CN107740591A - The T-shaped building wall method of bricklaying robot - Google Patents
The T-shaped building wall method of bricklaying robot Download PDFInfo
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- CN107740591A CN107740591A CN201710980442.0A CN201710980442A CN107740591A CN 107740591 A CN107740591 A CN 107740591A CN 201710980442 A CN201710980442 A CN 201710980442A CN 107740591 A CN107740591 A CN 107740591A
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- 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
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Abstract
The invention discloses the T-shaped building wall method of bricklaying robot, comprise the following steps：A. the frame of reference is determined, b. calculates the skin number of brick, simulates the arrangement per skin brick, calculates the coordinate position of every piece of brick；C. at least two bricklaying robots are launched near wall；D. the coordinate position of the first stance position of each bricklaying robot, total stance quantity and each stance is determined；E. it is provided with each bricklaying robot and takes brick position, sets bricklaying robot in each stance position from taking the brick folding of brick position, the block-by-block action command that successively fragment of brick is built by laying bricks or stones；Action command is sent in programming Control system, it is performed corresponding action and carries out building by laying bricks or stones for T-shaped wall.The present invention carries out T-shaped building wall using bricklaying robot so that bricklaying robot carries out building by laying bricks or stones for T-shaped wall automatically according to control instruction, builds efficiency high by laying bricks or stones so that wall meets national regulation requirement, and quality is guaranteed, and wall is more solid and reliable.
Description
Technical field
The present invention relates to building automation technical field, and in particular to a kind of building method of the T-shaped wall of bricklaying robot.
Background technology
Traditional artificial build by laying bricks or stones builds that building construction progress is slow, and labor intensity is big, and cost of labor more and more higher, with warp
The rapid growth of Ji and urbanization, increasing bricklaying robot are developed, and are manually built a wall to substitute, and are realized artificial
It is intelligent.T-shaped wall includes cross wall and vertical wall, and T-shaped wall junction should be engaged a group block, mortar is full, avoids the occurrence of straight joint etc.
Basic principle, often arrange one layer of brick and be then referred to as a skin brick.Existing T-shaped wall is by manually building by laying bricks or stones, working time length, work association
It is high with requirement.
The patent of invention of Application No. 2016110695716 discloses a kind of light-duty, moveable bricklaying robot, such as schemes
Shown in 1, including the rotary mobile chassis 1 connect, lifting module 2, module of laying bricks 3 and programming Control system are sequentially connected, laid bricks
Module 3 includes mechanical arm 4 and fixture 5 of laying bricks, fixture 5 of laying bricks are moved and rotated in the stroke range of mechanical arm 4；Lay bricks module
3 by a screw mandrel realize lifting module 2 on moving up and down, module of laying bricks 3 with lift module 2 for axle by rotatably moving
Realize circular motion in chassis 1.The bricklaying robot is simple in construction, but how by programmed algorithm to control it to build T-shaped wall by laying bricks or stones,
It is most important to realize that intellectuality is laid bricks, it is therefore necessary to which its building method is further studied.
The content of the invention
It is an object of the invention to provide a kind of T-shaped building wall method of bricklaying robot, to realize the automatic of T-shaped wall
Change is built by laying bricks or stones, and to achieve the above object, the present invention uses following technical scheme：
The T-shaped building wall method of bricklaying robot, described bricklaying robot include being sequentially connected the rotary movement connect
Chassis, lift module, module of laying bricks and programming Control system, described module of laying bricks includes mechanical arm and fixture of laying bricks, described
Fixture of laying bricks move and rotate in mechanical arm stroke range；The module of laying bricks is realized in lifting module by a screw mandrel
Move up and down, described rotary mobile chassis can rotate in ground moving and circumferentially, comprise the following steps：
A. the frame of reference is determined, it is cross wall to wait the horizontal sides for building T-shaped wall, and vertical edge is vertical wall, sets cross wall place
Center line is X-axis, and center line where vertical wall is Y-axis, and the short transverse of wall is Z axis, X-axis on wall level ground, Y-axis, Z axis
Crosspoint is origin；
B. the skin number of brick is calculated, simulates the arrangement per skin brick, calculates the coordinate position of every piece of brick；
C. at least two bricklaying robots are launched near wall, when cross wall is external wall, two machines of laying bricks
People is arranged on the inside of cross wall, is distributed in the vertical side of wall two；When cross wall is inner wall of building, a bricklaying robot is arranged on cross wall
Outside, one is arranged on the inside of cross wall, or two bricklaying robots are arranged on the inside of cross wall, are distributed in the vertical side of wall two；
D. the coordinate position of the first stance position of each bricklaying robot, total stance quantity and each stance is determined；
E. it is provided with each bricklaying robot and takes brick position, sets bricklaying robot in each stance position from taking brick position
Brick folding, the block-by-block action command that successively fragment of brick is built by laying bricks or stones；Action command is sent in programming Control system, made corresponding to its execution
Action carries out building by laying bricks or stones for T-shaped wall.
Wherein, in step b brick total skin number PAlways, calculate as follows,
H is the total height of right angle wall, and h is the height of fragment of brick, and r is the thickness of mortar joint.
Preferably, in step b, cross wall is rearranged by some horizontal brick overlapping the slot, and vertical wall is arranged by some brick-on-end overlapping the slot
Composition；The horizontal brick and brick-on-end of T-shaped turning point are full sized brick, and F is the length of full sized brick, and B is the thickness of full sized brick, and h is the height of full sized brick；T
Type transition location is the first horizontal brick close to the horizontal brick of origin, and it is perpendicular for first with the brick-on-end of the close origin of cross wall junction to indulge wall
Brick, the arrangement mode of described brick body is following two：
Mode one, the horizontal brick continuous arrangement of T-shaped transition location, X, the Y-axis coordinate at the first horizontal brick center are (0,0), and H is brick
The height of block；The width end of first brick-on-end and bonding in the middle part of the length direction of the first horizontal brick, the center of the first brick-on-end
X, Y-axis coordinate is
Mode two, the horizontal brick of T-shaped transition location disconnect arrangement, and X, the Y-axis coordinate at the first horizontal brick center are
First brick-on-end is inserted between two horizontal bricks, and X, the Y-axis coordinate at the center of the first brick-on-end are
The arrangement mode of the odd number skin of T-shaped wall is mode one, and the arrangement mode of even number skin is mode two；Or odd number skin
Arrangement mode be mode two, the arrangement mode of even number skin is mode one.
Further, bricklaying robot is when building cross wall by laying bricks or stones in step c and the distance of cross wall is J, when building by laying bricks or stones in length and breadth with
The distance of vertical wall is J, and J is calculated as follows：
Wherein XC is the horizontal throw of fixture on the robotic arm of laying bricks, and A is peace
Full distance, R are rotary mobile chassis diameter, and B is the thickness of fragment of brick, and α is mechanical arm and the angle of X-axis when building cross wall by laying bricks or stones, is built
α is mechanical arm and the angle of Y-axis when building vertical wall.
In one embodiment, in step c when cross wall is external wall, bricklaying robot sets two at T-shaped wall,
On the inside of cross wall, the vertical side of wall two is distributed in, wherein the coordinate position of the first stance of a robot is (J, J, 0), separately
The coordinate position of first stance of one robot is (- J, J, 0).
In another embodiment, in step c when cross wall is inner wall of building, bricklaying robot sets two at T-shaped wall
Platform, it is separately positioned on the outside of cross wall and on the inside of cross wall；The coordinate position of the first stance of cross wall external machine people is (0 ,-J, 0),
The coordinate position of the first stance of cross wall internal machine people is (J, J, 0) or (- J, J, 0).
Preferably, bricklaying robot takes the brick position to be located remotely from the position of the origin of coordinates.
Further, following action command is built in each stance position,
(1) bricklaying robot returns initial position；
(2) brick folding, rotary mobile chassis and fixture of laying bricks are run to brick position is taken, fixture brick folding of laying bricks；
(3) lay bricks, operation to fragment of brick coordinate points position is placed after fixture of laying bricks gripping fragment of brick.
As a result of said structure, the present invention has the advantages that：The present invention is carried out T-shaped using bricklaying robot
Building wall, by establishing coordinate system, the arrangement per skin brick is simulated, determines the stance position of bricklaying robot so that brick-laying machine
Device people carries out building by laying bricks or stones for T-shaped wall automatically according to control instruction, builds efficiency high by laying bricks or stones, and wall is more solid and reliable.
Brief description of the drawings
Fig. 1 is the structural representation of background technology bricklaying robot.
Fig. 2 is the structural arrangement schematic diagram of T-shaped wall.
Fig. 3 is that embodiment one odd number skin bricklaying robot builds schematic diagram by laying bricks or stones.
Fig. 4 is that embodiment one even number skin bricklaying robot builds schematic diagram by laying bricks or stones.
Fig. 5 is that embodiment two odd number skin bricklaying robot builds schematic diagram by laying bricks or stones.
Fig. 6 is that embodiment two even number skin bricklaying robot builds schematic diagram by laying bricks or stones.
Embodiment
In order that those skilled in the art more fully understands technical scheme, it is below in conjunction with the accompanying drawings and specific real
Applying example, the present invention is described in further detail.
Embodiment one
The invention discloses the T-shaped building wall method of bricklaying robot, the cross wall of the T-shaped wall of the present embodiment is outer for building
Wall.Comprise the following steps：
A. as shown in Fig. 2 determining the frame of reference, it is cross wall to wait the horizontal sides for building T-shaped wall, and vertical edge is vertical wall, if
It is X-axis to put center line where cross wall, and vertical wall place center line is Y-axis, and the short transverse of wall is Z axis, X on wall level ground
Axle, Y-axis, the crosspoint of Z axis are origin.
B. the skin number P of brick is calculatedAlways(formula 1), the arrangement per skin brick is simulated, calculate the coordinate position of every piece of brick.
H is the total height of right angle wall, and h is the height of fragment of brick, and r is the thickness of mortar joint.
Cross wall is rearranged by some horizontal brick overlapping the slot, and vertical wall is rearranged by some brick-on-end overlapping the slot.T-shaped turning point
Horizontal brick and brick-on-end are full sized brick, and F is the length of full sized brick, and B is the thickness of full sized brick, and h is the height of full sized brick.T-shaped transition location is close to former
The horizontal brick of point is the first horizontal brick, and the brick-on-end for indulging wall and the close origin of cross wall junction is the first brick-on-end, the arrangement mode of brick body
To be following two：
The of mode one is as shown in figure 3, the horizontal brick continuous arrangement of T-shaped transition location, the first horizontal brick Zx1X, the Y-axis coordinate at center
For (0,0)；First brick-on-end Zy1Width end and the first horizontal brick length direction in the middle part of bond, the center of the first brick-on-end
X, Y-axis coordinate is
The of mode two is as shown in figure 4, the horizontal brick of T-shaped transition location disconnects arrangement, the first horizontal brick Zx1X, the Y-axis coordinate at center
ForFirst brick-on-end Zy1Insert between two horizontal bricks, X, the Y-axis coordinate at the center of the first brick-on-end are
In the present embodiment, the arrangement mode of the odd number skin of T-shaped wall is mode one, and the arrangement mode of even number skin is mode
Two.The brick body of odd number skin and even number skin is staggered into overlapping the slot, and the wall that its brick body is built by laying bricks or stones is as shown in Figure 2.
C. such as Fig. 3,4, when cross wall is external wall, at least two bricklaying robot T are launched near wall1、T2,
Two are arranged on the inside of cross wall, are distributed in the vertical side of wall two.The Liang Tai robots be used to build by laying bricks or stones at T-shaped wall connecting and near
Fragment of brick, the remainder of the cross wall of T-shaped wall and vertical wall is similar to building by laying bricks or stones for straight line wall, considers that the plasticity of mortar will
Ask, needed to lay more bricklaying robots according to length.Bricklaying robot T1Build the fragment of brick of dash area in figure by laying bricks or stones, remaining fragment of brick
By T2Build by laying bricks or stones, T1It is J, T with X-axis, the distance of Y-axis2Distance with X-axis is J, and J 2 is calculated as follows：
Wherein XC is the horizontal throw of fixture on the robotic arm of laying bricks, and A is safe distance, and R is that rotary mobile chassis is straight
Footpath, B are the thickness of fragment of brick.α is mechanical arm and the angle of X-axis when building cross wall by laying bricks or stones, and α is mechanical arm and the folder of Y-axis when building vertical wall by laying bricks or stones
Angle.A typically takes 0.5m.
D. the coordinate position of the first stance position of each bricklaying robot, total stance quantity and each stance is determined.
Bricklaying robot T1The coordinate position of the first stance be (J, J, 0), bricklaying robot T2The first stance coordinate
Position is (- J, J, 0).Bricklaying robot T1For building corner position and neighbouring switch block by laying bricks or stones, as Fig. 3, Fig. 4 dash area show.Build
Brick robot T2For building the first horizontal brick and right side cross wall fragment of brick by laying bricks or stones, its working face and stance delimited within the mortar plastic time.
Further accordance with the needs of mortar plasticity (mortar has plasticity within a certain period of time), some bricklaying robots are set to be used to build by laying bricks or stones
Remaining straight line wall.
E. it is provided with each bricklaying robot and takes brick position, sets bricklaying robot in each stance position from taking brick position
Brick folding, the block-by-block action command that successively fragment of brick is built by laying bricks or stones；Action command is sent in programming Control system, made corresponding to its execution
Action carries out building by laying bricks or stones for T-shaped wall.Bricklaying robot takes brick position to be located remotely from the position of the origin of coordinates.In each stance position
Put following action command (1) bricklaying robot of structure and return initial position.(2) brick folding, rotary mobile chassis and fixture of laying bricks
Operation is to brick position is taken, fixture brick folding of laying bricks.Brick folding includes following sequential instructions：Under mechanical arm lifting, mechanical arm rotation, horizontal tool arm
Drop, fixture of laying bricks moves on the robotic arm, fixture Turning matched of laying bricks, mechanical arm decline in place, fixture brick folding of laying bricks.(3) build
Brick, operation to fragment of brick coordinate points position is placed after fixture of laying bricks grips fragment of brick.Lay bricks including following sequential instructions：Mechanical arm carries
Liter, the rotation of rotary mobile chassis, fixture of laying bricks moves on the robotic arm, fixture Turning matched of laying bricks, mechanical arm decline in place,
Fixture of laying bricks unclamps.
Embodiment two
The cross wall of the T-shaped wall of the present embodiment is inner wall of building.
Step a, b, e are the same as embodiment one
As shown in Figure 5,6, bricklaying robot sets two T to step c at T-shaped wall3、T4, T3It is arranged on the outside of cross wall,
T4It is arranged on the inside of cross wall.The Liang Tai robots are used to build fragment of brick at T-shaped wall connecting and neighbouring, the cross wall of T-shaped wall by laying bricks or stones
And the remainder of vertical wall is similar to building by laying bricks or stones for straight line wall, the plasticity requirement of mortar is considered, need laying more according to length
Platform bricklaying robot.Bricklaying robot T3Distance with X-axis is J, T4It is J to lay with the distance of Y-axis, and J is calculated by formula 2.
Step d, cross wall exterior wall side robot T3The coordinate position of the first stance be (0 ,-J, 0), cross wall interior wall side machine
People T4The coordinate position of the first stance be (J, J, 0) or (- J, J, 0).Bricklaying robot T3For building cross wall fragment of brick by laying bricks or stones, such as
Fig. 5, Fig. 6 dash area show.Bricklaying robot T4For building remaining vertical wall brick block (non-shaded portion) by laying bricks or stones.In the mortar plastic time
Interior its working face of delimitation and stance.Further accordance with the needs of mortar plasticity, set some bricklaying robots straight for building remaining by laying bricks or stones
Line wall.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.
Claims (9)
1. the T-shaped building wall method of bricklaying robot, described bricklaying robot includes being sequentially connected the rotary mobile bottom connect
Disk, lift module, module of laying bricks and programming Control system, described module of laying bricks includes mechanical arm and fixture of laying bricks, described
Fixture of laying bricks is moved and rotated in mechanical arm stroke range；The module of laying bricks is realized in lifting module by a screw mandrel
Move up and down, described rotary mobile chassis can rotate in ground moving and circumferentially, it is characterised in that including following step
Suddenly：
A. the frame of reference is determined, it is cross wall to wait the horizontal sides for building T-shaped wall, and vertical edge is vertical wall, sets center where cross wall
Line is X-axis, and center line where vertical wall is Y-axis, and the short transverse of wall is Z axis, X-axis, Y-axis, the intersection of Z axis on wall level ground
Point is origin；
B. the skin number of brick is calculated, simulates the arrangement per skin brick, calculates the coordinate position of every piece of brick；
C. at least two bricklaying robots are launched near wall, when cross wall is external wall, two bricklaying robots are set
Put on the inside of cross wall, be distributed in the vertical side of wall two；When cross wall is inner wall of building, a bricklaying robot is arranged on outside cross wall
Side, one is arranged on the inside of cross wall, or two bricklaying robots are arranged on the inside of cross wall, are distributed in the vertical side of wall two；
D. the coordinate position of the first stance position of each bricklaying robot, total stance quantity and each stance is determined；
E. be provided with each bricklaying robot and take brick position, set bricklaying robot each stance position from take brick position press from both sides
Brick, the block-by-block action command that successively fragment of brick is built by laying bricks or stones；Action command is sent in programming Control system, makes to move corresponding to its execution
Make to carry out building by laying bricks or stones for T-shaped wall.
2. the T-shaped building wall method of bricklaying robot as claimed in claim 1, it is characterised in that：Total skin number of brick in step b
PAlways, calculate as follows,
H is the total height of right angle wall, and h is the height of fragment of brick, and r is the thickness of mortar joint.
3. the T-shaped building wall method of bricklaying robot as claimed in claim 1, it is characterised in that：In step b, if cross wall by
Do horizontal brick overlapping the slot to rearrange, vertical wall is rearranged by some brick-on-end overlapping the slot；The horizontal brick and brick-on-end of T-shaped turning point are whole
Brick, F are the length of full sized brick, and B is the thickness of full sized brick, and h is the height of full sized brick；T-shaped transition location is first close to the horizontal brick of origin
The brick-on-end of horizontal brick, vertical wall and the close origin of cross wall junction is the first brick-on-end, and the arrangement mode of described brick body is following two
Kind：
Mode one, the horizontal brick continuous arrangement of T-shaped transition location, X, the Y-axis coordinate at the first horizontal brick center are (0,0)；First brick-on-end
Width end and the first horizontal brick length direction in the middle part of bond, X, the Y-axis coordinate at the center of the first brick-on-end are
Mode two, the horizontal brick of T-shaped transition location disconnect arrangement, and X, the Y-axis coordinate at the first horizontal brick center are0), first
Brick-on-end is inserted between two horizontal bricks, and X, the Y-axis coordinate at the center of the first brick-on-end are
The arrangement mode of the odd number skin of T-shaped wall is mode one, and the arrangement mode of even number skin is mode two；Or the row of odd number skin
Row mode is mode two, and the arrangement mode of even number skin is mode one.
4. the T-shaped building wall method of bricklaying robot as described in any one of claims 1 to 3, it is characterised in that：In step c
Bricklaying robot is when building cross wall by laying bricks or stones and the distance of cross wall is J, and the distance when building by laying bricks or stones in length and breadth with vertical wall is J, and J is as follows
Calculate：
Wherein XC is the horizontal throw of fixture on the robotic arm of laying bricks, A for safety away from
From R is rotary mobile chassis diameter, and B is the thickness of fragment of brick, and α is mechanical arm and the angle of X-axis when building cross wall by laying bricks or stones, is built by laying bricks or stones vertical
α is mechanical arm and the angle of Y-axis during wall.
5. the T-shaped building wall method of bricklaying robot as claimed in claim 4, it is characterised in that：When cross wall is to build in step c
When building exterior wall, bricklaying robot sets two at T-shaped wall, on the inside of cross wall, the vertical side of wall two is distributed in, wherein one
The coordinate position of first stance of robot is (J, J, 0), the coordinate position of the first stance of another robot for (- J, J,
0)。
6. the T-shaped building wall method of bricklaying robot as claimed in claim 4, it is characterised in that：When cross wall is to build in step c
When building interior wall, bricklaying robot sets two at T-shaped wall, is separately positioned on the outside of cross wall and on the inside of cross wall；On the outside of cross wall
The coordinate position of first stance of robot is (0 ,-J, 0), the coordinate position of the first stance of cross wall internal machine people for (J,
J, 0) or (- J, J, 0).
7. the T-shaped building wall method of bricklaying robot as described in claim 5 or 6, it is characterised in that：Bricklaying robot takes
Brick position is located remotely from the position of the origin of coordinates.
8. the T-shaped building wall method of bricklaying robot as claimed in claim 1, it is characterised in that：In each stance position
Following action command is built,
(1) bricklaying robot returns initial position；
(2) brick folding, rotary mobile chassis and fixture of laying bricks are run to brick position is taken, fixture brick folding of laying bricks；
(3) lay bricks, operation to fragment of brick coordinate points position is placed after fixture of laying bricks gripping fragment of brick.
9. the T-shaped building wall method of bricklaying robot as claimed in claim 8, it is characterised in that：Action command (2) brick folding bag
Include following sequential instructions：Mechanical arm lifting, mechanical arm rotation, horizontal tool arm declines, fixture of laying bricks moves on the robotic arm, folder of laying bricks
Has Turning matched, mechanical arm declines in place, fixture brick folding of laying bricks；
Action command (3) is laid bricks including following sequential instructions：Mechanical arm lifting, the rotation of rotary mobile chassis, fixture of laying bricks exist
Moved on mechanical arm, fixture Turning matched of laying bricks, mechanical arm decline in place, fixture of laying bricks release.
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| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
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| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
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