomotor, brick car is moved upwards along work stage body, aerated blocks are by transfer
Onto work top；
S3：Computer is assigned to brick picking manipulators takes brick order
Control program in computer is sent to control centre takes brick order, orders double four-axle linked systems 4 to brick picking manipulators
Carry out space orientation；
S4：By double four-axle linked systems to taking table manipulator to position
The Y-axis guide rail is by the driving of the first X-axis servomotor, the second X-axis servomotor in first X-axis
Moved on guide rail, second X-axis guide rail, can determine the position of the Y-axis guide rail, and then determine the brick picking manipulators
X-axis coordinate points, the Z axis telescopic arm are slided in the Y-axis guide rail under the driving of the Z axis servomotor, can determine
The Y-axis coordinate points of the brick picking manipulators, the brick picking manipulators can be along the Z axis telescopic arms on the Z axis telescopic arm
Move up and down, and then determine the Z axis coordinate points of brick picking manipulators, complete the positioning to taking table manipulator；
S5：Brick picking manipulators position to aerated blocks
The first clamping jaw and the second clamping jaw of brick picking manipulators are accurately positioned to aerated blocks；
S6：Complete location determination
After positioning of the brick picking manipulators to aerated blocks reaches expected operation purpose, perform and operate in next step, work as brick picking manipulators
Positioning to aerated blocks can not reach expected operation purpose, return to S4 steps；
S7：Brick picking manipulators capture aerated blocks
Aerated blocks are captured in the presence of brick picking manipulators hydraulic cylinder, with the help of double four-axle linked systems are given, positioning takes
Brick manipulator is to the position of brick folding pallet；
S8：The aerated blocks that brick picking manipulators are captured are placed into brick folding pallet
After the positioning to brick folding pallet is completed, the aerated blocks captured are placed on brick folding pallet by brick picking manipulators, brick folding
Pallet positions to aerated blocks, under the control of brick folding pallet servomotor, passes through the roller bearing screw mandrel on brick folding tray bottom
Movement, brick folding pallet is sent to automatic claying device；
S9：Computer assigns claying operational order
Control program in computer sends claying order to control centre；
S10：Claying
Mud is housed in automatic claying device in hopper, motor control impeller rotation, the mud in hopper is applied to aerating
On block,
S11：Computer assigns excision aerating block command
Control program in computer sends excision aerating block command to control centre；
S12：Excision
The length for carrying out accurately calculating the length of aerated blocks and needs are built a wall by PLC control assemblies, hydraulic pressure brick cutter pass through it
In the presence of the fixation blade and moving blade of upper setting, the part unnecessary to aerated blocks is cut off,
S13：Computer is assigned to brick picking manipulators puts back to aerating block command
Control program in computer sends the life that the aerated blocks after claying, removal procedure are put back to brick folding pallet to control centre
Order；
S14：Aerated blocks after processing put back to brick folding pallet
In the presence of double four-axle linked control systems, space orientation, the first clamping jaw and the second clamping jaw are carried out to brick picking manipulators
To aerated blocks positioning, the crawl after claying, excision, then it is put back into brick folding pallet；
S15：Computer assigns aerated blocks transfer order to lifting, translation mechanism
Control program in computer sends the order of transfer aerated blocks to control centre, and transverse axis is mechanical in lifting, translation mechanism
Arm promotes steel wire rope to tense in the presence of stepper motor, transverse axis mechanical arm is moved in the horizontal direction, meanwhile, longitudinal axis machinery
Arm is in longitudinal axis servomotor（Not shown in figure）Driving under control manipulator for laying brick, and then adjust in manipulator for laying brick longitudinal axis side
To position, by determining the position of manipulator for laying brick both horizontally and vertically, and then manipulator for laying brick is carried out empty
Between position, manipulator for laying brick by hinge adjust the distance between the 3rd clamping jaw and the 4th clamping jaw be positioned to crawl aerated blocks,
Manipulator for laying brick hydraulic cylinder is driven by PLC control assemblies, manipulator for laying brick is captured aerated blocks；
S16：Computer assigns order of laying bricks to lifting, translation mechanism
The aerated blocks of crawl are placed into the position for needing to build a wall by manipulator for laying brick；
S17：Completion is laid bricks judgement
When no longer needing to lay bricks, then operational order is completed, when needing to repeat order, then step repeats S3, when laying bricks
Generation is abnormal, does not complete when laying bricks operation, then step returns to S16；
S18：Terminate.
The invention has the advantages that：
1st, the space orientation of brick picking manipulators is realized by using double four-axle linked control systems, determines the space of brick picking manipulators
Coordinate, registration, error are small.
2nd, brick picking manipulators carry out automation crawl aerated blocks, and it can carry out 90 ° of rotations, and accurate positioning, crawl is flexible,
Automaticity is high, easily operated.
3rd, the position horizontally and vertically of manipulator for laying brick is realized using lifting, translation mechanism, can determine
The coordinate position of manipulator for laying brick in space, manipulator for laying brick can adjust the distance between clamping jaw as needed, and then can
Different length is captured, different size of aerated blocks are with strong applicability.
4th, manipulator for laying brick can realize building a wall for the automation of overall process, no dead angle, also can freely build a wall around the corner,
Automaticity is high, and topology layout is reasonable, and method is easily operated, mechanical gripper conveniently moving, efficiency high.
5th, lifting, translation mechanism use way moving guide rail, and lifting, the two-way shifting of translation mechanism in the horizontal direction can be achieved
Dynamic, motion direction is various, can be moved freely in space plane.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of stereogram of wall-building robot of the present invention；
Fig. 2 is a kind of partial enlarged drawing of wall-building robot manipulator for laying brick of the present invention；
Fig. 3 is an a kind of structural perspective of wall-building robot hydraulic pressure brick cutter of the present invention；
Fig. 4 is a kind of another structural perspective of wall-building robot hydraulic pressure brick cutter of the invention；
Fig. 5 is a kind of structural perspective of the automatic claying device of wall-building robot of the present invention；
Fig. 6 is a kind of flow chart of the method for work of wall-building robot of the present invention.
In figure：
1- work stage body, 2- liftings, translation mechanism, 3- brick cars transfer mechanism, 4- double four-axle linked control system, the automatic clayings of 5-
Device, 6- hydraulic pressure brick cutter, 7- brick folding pallets
101- work tops, 102- stage bodies base, 103- work tops support frame, the first guide rail of 104- stage bodies support, 105- platforms
The guide rail of body support frame second
201- longitudinal axis mechanical arm, 202- longitudinal axis mechanical arms set, 203- manipulator for laying brick installing plate, 204- manipulator for laying brick, 205-
Transverse axis mechanical arm support base, 206- transverse axis mechanical arm, 207- transverse axis mechanical arm sets
2041- installing arms, 2042- manipulator for laying brick hydraulic cylinder, 2043- hinges, the clamping jaws of 2044- the 3rd, the clamping jaws of 2045- the 4th
301- necks
The X-axis guide rails of 401- first, the X-axis guide rails of 402- second, 403-Y axis rails, 404-Z axles telescopic arm, 405-Y axles sliding block,
406- installing plates, 407- brick picking manipulators installing plate, 408- brick picking manipulators, 409- brick picking manipulators hydraulic cylinder, 410-
One X-axis guide rail support frame, 411- the second X-axis guide rail support frames
The clamping jaws of 4081- first, the clamping jaws of 4082- second
501- hoppers, 502- impellers, hopper support plate 503, fixing hole 504
601- blade supports, 602- fix blade, 603- moving blades, 604- insert adapters, 605- blade hydraulic cylinders
606- blade hydraulic cylinder installing plates
The supporting plates of 6011- first, the supporting plates of 6012- second
701- brick folding pallets servomotor, 702- roller bearings screw mandrel, 703- tray rails, the pallets of 704- first are kept off along 705- second
Pallet is kept off along 706- tray bottoms
S0：Start
S1：Brick car is in place
S2：Aerated blocks are in place
S3：Computer is assigned to brick picking manipulators takes brick order
S4：By double four-axle linked systems to taking table manipulator to position
S5：Brick picking manipulators position to aerated blocks
S6：Complete location determination
S7：Brick picking manipulators capture aerated blocks
S8：The aerated blocks that brick picking manipulators are captured are placed into brick folding pallet
S9：Computer assigns claying operational order
S10：Claying
S11：Computer assigns excision aerating block command
S12：Excision
S13：Computer is assigned to brick picking manipulators puts back to aerating block command
S14：Aerated blocks after processing put back to brick folding pallet
S15：Computer assigns aerated blocks transfer order to lifting, translation mechanism
S16：Computer assigns order of laying bricks to lifting, translation mechanism
S17：Completion is laid bricks judgement
S18：Terminate.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As Figure 1-Figure 5, a kind of wall-building robot, including work stage body 1, work stage body 1 include work top 101,
Stage body base 102, work top support frame 103, the first guide rail of stage body support 104, the second guide rail of stage body support 105, its feature
It is, the brick car transfer mechanism 3 of transfer brick car is provided with the stage body 1 that works, and brick car transfer mechanism 3 is led by stage body support first
Rail 104 and the second guide rail of stage body support 105 1 are moved up and down on the table, in work top support frame 103 and stage body bottom
The hollow parts that are formed of seat 104, which are provided with, to be performed aerated blocks and builds a wall the lifting of action, translation mechanism 2, on work top 101
It is provided with and aerated blocks is carried out with double four-axle linked control systems 4 of space coordinates positioning, the automatic of the automatic claying of aerated blocks is smeared
Mud device 5, the hydraulic pressure brick cutter 6 for cutting off unnecessary aerated blocks automatically, carrying aerated blocks and the brick folding pallet 7 that aerated blocks are positioned, its
In, automatic claying device 5 is parallel to each other with hydraulic pressure brick cutter 6 and is set across brick folding pallet 7, double four-axle linked control systems 4
It is arranged on the side of automatic claying device 5, hydraulic pressure brick cutter 6, the top of brick folding pallet 7 and the stage body 1 that works.In specific embodiment
In, the brick car of carrying aerated blocks is placed around in brick car transfer mechanism 3, the brick car for carrying aerated blocks is manually placed neck
On 301, under the driving of servomotor, brick car transfer mechanism 3 moves brick car along work stage body 1 upwards, moves brick car
To near brick folding pallet 7, it is placed into by brick picking manipulators 408 on brick folding pallet 7, the claying and clip for carrying out next step are moved
Make.
In the particular embodiment, the interlayer of the settable 3 layers of placement aerated blocks of brick car, each interlayer can place 7 pieces of aeratings
Block.
In a particular embodiment, as shown in figure 1, double four-axle linked control systems 4 include the first X-axis guide rail 401 and set
The first X-servo motor in the first X-axis guide rail 401（Not shown in figure）And first X-axis slide block（Not shown in figure）, second
X-axis guide rail 402 and the second X-axis servomotor being arranged in the second X-axis guide rail 402（Not shown in figure）And second X-axis slide
Block（Not shown in figure）, Y-axis guide rail 403 and the Y-axis servomotor being arranged in Y-axis guide rail 403（Not shown in figure）Slided with Y-axis
Block 405, Z axis telescopic arm 404 and the brick picking manipulators being arranged on Z axis telescopic arm 404（408）, the first X-axis guide rail（401）It is logical
Cross and be arranged on the first X-axis guide rail（401）The first interior X-axis slide block（Not shown in figure）It is slidably connected with Y-axis guide rail 403, the
Two X-axis guide rails 402 pass through the second X-axis slide block for being arranged in the second X-axis guide rail 402（Not shown in figure）With stating Y-axis guide rail 403
It is slidably connected, the first X-axis guide rail 401, Y-axis guide rail 403 are connected by the first X-axis guide rail support frame 410 with work stage body 1,
Second X-axis guide rail 402, Y-axis guide rail 403 are connected by the second X-axis guide rail support frame 411 with work stage body 1, Z axis telescopic arm 404
It is slidably connected via installing plate 406 by Y-axis sliding block 405 and Y-axis guide rail 404.
In a particular embodiment, brick picking manipulators 408 with the brick picking manipulators being arranged on Z axis telescopic arm 404 by pacifying
Loading board 407 and brick picking manipulators hydraulic cylinder 409 are connected with Z axis telescopic arm 404, and brick picking manipulators 408 include gripping and added
Air parcel and the first clamping jaw 4081 and the second clamping jaw 4082 being oppositely arranged in parallel.In a particular embodiment, the He of the first clamping jaw 4081
Second clamping jaw 4082 can perform by the driving of brick picking manipulators hydraulic cylinder 409 and take brick to operate.
As shown in Figure 3 and Figure 4, brick folding pallet 7 is arranged in tray rail 703 and including the first pallet gear along 704, with the
One pallet gear is along 704 the second pallets gears being oppositely arranged in parallel along 705, the first pallet of connection gear along 704 and second pallet keep off edge
705 tray bottom 706, the first tray rail, the first pallet for being arranged at tray bottom 706 and being connected with roller bearing screw mandrel 702
Guide rail slide block, the second tray rail and the second tray rail sliding block and the pallet servomotor for driving the movement of roller bearing screw mandrel 702
701。
As shown in Figure 3 and Figure 4, hydraulic pressure brick cutter 6 is provided with by the first supporting plate 6011, parallel with the first supporting plate 6011
The second supporting plate 6012 for being oppositely arranged, the first supporting plate 6011 of connection and the second supporting plate 6012 supporting plate crossbeam 6013,
The fixation blade 602 that is arranged in the first supporting plate 6011, the blade hydraulic cylinder 605 being arranged in the second supporting plate 6012,
The moving blade 603 of the end of blade hydraulic cylinder 605 is arranged on, blade hydraulic cylinder 605 crosses the second supporting plate 6012 and set
Put and the second supporting plate 6012 is arranged on by blade hydraulic cylinder installing plate 606）.In a particular embodiment, in blade hydraulic pressure
Under the driving of cylinder 605, insert adapter 604 drives mobile knife to cut off unnecessary aerated blocks.Preferably, the fixed He of blade 602
Moving blade 603 uses 65 steel manganese materials.
In a particular embodiment, as shown in figure 1, lifting, translation mechanism 2 include transverse axis mechanical arm 206, longitudinal axis mechanical arm
201st, manipulator for laying brick 204, transverse axis mechanical arm 206, longitudinal axis mechanical arm 201 are connected by transverse axis mechanical arm support base 205, the longitudinal axis
Mechanical arm 201 is connected with manipulator for laying brick 204 by manipulator for laying brick installing plate 203.Preferably, on longitudinal axis mechanical arm 201 also
Longitudinal axis mechanical arm set 202 is provided with, transverse axis mechanical arm set 207 is provided with transverse axis mechanical arm 206, it is advantageous to longitudinal axis mechanical arm
201st, the movement of the vertical and horizontal in concrete operations of transverse axis mechanical arm 206, it is not easy to make mechanical arm wander off, while also have resistance to
The characteristic of mill.
In specific implementation, transverse axis mechanical arm 206 is the mechanical arm and transverse axis mechanical arm that can carry out way moving（206）
Inside it is provided with transverse axis mechanical arm servomotor and steel wire rope.
In a particular embodiment, as shown in Fig. 2 manipulator for laying brick 206 includes what is be connected with manipulator for laying brick installing plate 203
Installing arm 2041, hinge 2043, the manipulator for laying brick hydraulic cylinder 2043 for adjusting the length of hinge 2043 and the hinged 3rd
Clamping jaw 2044, the 4th clamping jaw 2045 being connected with installing arm 2041.In a particular embodiment, manipulator for laying brick hydraulic cylinder 2042
Hinge 2043 can be driven, the distance between the 3rd clamping jaw 2044 and the 4th clamping jaw 2045 are adjusted by the stretching of hinge 2043.
In a particular embodiment, as shown in figure 1, brick car transfer mechanism 3 is arranged to lead by being arranged on stage body support first
The first brick car transfer sliding block in rail 104 and the second brick car transfer sliding block and platform being arranged in the second guide rail of stage body support 105
The rectangle profile structure that the first guide rail of body support frame 104 and the second guide rail of stage body support 105 are engaged, on brick car transfer mechanism 3
Side is provided with semicircle parallel a pair of relative sheet materials, and the neck 301 of fastening brick car is formed between the pair of sheet material.
As shown in figure 5, the hopper 501 of carrying sposh is set across brick folding pallet 7, the impeller 502 set in hopper 501
The impeller motor rotated with driving impeller 502 connects, and impeller 502 passes through impeller silk axle（Not shown in figure）It is fixed, impeller motor
（Not shown in figure）With the silk axle（Not shown in figure）Connection, the hopper 501 is by 2 hopper support plates 503 via spiral shell
Bolt is fixed on the work top 101 by fixing hole 504.The setting of the lower section of hopper 501 is rectangular, and 501 mouthfuls of hopper is arranged to
Bell mouth shape, the supporting plate of hopper 501 are provided with the triangular support floor of 3 parallel spaced-aparts and are provided with the branch of bolt hole 504
Fagging substrate 506, it is hollow between triangular support floor adjacent to each other, this structure type contributes to support bearing mud
Hopper 501.
As shown in fig. 6, a kind of method of work of wall-building robot, comprises the following steps：
S0：Start；
S1：Brick car is in place
It is artificial to promote brick car to be moved to work stage body 1, aerated blocks entrucking is piled up neatly, brick car is placed into brick car transfer mechanism
On 3；
S2：Aerated blocks are in place
Make brick car card firm by the neck 301 on brick car transfer mechanism 3, brick car transfer mechanism 3 is in the first guide rail of stage body support 104
With the second guide rail of stage body support 105 in pass through transfer mechanism servomotor（Not shown in figure）Driving, makes brick car along workbench
Body 1 moves upwards, and aerated blocks are by transfer to work top 101；
S3：Computer is assigned to brick picking manipulators 408 and takes brick order
Control program in computer is sent to control centre takes brick order, orders double four-axle linked systems 44 to brick picking manipulators
408 carry out space orientation；
S4：Brick picking manipulators 408 are positioned by double four-axle linked systems 4
Y-axis guide rail 403 passes through the first X-axis servomotor（Not shown in figure）, the second X-axis servomotor（Not shown in figure）Drive
Move and moved in the first X-axis guide rail 401, the second X-axis guide rail 402, can determine the position of Y-axis guide rail 403, and then described in determination
The X-axis coordinate points of brick picking manipulators 408, Z axis telescopic arm 404 is in Z axis servomotor（Not shown in figure）Driving under led in Y-axis
Slided on rail 403, can determine the Y-axis coordinate points of the brick picking manipulators 408, brick picking manipulators 408 are in Z axis telescopic arm 404
On can be moved up and down along Z axis telescopic arm 404, and then determine brick picking manipulators 408 Z axis coordinate points, complete to fetching brick machine
The positioning of tool hand 408；
S5：Brick picking manipulators 408 position to aerated blocks
The first clamping jaw 4081 and the second clamping jaw 4082 of brick picking manipulators 408 are accurately positioned to aerated blocks；
S6：Complete location determination
After positioning of the brick picking manipulators 408 to aerated blocks reaches expected operation purpose, perform and operate in next step, when fetching brick machine tool
Positioning of the hand 408 to aerated blocks can not reach expected operation purpose, return to S4 steps；
S7：Brick picking manipulators 408 capture aerated blocks
Aerated blocks are captured in the presence of the hydraulic cylinder of brick picking manipulators 408, with the help of double four-axle linked systems 4, positioning
Brick picking manipulators 408 arrive the position of brick folding pallet 7；
S8：The aerated blocks that brick picking manipulators 408 are captured are placed into brick folding pallet 7
After the positioning to brick folding pallet 7 is completed, the aerated blocks captured are placed on brick folding pallet 7 by brick picking manipulators 408,
Brick folding pallet 7 positions to aerated blocks, in brick folding pallet servomotor（Not shown in figure）Control under, pass through brick folding pallet
Roller bearing screw mandrel on 7 bottoms（Not shown in figure）Movement, brick folding pallet 7 is sent to automatic claying device 5；
S9：Computer assigns claying operational order
Control program in computer sends claying order to control centre；
S10：Claying
Mud is housed, the motor of impeller 502 control impeller 502 rotates, and makes the mud in hopper in automatic claying device 5 in hopper
It is applied on aerated blocks,
S11：Computer assigns excision aerating block command
Control program in computer sends excision aerating block command to control centre；
S12：Excision
The length for carrying out accurately calculating the length of aerated blocks and needs are built a wall by PLC control assemblies, hydraulic pressure brick cutter pass through it
In the presence of the fixation blade and moving blade of upper setting, the part unnecessary to aerated blocks is cut off,
S13：Computer is assigned to brick picking manipulators 408 and puts back to aerating block command
Control program in computer is sent to control centre puts back to brick folding pallet 7 by the aerated blocks after claying, removal procedure
Order；
S14：Aerated blocks after processing put back to brick folding pallet 7
In the presence of double four-axle linked systems 4, space orientation, the first clamping jaw 4081 and second are carried out to brick picking manipulators 408
Then clamping jaw 4082 is put back into brick folding pallet 7 to aerated blocks positioning, crawl after claying, excision；
S15：Computer assigns aerated blocks transfer order to lifting, translation mechanism 2
Control program in computer sends the order of transfer aerated blocks to control centre, and transverse axis is mechanical in lifting, translation mechanism 2
Arm 206 promotes steel wire rope to tense in the presence of stepper motor, transverse axis mechanical arm 206 is moved in the horizontal direction, meanwhile, indulge
Shaft mechanical arm 201 is in longitudinal axis servomotor（Not shown in figure）Driving under control manipulator for laying brick 204, and then adjust laying bricks
The position of the y direction of manipulator 204, by determining the position of manipulator for laying brick 204 both horizontally and vertically, and then
Space orientation is carried out to manipulator for laying brick 204, manipulator for laying brick 204 passes through the clamping jaw 2044 of the adjustment of hinge 2043 the 3rd and the 4th folder
The distance between pawl 2045 is positioned to the aerated blocks of crawl, and manipulator for laying brick hydraulic cylinder 2042 is driven by PLC control assemblies,
Manipulator for laying brick 204 is set to capture aerated blocks；
S16：Computer assigns order of laying bricks to lifting, translation mechanism 2
The aerated blocks of crawl are placed into the position for needing to build a wall by manipulator for laying brick 204；
S17：Completion is laid bricks judgement
When no longer needing to lay bricks, then operational order is completed, when needing to repeat order, then step repeats S3, when laying bricks
Generation is abnormal, does not complete when laying bricks operation, then step returns to S16；
S18：Terminate.
The present invention working method be：
When brick car is moved to work stage body 1, aerated blocks entrucking is piled up neatly, brick car is placed on brick car transfer mechanism 3,
Make brick car card firm by the neck 301 on brick car transfer mechanism 3, brick car transfer mechanism 3 is in the first guide rail of stage body support 104 and platform
Pass through transfer mechanism servomotor in the second guide rail of body support frame 105（Not shown in figure）Driving, make brick car along work stage body 1 to
Upper motion, brick picking manipulators 408 move to brick car transfer mechanism 3 to the aerating on brick car transfer mechanism 3 in Y-axis guide rail 403
Block is positioned, and aerated blocks are captured in the presence of brick picking manipulators hydraulic cylinder 409, is allowed to be placed on brick folding pallet 7, folder
Brick pallet 7 positions to aerated blocks, under the control of brick folding pallet servomotor 701, by brick folding tray bottom 706
The movement of roller bearing screw mandrel 702, brick folding pallet 7 is sent to automatic claying device 5, mud is housed in hopper 501 in automatic claying device 5,
Motor control impeller 502 is rotated, and the mud in hopper 501 is applied on aerated blocks, and essence is carried out by PLC control assemblies
The length that really length of calculating aerated blocks and needs are built a wall, hydraulic pressure brick cutter 6 pass through the fixation blade 602 set thereon and movement
In the presence of blade 603, the part unnecessary to aerated blocks is cut off, after excision, transverse axis mechanical arm in lifting, translation mechanism 2
Stepper motor and steel wire rope are provided with 206, in the presence of stepper motor, steel wire rope tenses, and makes transverse axis mechanical arm 206 in water
Square to motion, meanwhile, longitudinal axis mechanical arm 201 is in longitudinal axis servomotor（Not shown in figure）Driving under control manipulator for laying brick
204, and then adjust in the position of the y direction of manipulator for laying brick 204, by determining manipulator for laying brick 204 in the horizontal direction and hanging down
Nogata to position, and then to manipulator for laying brick 204 carry out space orientation.Manipulator for laying brick 204 passes through the adjustment of hinge 2,043 the
The distance between three clamping jaws 2044 and the 4th clamping jaw 2045 are positioned to the aerated blocks of crawl, are laid bricks by the driving of PLC control assemblies
Mechanical hand hydraulic cylinder 2042, aerated blocks are captured, then the aerated blocks of crawl are placed into by manipulator for laying brick 204 and wait to build a wall
Position, completion builds a wall action.
Although the foregoing describing the embodiment of the present invention, it will be appreciated by those of skill in the art that these
Embodiment is merely illustrative of, those skilled in the art do not depart from the present invention principle and essence in the case of,
Various omissions, substitutions and changes can be carried out to the details of the above method and system.For example, merge above method step, so as to
Substantially identical function is performed according to substantially identical method to realize that substantially identical result then belongs to the scope of the present invention.Cause
This, the scope of the present invention is only limited by the claims that follow.
Claims (10)
1. a kind of wall-building robot, including work stage body（1）, the work stage body（1）Including work top（101）, stage body bottom
Seat（102）, work top support frame（103）, the guide rail of stage body support first（104）, the guide rail of stage body support second（105）, it is special
Sign is, the work stage body（1）On be provided with the brick car transfer mechanism of transfer brick car（3）, the brick car transfer mechanism（3）It is logical
Cross the guide rail of stage body support first（104）With the guide rail of stage body support second（105）On the workbench（1）Moved up and down,
In the work top support frame（103）With the stage body base（104）The hollow part formed is provided with execution aerated blocks
Build a wall the lifting of action, translation mechanism（2）, in described work top（101）On be provided with to aerated blocks carry out space coordinates
Double four-axle linked control systems of positioning（4）, to the automatic claying device of the automatic claying of aerated blocks（5）, cut off unnecessary aerating automatically
The hydraulic pressure brick cutter of block（6）, carrying aerated blocks and to aerated blocks positioning brick folding pallet（7）, wherein, the automatic claying device
（5）With the hydraulic pressure brick cutter（6）It is parallel to each other and across the brick folding pallet（7）Set, double four-axle linked controls
System（4）It is arranged on the automatic claying device（5）, the hydraulic pressure brick cutter（6）, the brick folding pallet（7）Top and institute
State work stage body（1）Side.
A kind of 2. wall-building robot according to claim 1, it is characterised in that double four-axle linked control systems（4）
Including the first X-axis guide rail（401）Be arranged on first X-axis guide rail（401）On the first X-servo motor（Not shown in figure）
And first X-axis slide block（Not shown in figure）, the second X-axis guide rail（402）Be arranged on second X-axis guide rail（402）On
Second X-axis servomotor（Not shown in figure）And second X-axis slide block（Not shown in figure）, Y-axis guide rail（403）Be arranged on institute
State Y-axis guide rail（403）On Y-axis servomotor（Not shown in figure）With Y-axis sliding block（405）, Z axis telescopic arm（404）And setting
In the Z axis telescopic arm（404）On brick picking manipulators（408）, first X-axis guide rail（401）By being arranged on described
One X-axis guide rail（401）Interior first X-axis slide block（Not shown in figure）With the Y-axis guide rail（403）It is slidably connected, institute
State the second X-axis guide rail（402）By being arranged on second X-axis guide rail（402）Interior second X-axis slide block（Do not show in figure
Go out）With the Y-axis guide rail（403）It is slidably connected, first X-axis guide rail（401）, the Y-axis guide rail（403）Pass through first
X-axis guide rail support frame（410）With the work stage body（1）It is connected, second X-axis guide rail（402）, Y-axis guide rail（403）Pass through
Second X-axis guide rail support frame（411）With the work stage body（1）It is connected, the Z axis telescopic arm（404）Via installing plate（406）
Pass through Y-axis sliding block（405）With the Y-axis guide rail（404）It is slidably connected.
A kind of 3. wall-building robot according to claim 2, it is characterised in that brick picking manipulators（408）By with setting
In the Z axis telescopic arm（404）On brick picking manipulators installing plate（407）And brick picking manipulators hydraulic cylinder（409）With institute
State Z axis telescopic arm（404）Connection, and the brick picking manipulators（408）Including gripping aerated blocks and be oppositely arranged in parallel first
Clamping jaw（4081）With the second clamping jaw（4082）.
A kind of 4. wall-building robot according to claim 1, it is characterised in that the brick folding pallet（7）It is arranged on pallet
Guide rail（703）In and including the first pallet keep off edge（704）And first pallet gear edge（704）Second be oppositely arranged in parallel
Pallet keeps off edge（705）, connection first pallet gear edge（704）Edge is kept off with second pallet（705）Tray bottom
（706）, be arranged at the tray bottom（706）And with roller bearing screw mandrel（702）The first tray rail, the first tray rail of connection
Sliding block, the second tray rail and the second tray rail sliding block and the drive roller bearing screw mandrel（702）Mobile pallet servo electricity
Machine（701）.
A kind of 5. wall-building robot according to claim 1, it is characterised in that the automatic claying device（5）It is provided with and holds
Carry the hopper of mud（501）, be arranged on the hopper（501）Interior impeller（502）With the driving impeller（502）The leaf of rotation
Wheel drive motor（Not shown in figure）.
A kind of 6. wall-building robot according to claim 1, it is characterised in that the hydraulic pressure brick cutter（6）Be provided with by
First supporting plate（6011）And first supporting plate（6011）The second supporting plate being oppositely arranged in parallel（6012）, connection institute
State the first supporting plate 6011）With second supporting plate（6012）Supporting plate crossbeam（6013）, be arranged on it is described first support
Plate（6011）On fixation blade（602）, be arranged on second supporting plate（6012）On blade hydraulic cylinder（605）, set
Put in the blade hydraulic cylinder（605）The moving blade of end（603）, the blade hydraulic cylinder（605）Cross described
Two supporting plates（6012）And set and pass through blade hydraulic cylinder installing plate（606）Installed in second supporting plate（6012）
On.
7. a kind of wall-building robot according to claim 1, it is characterised in that the lifting, translation mechanism（2）Including horizontal stroke
Shaft mechanical arm（206）, longitudinal axis mechanical arm（201）, manipulator for laying brick（204）, the transverse axis mechanical arm（206）, longitudinal axis mechanical arm
（201）Pass through transverse axis mechanical arm support base（205）Connection, the longitudinal axis mechanical arm（201）With the manipulator for laying brick（204）It is logical
Cross manipulator for laying brick installing plate（203）Connection, the transverse axis mechanical arm（206）For the mechanical arm of way moving and institute can be carried out
State transverse axis mechanical arm（206）Inside it is provided with transverse axis mechanical arm servomotor and steel wire rope.
A kind of 8. wall-building robot according to claim 6 or 7, it is characterised in that the manipulator for laying brick（206）Including
With the manipulator for laying brick installing plate（203）The installing arm of connection（2041）, hinge（2043）, the regulation hinge（2043）It is long
The manipulator for laying brick hydraulic cylinder of degree（2043）And hinged 3rd clamping jaw（2044）And the installing arm
（2041）4th clamping jaw of connection（2045）.
A kind of 9. wall-building robot according to claim 1, it is characterised in that the brick car transfer mechanism（3）It is arranged to
By being arranged on the guide rail of stage body support first（104）Interior first brick car transfer sliding block and it is arranged on the stage body support second
Guide rail（105）The second interior brick car transfer sliding block and the guide rail of stage body support first（104）Led with the stage body support second
Rail（105）The rectangle profile structure being engaged, the brick car transfer mechanism（3）Top is provided with semicircle parallel relative one
To sheet material, the neck of fastening brick car is formed between the pair of sheet material（301）.
10. a kind of method of work of wall-building robot, it is characterised in that comprise the following steps：
S0：Start；
S1：Brick car is in place
It is artificial to promote brick car to be moved to the work stage body（1）, aerated blocks entrucking is piled up neatly, brick car is placed into the brick
Car transfer mechanism（3）On；
S2：Aerated blocks are in place
Pass through the neck on the brick car transfer mechanism (3)（301）Make brick car card firm, the brick car transfer mechanism（3）
The guide rail of stage body support first（104）With the guide rail of stage body support second（105）It is interior to be driven by transfer mechanism servomotor
It is dynamic, make brick car along the work stage body（1）Motion upwards, aerated blocks are by transfer to the work top（101）On；
S3：Computer is to brick picking manipulators（408）Assign and take brick order
Control program in computer is sent to control centre takes brick order, orders double four-axle linked systems 44 to be taken to described
Brick manipulator（408）Carry out space orientation；
S4：By double four-axle linked systems 4 to brick picking manipulators（408）Positioning
The Y-axis guide rail（403）Led by the driving of the first X-axis servomotor, the second X-axis servomotor in first X-axis
Rail（401）, second X-axis guide rail（402）Upper motion, it can determine the Y-axis guide rail（403）Position, and then determine institute
State brick picking manipulators（408）X-axis coordinate points, the Z axis telescopic arm（404）In institute under the driving of the Z axis servomotor
State Y-axis guide rail（403）Upper slip, it can determine the brick picking manipulators（408）Y-axis coordinate points, the brick picking manipulators
（408）In the Z axis telescopic arm（404）On can be along the Z axis telescopic arm（404）Move up and down, and then brick is taken described in determination
Manipulator（408）Z axis coordinate points, complete to the brick picking manipulators（408）Positioning；
S5：Brick picking manipulators（408）Aerated blocks are positioned
The brick picking manipulators（408）First clamping jaw（4081）Essence is carried out to aerated blocks with second clamping jaw (4082)
It is determined that position；
S6：Complete location determination
After positioning of the brick picking manipulators (408) to aerated blocks reaches expected operation purpose, perform and operate in next step, work as institute
Expected operation purpose can not be reached by stating positioning of the brick picking manipulators (408) to aerated blocks, return to S4 steps；
S7：Brick picking manipulators (408) capture aerated blocks
Aerated blocks are captured in the presence of the brick picking manipulators (408) hydraulic cylinder, in the side of double four-axle linked systems 4
Help down, the positioning brick picking manipulators (408) arrive the position of the brick folding pallet (7)；
S8：The aerated blocks that brick picking manipulators (408) are captured are placed into brick folding pallet (7)
After the positioning to the brick folding pallet (7) is completed, the aerated blocks captured are placed into by the brick picking manipulators (408)
On the brick folding pallet (7), the brick folding pallet (7) positions to aerated blocks, under the control of brick folding pallet servomotor,
Pass through the roller bearing screw mandrel on brick folding pallet (7) bottom（702）Movement, the brick folding pallet (7) is sent to described automatic
Claying device (5)；
S9：Computer assigns claying operational order
Control program in computer sends claying order to control centre；
S10：Claying
Mud is housed, impeller (502) motor controls the leaf in the hopper (501) in automatic claying device (5)
(502) rotation is taken turns, the mud in the hopper (501) is applied on aerated blocks；
S11：Computer assigns excision aerating block command
Control program in computer sends excision aerating block command to control centre；
S12：Excision
The length for carrying out accurately calculating the length of aerated blocks and needs are built a wall by PLC control assemblies, the hydraulic pressure brick cutter (6)
It is right in the presence of the fixed blade (602) set on the hydraulic pressure brick cutter (6) and the moving blade (603)
The unnecessary part of aerated blocks is cut off,
S13：Computer is assigned to brick picking manipulators (408) and puts back to aerating block command
Control program in computer is sent to control centre puts back to the brick folding pallet by the aerated blocks after claying, removal procedure
(7) order；
S14：Aerated blocks after processing put back to brick folding pallet (7)
In the presence of double four-axle linked systems (4), the brick picking manipulators (408) are carried out with space orientation, described the
Then one clamping jaw (4081) and second clamping jaw (4082) are put back into aerated blocks positioning, crawl after claying, excision
In the brick folding pallet (7)；
S15：Computer to lifting, translation mechanism（2）Assign aerated blocks transfer order
Control program in computer sends the order of transfer aerated blocks, the lifting, translation mechanism to control centre（2）Middle institute
Transverse axis mechanical arm (206) is stated in the presence of stepper motor, promotes steel wire rope to tense, makes the transverse axis mechanical arm (206) in water
Square to motion, meanwhile, the longitudinal axis mechanical arm (201) controls the manipulator for laying brick under the driving of longitudinal axis servomotor
(204), and then adjust in the position of the manipulator for laying brick (204) y direction, by determining the manipulator for laying brick (204)
Position both horizontally and vertically, and then space orientation, the machinery of laying bricks are carried out to the manipulator for laying brick (204)
Hand (204) adjusts the distance between the 3rd clamping jaw (2044) and the 4th clamping jaw (2045) by the hinge (2043)
The aerated blocks of crawl are positioned to, the manipulator for laying brick hydraulic cylinder (2042) is driven by PLC control assemblies, make described lay bricks
Manipulator (204) captures aerated blocks；
S16：Computer to lifting, translation mechanism（2）Assign order of laying bricks
The manipulator for laying brick（204）The aerated blocks of crawl are placed into the position for needing to build a wall；
S17：Completion is laid bricks judgement
When no longer needing to lay bricks, then operational order is completed, when needing to repeat order, then step repeats S3, when laying bricks
Generation is abnormal, does not complete when laying bricks operation, then step returns to S16；
S18：Terminate.
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| WO2021143236A1 (en) * | 2020-01-14 | 2021-07-22 | 广东博智林机器人有限公司 | Bricklaying robot |
| CN111287475A (en) * | 2020-02-13 | 2020-06-16 | 广东博智林机器人有限公司 | Plastering device, plastering robot and masonry equipment |
| CN111088895A (en) * | 2020-03-20 | 2020-05-01 | 广东博智林机器人有限公司 | Bricklaying device and bricklaying robot |
| CN111219069A (en) * | 2020-04-20 | 2020-06-02 | 广东博智林机器人有限公司 | Brick laying robot |
| CN111219069B (en) * | 2020-04-20 | 2020-07-28 | 广东博智林机器人有限公司 | Brick laying robot |
| CN111519918A (en) * | 2020-04-30 | 2020-08-11 | 广东博智林机器人有限公司 | Bricklaying equipment |
| CN112144902A (en) * | 2020-09-25 | 2020-12-29 | 中物智建(武汉)科技有限公司 | Wall building robot capable of cutting bricks |
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