CN110616906A

CN110616906A - Brick laying robot and using method

Info

Publication number: CN110616906A
Application number: CN201911061520.2A
Authority: CN
Inventors: 莫崇规
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2019-12-27

Abstract

The brick laying robot can simultaneously lay a plurality of standard bricks or a single brick, so that the construction efficiency is improved, and the popularization and application of the brick laying robot are promoted. The automatic leveling machine comprises a self-propelled and leveling machine base, a posture maintaining mechanical arm in a long and narrow space, a multifunctional brick laying clamp and a mortar paving device for a brick mortar joint.

Description

Brick laying robot and using method

Technical Field

The invention relates to the field of machinery, in particular to a brick laying robot.

Background

At present, wall masonry of building construction mainly depends on manpower, a large amount of manpower is needed to complete construction tasks, the problem of population aging is accompanied, a building site faces the problem of shortage of building workers, and more professional operation tools and robots need to be introduced to replace the manpower. The brick laying robot can simultaneously lay a plurality of standard bricks or a single brick, improve the construction efficiency and promote the popularization and application of the brick laying robot.

Disclosure of Invention

In order to overcome the defects of the background art, the brick laying robot can simultaneously lay a plurality of standard bricks or a single brick, so that the construction efficiency is improved, and the popularization and the application of the brick laying robot are promoted.

The standard brick refers to a brick with the length of 240mm, the width of 115mm and the thickness of 53mm, the vertical brick refers to a brick with a vertical surface with the length of 240mm and the width of 115mm, and the building block refers to a building block with the volume larger than that of the standard brick.

The technical scheme of the invention comprises the following steps: the automatic leveling machine comprises a self-walking leveling machine base, a posture maintaining mechanical arm in a long and narrow space, a multifunctional brick laying clamp and a mortar paving device for a brick mortar joint; the posture maintaining mechanical arm in the narrow and long space is connected to the self-walking and leveling machine base and can slide and rotate relative to the self-walking and leveling machine base; the multifunctional bricklaying clamp is connected to the posture maintaining mechanical arm in the long and narrow space, and can horizontally rotate relative to the posture maintaining mechanical arm in the long and narrow space; the brick mortar joint mortar paving device is fixed on a self-walking and leveling machine base or is independently supported on the ground.

The self-walking and leveling machine base comprising: the first vertical fixing rod, the second vertical fixing rod, the third vertical fixing rod, the fourth vertical fixing rod, the first horizontal sliding rod, the second horizontal sliding rod and the third horizontal sliding rod are arranged in the first horizontal sliding rod; the first vertical fixing rod, the second vertical fixing rod, the third vertical fixing rod and the fourth vertical fixing rod respectively consist of a first vertical fixing rod lower section component, a first vertical fixing rod middle section component, a first vertical fixing rod upper section component, a second vertical fixing rod lower section component, a second vertical fixing rod middle section component, a second vertical fixing rod upper section component, a third vertical fixing rod lower section component, a third vertical fixing rod middle section component, a third vertical fixing rod upper section component, a fourth vertical fixing rod lower section component, a fourth vertical fixing rod middle section component and a fourth vertical fixing rod upper section component; adjacent internal components of the first vertical fixing rod, the second vertical fixing rod, the third vertical fixing rod and the fourth vertical fixing rod can slide mutually, namely two ends can stretch out and draw back, the two ends extend to be in contact with a floor slab ceiling and the ground and exert pressure, and the building is fixed under the action of the pressure; the first vertical fixing rod and the second vertical fixing rod can slide on the first horizontal sliding rod; the second horizontal sliding rod consists of a second horizontal sliding rod sliding part and a second horizontal sliding rod part which can slide mutually; the third horizontal sliding rod consists of a third horizontal sliding rod sliding part and a third horizontal sliding rod part which can slide mutually; the second horizontal sliding rod sliding part and the third horizontal sliding rod sliding part are respectively fixed on the first vertical fixed rod middle section part and the second vertical fixed rod middle section part; the second horizontal sliding rod component and the third horizontal sliding rod component are respectively fixed on a third vertical fixing rod middle section component and a fourth vertical fixing rod middle section component; the invention can accurately self-move and level in a building, is used as a base of a robot or a professional operation tool, and adopts manual operation for walking or is additionally provided with an intelligent control system to work in cooperation with the robot.

The walking method of the self-walking and leveling machine base comprises the following steps:

1) fixing, namely extending two ends of a first vertical fixing rod, a second vertical fixing rod, a third vertical fixing rod and a fourth vertical fixing rod, contacting with a ceiling of a floor slab and the ground, applying pressure, and fixing with a building under the action of the pressure;

2) the first vertical fixing rod and the third vertical fixing rod extend out from the two ends of the first vertical fixing rod and the third vertical fixing rod after sliding to required positions relative to the first horizontal sliding rod, contact with the ceiling and the ground of the floor slab and exert pressure, and are fixed with the building under the action of the pressure; the two ends of the second vertical fixing rod and the fourth vertical fixing rod are contracted and separated from the ceiling and the ground of the floor slab, and the two ends of the second vertical fixing rod and the fourth vertical fixing rod extend out after the second vertical fixing rod and the fourth vertical fixing rod drive the first horizontal sliding rod to slide to a required position relative to the first vertical fixing rod together, contact with the ceiling and the ground of the floor slab and apply pressure, and are fixed with the building under the action of the pressure;

3) the first horizontal sliding rod and the second horizontal sliding rod slide to required positions respectively relative to the second horizontal sliding rod component and the third horizontal sliding rod component, then the two ends of the first vertical fixing rod and the two ends of the second vertical fixing rod extend out, contact the ceiling and the ground of the floor slab and apply pressure, and the first vertical fixing rod and the second vertical fixing rod are fixed with the building under the action of the pressure; the two ends of the third vertical fixing rod and the fourth vertical fixing rod are contracted and separated from the ceiling and the ground of the floor slab, and the two ends of the third vertical fixing rod and the fourth vertical fixing rod extend out after the second horizontal sliding rod component and the third horizontal sliding rod component slide to required positions relative to the second horizontal sliding rod sliding component and the third horizontal sliding rod sliding component respectively, are contacted with the ceiling and the ground of the floor slab and exert pressure, and are fixed with the building under the action of the pressure;

4) the first vertical fixing rod is rotated, the two ends of the second vertical fixing rod, the two ends of the third vertical fixing rod and the two ends of the fourth vertical fixing rod are contracted and separated from the ceiling and the ground of the floor slab, the two ends of the second vertical fixing rod, the two ends of the third vertical fixing rod and the two ends of the fourth vertical fixing rod are extended out after the first vertical fixing rod is rotated to a required position, the second vertical fixing rod, the third vertical fixing rod and the four vertical fixing rod are contacted with the ceiling and the ground of the floor slab and exert pressure, the second vertical fixing rod, the third vertical fixing rod and the fourth vertical fixing rod are fixed with a.

The leveling method of the self-walking and leveling machine base comprises the following steps:

1) the first vertical fixing rod upper section part, the second vertical fixing rod upper section part, the third vertical fixing rod upper section part and the fourth vertical fixing rod upper section part are contracted to be separated from the floor slab ceiling;

2) adjusting the vertical heights of the first vertical fixing rod middle section component, the second vertical fixing rod middle section component, the third vertical fixing rod middle section component and the fourth vertical fixing rod middle section component to enable the plane formed by the first horizontal sliding rod, the second horizontal sliding rod and the third horizontal sliding rod to be horizontal, and further enabling the robot or the professional operation tool carried by the robot or the professional operation tool to be horizontal;

3) the first vertical fixing rod upper section component, the second vertical fixing rod upper section component, the third vertical fixing rod upper section component and the fourth vertical fixing rod upper section component extend out to be in contact with a floor slab ceiling and exert pressure, and are fixed with a building under the action of the pressure.

The self-walking leveling machine base is characterized in that a first horizontal support, a second horizontal support, a third horizontal support and a fourth horizontal support which are close to the ground are respectively added on the lower portions of a first vertical fixing rod lower section component, a second vertical fixing rod lower section component, a third vertical fixing rod lower section component and a fourth vertical fixing rod lower section component, the first horizontal support, the second horizontal support, the third horizontal support and the fourth horizontal support can respectively rotate on the first vertical fixing rod lower section component, the second vertical fixing rod lower section component, the third vertical fixing rod lower section component and the fourth vertical fixing rod lower section component, and equipment can still be stable in a walking process under the condition that a top floor slab ceiling is not supported.

The self-walking and leveling machine base, the first horizontal sliding rod, the second horizontal sliding rod and the third horizontal sliding rod can be replaced by a telescopic mechanism or a folding mechanism.

The attitude maintaining robot arm in the narrow and long space comprises: a long-direction sliding mechanism, a short-direction sliding mechanism and a posture maintaining rotating mechanism; the long sliding mechanism consists of a first long sliding rod and a second long sliding rod, the first long sliding rod and the second long sliding rod can slide mutually, and the first long sliding rod is fixed on the base; the short-direction sliding mechanism consists of a first short-direction sliding rod and a second short-direction sliding rod, the first short-direction sliding rod and the second short-direction sliding rod can slide mutually, the first short-direction sliding rod is vertically connected to the second long-direction sliding rod, and the first short-direction sliding rod can slide on the second long-direction sliding rod; the posture maintaining rotating mechanism comprises a rotating rod, a first synchronous belt wheel, a second synchronous belt wheel, a synchronous belt and a working part connecting piece, wherein the rotating rod can rotate relative to the second short-direction sliding rod, the first synchronous belt wheel is fixed on the second short-direction sliding rod and cannot rotate relative to the second short-direction sliding rod, the second synchronous belt wheel is hinged on the rotating rod, the second synchronous belt wheel can rotate relative to the rotating rod, the synchronous belt is connected with the first synchronous belt wheel and the second synchronous belt wheel, the second synchronous belt wheel synchronously rotates relative to the first synchronous belt wheel through the synchronous belt, the working part connecting piece is fixedly connected on the second synchronous belt wheel, and the working part connecting piece and the second synchronous belt wheel rotate together; when the rotating rod rotates, the posture of the working part connecting piece is kept not to rotate; the invention can be used for the operation of a construction robot mechanical arm or an industrial robot mechanical arm in a narrow and long space.

The posture maintaining and rotating mechanisms can be connected in series, so that the flexibility of the mechanical arm is enhanced.

The first short sliding rod is vertically connected to the first long sliding rod, the first short sliding rod can slide or be fixed on the first long sliding rod, and the second long sliding rod is omitted.

Multifunctional anchor clamps of laying bricks includes: the device comprises a clamping component, a vertical surface overturning component, a horizontal surface rotating component and a brick extruding component; the telescopic rods of the clamping parts are telescopic to drive the two clamping pieces fixed at the two ends to clamp or loosen the bricks; the vertical surface turning component and the two vertical surface turning components are respectively connected to the two clamping pieces, and telescopic rods of the two vertical surface turning components respectively drive the two rotating discs which can rotate on the two clamping pieces to rotate through the two connecting rods, so that the vertical surface of the brick clamped between the two rotating discs is driven to turn; the horizontal plane rotating part is characterized in that a rotating shaft is fixed on the clamping part, a disc is fixed on the rotating shaft, the rotating shaft can rotate relative to the connecting piece, and a telescopic rod of the horizontal plane rotating part drives the disc to rotate through a connecting rod, so that the horizontal plane of the clamped brick is driven to rotate; the brick extruding component extrudes the telescopic rod of the brick extruding component to drive the pressing plate with the fixed end head to extrude the brick; the invention can be used as a brick grabbing and posture adjusting component of a brick laying robot.

The multifunctional brick-laying clamp simultaneously completes the laying of a plurality of bricks, and single clamp components are combined and connected by equidistant moving components to obtain a clamp capable of simultaneously laying a plurality of bricks; the equidistant moving part consists of an equidistant moving mechanism and two power mechanisms which move equidistantly, the equidistant moving mechanism is formed by hinging two groups of equidistant rods which are hinged end to end at the middle points of the rods, wherein the length of the four rods at the end part is half of that of the middle rod; the single clamp part is hinged to the hinge point of the two groups of rod pieces; two power mechanisms moving at equal intervals are arranged on any two adjacent single clamp parts, and the two telescopic rods moving at equal intervals are fixedly connected with each other; when the power mechanism with equidistant motion drives the equidistant motion mechanism to perform telescopic motion, any single clamp part moves equidistantly.

The multifunctional brick-laying clamp is used for paving horizontal mortar joint mortar, and one or two mortar funnels are mounted on the shell of the clamp, so that the multifunctional brick-laying clamp has the function of paving the horizontal mortar joint mortar; the clamp shell is provided with two rails, a single clamp part can slide on the rails of the clamp shell, a power mechanism of the positioning clamp is arranged on the single clamp part at the end part, and a telescopic rod of the positioning clamp is connected with the clamp shell and used for positioning the initial position of the single clamp part at the end part; the mortar funnel is connected with the clamp shell by four equal-length connecting rods, and the mortar funnel does parallelogram motion relative to the clamp shell; the bottom of the mortar funnel is provided with a flashboard for controlling mortar to flow out and close, two flanges are arranged around the lower part of the mortar funnel, the height of each flange is smaller than the thickness of a mortar joint, the mortar is prevented from flowing out of a wall, and the direction of each flange is parallel to that of a masonry wall.

Brick mortar joint mortar paving device includes: a mortar hopper, a brick conveying frame and a brick overturning wheel; the mortar hopper comprises a mortar storage box, supporting legs, a first discharge port and a second discharge port, wherein the supporting legs comprise a first supporting leg, a second supporting leg, a third supporting leg and a fourth supporting leg, the middle of the second supporting leg is inwards bent, a space is reserved for accommodating mortar at the discharge port, a first flashboard and a second flashboard for opening and closing the mortar are respectively arranged at the bottoms of the first discharge port and the second discharge port, bolt holes for connecting the supporting legs and the mortar storage box are waist-shaped holes, so that the height of the mortar storage box can be adjusted, the first discharge port is used for paving vertical mortar joint mortar, and the second discharge port is used for supplying mortar to a brick laying robot; the brick conveying frame consists of a brick conveying frame base, a first clamping rail and a second clamping rail, and bolt holes for connecting the brick conveying frame and the supporting legs are waist-shaped holes, so that the height of the conveying frame can be adjusted; brick upset wheel, brick upset wheel fixed connection is on the carriage, rotate the wheel pivot by square, square rotation wheel support frame, first top brick spare spout connecting rod, second top brick spare spout connecting rod and square rotation wheel top brick spare are constituteed, square rotation wheel middle square and every limit outwards extend a blade, square rotation wheel and square rotation wheel pivot fixed connection, square rotation wheel pivot can rotate for square rotation wheel support frame, square rotation wheel top brick spare is rotated to the square when the blade drives the fragment of brick and turns to horizontal position and is released the fragment of brick, it makes things convenient for snatching of fragment of brick to leave the clearance.

The brick carriage base is provided with a plurality of round steel with the part of fragment of brick contact, reduces the frictional force of brick carriage base and fragment of brick, the perk of the horizontal afterbody of brick carriage base anterior segment for the fragment of brick can rely on the gravity to act on and slide in the first rail of pressing from both sides and the second presss from both sides between the rail at brick carriage base afterbody, and first rail of pressing from both sides and the second has the chain to rotate under the motor drives respectively above pressing from both sides the rail, promotes the fragment of brick forward, opens at the first flashboard in propulsion in-process top, and the mortar paves at the fragment of brick top.

The square rotating wheel top brick piece is a part which is formed by fixing a plurality of round steel on the same rod, the four square rotating wheel top brick pieces are respectively arranged at the bottoms of the square rotating wheel blades, when the blades rotate to the horizontal position, the square rotating wheel top brick pieces contact with the sliding grooves on the first top brick piece sliding groove connecting rod and the second top brick piece sliding groove connecting rod, the square rotating wheel top brick pieces are ejected, and therefore the brick blocks are pushed out, and gaps are reserved to facilitate grabbing of the brick blocks.

The use method of the brick mortar joint mortar paving device comprises the following steps:

1) adjusting the distance between the first discharge port and the brick conveying frame base to enable the gap between the first discharge port and the top of the brick to be equal to the thickness of mortar joints of the brick;

2) placing the bricks at the tail part of the brick conveying frame base, and sliding the bricks into the space between the first clamping rail and the second clamping rail under the action of gravity;

3) the first clamping rail and the second clamping rail are driven by the motor to push the bricks forward;

4) after the brick passes through the first discharge port, the first gate plate is opened, mortar is paved on the top of the brick, and the brick with the paved mortar is pushed into the square rotating wheel;

5) after the square rotating wheels are fully piled with bricks, the first clamping rail and the second clamping rail operate temporarily;

6) the square rotating wheel rotates by 90 degrees, the brick is turned by 90 degrees, when the brick reaches a horizontal position, the brick is ejected out by the brick ejecting piece of the square rotating wheel, a gap is reserved to facilitate the grabbing of the brick, and a brick laying robot grabs the brick; the first clamping rail and the second clamping rail are restored to operate;

7) and (5) repeating the steps 2) to 6) until the wall is built.

The using method of the brick laying robot for laying the standard T-shaped bricks comprises the following steps:

1) the brick mortar joint mortar paving device conveys and turns bricks to a horizontal position, the bricks are kept in a vertical posture, namely a 240mm long and 115mm wide surface is vertical, and the first gate plate does not open to pave vertical mortar joint mortar in the brick conveying process;

2) the mechanical arm is kept in the long and narrow space to drive the mortar funnel to be in butt joint with the second discharge port, the second gate is opened, and the mortar funnel is closed after being filled with the mortar;

3) the multifunctional brick-laying clamp simultaneously clamps a plurality of bricks;

4) the multifunctional brick-laying clamp is driven to the position above a masonry wall body by a posture maintaining mechanical arm in the narrow and long space, so that a clamp shell is parallel to the masonry wall body, a mortar hopper is driven by a parallelogram mechanism formed by connecting rods to move to the top of the wall body needing to be paved with horizontal mortar joint mortar, the gap between the mortar hopper and the top of the wall body which is already built is equal to the thickness of a horizontal mortar joint, a flashboard is opened, and the mortar flows onto the wall body; the mortar funnel horizontally slides on the brick, so that mortar is paved on the wall, the flashboard is closed after the mortar is paved at a required position, and the mortar funnel is driven by a parallelogram mechanism formed by connecting rods to leave the wall;

5) the equidistant moving part pulls the single clamp parts apart equidistantly, the vertical surface overturning part acts to overturn the bricks at 90 degrees on the vertical surface, and the equidistant moving part finely adjusts the distance between the single clamp parts so that the clearance of the bricks is equal to the thickness of the vertical mortar joint; the posture maintaining mechanical arm in the narrow and long space moves the brick to the building position, and the brick extruding component mechanism acts to extrude the brick and place the brick on the wall;

6) and (5) repeating the steps 1) to 5) until the masonry of the wall is finished.

The using method of the brick laying robot for laying the standard brick comprises the following steps:

5) the equidistant moving part pulls the single clamp parts away at equal intervals, the horizontal plane rotating part acts to rotate the 240mm long edge of the brick to be parallel to the wall body, the vertical plane overturning part acts to overturn the brick at 90 degrees on the vertical plane, and the equidistant moving part finely adjusts the distance between the single clamp parts to ensure that the gap of the brick is equal to the thickness of the vertical mortar joint; the posture maintaining mechanical arm in the narrow and long space moves the brick to the building position, and the brick extruding component mechanism acts to extrude the brick and place the brick on the wall;

The use method of the brick-laying robot for laying the standard brick vertical brick comprises the following steps:

1) the brick mortar joint mortar paving device conveys and turns bricks to a horizontal position, the bricks are kept in a vertical posture, namely a 240mm long and 115mm wide surface is vertical, and the first gate plate is opened to pave vertical mortar joint mortar in the brick conveying process;

2) the multifunctional brick-laying clamp simultaneously clamps a plurality of bricks;

3) the equidistant moving part pulls the single clamp parts away at equal intervals, the horizontal plane rotating part acts to rotate the 240mm long edge of the brick to be parallel to the wall body, and the equidistant moving part finely adjusts the distance between the single clamp parts to enable the clearance of the brick to be equal to the thickness of the vertical mortar joint; the posture maintaining mechanical arm in the narrow and long space moves the brick to the building position, and the brick extruding component mechanism acts to extrude the brick and place the brick on the wall;

4) and (4) repeating the steps 1) to 3) until the masonry of the wall is finished.

The use method of the masonry building block of the brick laying robot comprises the following steps:

1) the brick mortar joint mortar paving device conveys and turns the building blocks to a horizontal position, the building blocks are kept upright on a surface parallel to the wall surface, and the first flashboard is opened to pave vertical mortar joint mortar in the building block conveying process;

3) the multifunctional brick-laying clamp clamps a block;

4) the multifunctional brick-laying clamp is driven to the position above a masonry wall body by a posture maintaining mechanical arm in the narrow and long space, so that a clamp shell is parallel to the masonry wall body, a mortar hopper is driven by a parallelogram mechanism formed by connecting rods to move to the top of the wall body needing to be paved with horizontal mortar joint mortar, the gap between the mortar hopper and the top of the wall body which is already built is equal to the thickness of a horizontal mortar joint, a flashboard is opened, and the mortar flows onto the wall body; the mortar funnel horizontally slides on the building block to enable mortar to be spread on the wall body, the flashboard is closed after the mortar is spread to a required position, and the mortar funnel leaves the wall body under the driving of a parallelogram mechanism formed by connecting rods;

5) the building blocks are moved to the building position by the posture maintaining mechanical arm in the narrow and long space, and the building block component extruding mechanism acts to extrude the building blocks and place the building blocks on a wall body;

First vertical dead lever, the vertical dead lever of second, the vertical dead lever of third and the vertical dead lever of fourth only remain 1 to 3 dead levers wherein, can reduce the robot size of laying bricks for be under construction in corner wall body or the narrow space.

The invention adopts the air cylinder, the hydraulic cylinder or the servo motor as a power system, a vision system and a distance sensing element are arranged to sense the external environment, and the PLC control system is used for controlling the power system to complete the brick laying work.

Through the technical scheme, the technical scheme of the invention has the beneficial effects that: the brick laying robot can simultaneously lay a plurality of standard bricks or a single brick, so that the construction efficiency is improved, and the popularization and application of the brick laying robot are promoted.

Drawings

For a clearer explanation of the invention, reference will be made below to a diagrammatic illustration of a brick laying robot, the following figures being merely examples of the invention, it being possible for a person skilled in the art to derive further figures from the provided figures without inventive effort.

Fig. 1 is a schematic view of the components of the brick laying robot:

the automatic leveling machine comprises a self-walking leveling machine base 1, a posture maintaining mechanical arm 2 in a long and narrow space, a multifunctional brick laying clamp 3 and a mortar paving device 4 for a brick mortar joint.

FIG. 2 is a schematic view of a self-leveling machine base:

a first vertical fixing rod 11, a second vertical fixing rod 12, a third vertical fixing rod 13, a fourth vertical fixing rod 14, a first horizontal sliding rod 15, a second horizontal sliding rod 16, a third horizontal sliding rod 17, a first vertical fixing rod lower section component 111, a first vertical fixing rod middle section component 112, a first vertical fixing rod upper section component 113, a second vertical fixing rod lower section component 121, a second vertical fixing rod middle section component 122, a second vertical fixing rod upper-stage part 123, a third vertical fixing rod lower-stage part 131, a third vertical fixing rod middle-stage part 132, a third vertical fixing rod upper-stage part 133, a fourth vertical fixing rod lower-stage part 141, a fourth vertical fixing rod middle-stage part 142, a fourth vertical fixing rod upper-stage part 143, a second horizontal sliding rod sliding part 161, a second horizontal sliding rod part 162, a third horizontal sliding rod sliding part 171, and a third horizontal sliding rod part 172.

FIG. 3 is a schematic view of a self-leveling machine base support:

the first vertical fixing rod 11, the second vertical fixing rod 12, the third vertical fixing rod 13, the fourth vertical fixing rod 14, the first horizontal sliding rod 15, the second horizontal sliding rod 16, the third horizontal sliding rod 17, the first vertical fixing rod lower section component 111, the second vertical fixing rod lower section component 121, the third vertical fixing rod lower section component 131, the fourth vertical fixing rod lower section component 141, the first horizontal support 1111, the second horizontal support 1211, the third horizontal support 1311, and the fourth horizontal support 1411.

Fig. 4 is a schematic view of the attitude maintaining robot arm in the narrow space:

a long slide mechanism 21, a short slide mechanism 22, a posture holding/rotating mechanism 23, a first long slide lever 211, a second long slide lever 212, a first short slide lever 221, a second short slide lever 222, a rotating lever 231, a first timing pulley 232, a second timing pulley 233, a timing belt 234, and a work member link 235

Fig. 5 is a schematic view of the attitude keeping turning mechanism in series:

the posture-keeping turning mechanism 23.

FIG. 6 is a schematic view of a single clamp component of the bricklaying multifunctional clamp:

clamping part 311, vertical surface turning part 312, horizontal surface turning part 313, extruded brick part 314, clamping part expansion link 3111, clamping piece 3112, rotation shaft 3113, disc 31131, vertical surface turning part expansion link 3121, connecting link 3122, turntable 3123, horizontal surface turning part expansion link 3131, connecting link 3132, connecting link 3133, extruded brick part expansion link 3141, pressing plate 3142.

FIG. 7 is a schematic view of a combination of single clamp components of the multifunctional bricklaying clamp:

a single clamp part 31, an equidistant moving part 32, an equidistant moving mechanism 321, an equidistant moving power mechanism 322 and an equidistant moving telescopic rod 3221.

FIG. 8 is a schematic view of a mortar funnel installed on the bricklaying multifunctional clamp:

the single clamp part 31, the clamp shell 33, the power mechanism 331 for positioning the clamp, the telescopic rod 3311 for positioning the clamp, the mortar hopper 34, the connecting rod 341, the gate 342 and the flange 343.

FIG. 9 is a schematic view of a mortar paving device for a brick mortar joint:

a mortar hopper 41, a brick conveying frame 42 and a brick overturning wheel 43.

FIG. 10 is a schematic view of a mortar hopper:

the mortar hopper 41, the mortar storage tank 411, the supporting leg 412, the first discharge port 413, the second discharge port 414, the first supporting leg 4121, the second supporting leg 4122, the third supporting leg 4123, the fourth supporting leg 4124, the first shutter 4131 and the second shutter 4141.

FIG. 11 is a schematic view of a brick carrier:

brick carriage 42, brick carriage base 421, first clamping rail 422, second clamping rail 423.

Figure 12 is a schematic view of a brick turnover wheel:

the brick turning wheel 43, the square rotating wheel 431, the square rotating wheel rotating shaft 432, the square rotating wheel supporting frame 433, the first top brick sliding groove connecting rod 434, the second top brick sliding groove connecting rod 435 and the square rotating wheel top brick 4311.

FIG. 13 is a schematic view of a square rotating wheel top block:

the square rotating wheel top brick 4311.

Detailed Description

Embodiment 1, as shown in fig. 1 to 13, the technical solution of the present invention includes: the automatic leveling machine comprises a self-walking leveling machine base 1, a posture maintaining mechanical arm 2 in a long and narrow space, a multifunctional brick laying clamp 3 and a mortar paving device 4 for a brick mortar joint; the posture maintaining mechanical arm 2 in the long and narrow space is connected to the self-walking and leveling machine base 1 and can slide and rotate relative to the self-walking and leveling machine base 1; the multifunctional bricklaying fixture 3 is connected to the posture maintaining mechanical arm 2 in the long and narrow space, and the multifunctional bricklaying fixture 3 can horizontally rotate relative to the posture maintaining mechanical arm 2 in the long and narrow space; the brick mortar joint mortar paving device 4 is fixed on the self-walking and leveling machine base 1 or is independently supported on the ground.

The self-walking and leveling machine base comprising: a first vertical fixing rod 11, a second vertical fixing rod 12, a third vertical fixing rod 13, a fourth vertical fixing rod 14, a first horizontal sliding rod 15, a second horizontal sliding rod 16 and a third horizontal sliding rod 17; the first vertical fixing rod 11, the second vertical fixing rod 12, the third vertical fixing rod 13 and the fourth vertical fixing rod 14 are respectively composed of a first vertical fixing rod lower section part 111, a first vertical fixing rod middle section part 112, a first vertical fixing rod upper section part 113, a second vertical fixing rod lower section part 121, a second vertical fixing rod middle section part 122, a second vertical fixing rod upper section part 123, a third vertical fixing rod lower section part 131, a third vertical fixing rod middle section part 132, a third vertical fixing rod upper section part 133, a fourth vertical fixing rod lower section part 141, a fourth vertical fixing rod middle section part 142 and a fourth vertical fixing rod upper section part 143; adjacent internal parts of the first vertical fixing rod 11, the second vertical fixing rod 12, the third vertical fixing rod 13 and the fourth vertical fixing rod 14 can slide mutually, namely two ends can stretch out and draw back, the two ends extend to be in contact with a ceiling and the ground of a floor slab and exert pressure, and the building is fixed under the action of the pressure; the first vertical fixing rod 11 and the second vertical fixing rod 12 can slide on the first horizontal sliding rod 15; the second horizontal sliding rod 16 is composed of a second horizontal sliding rod sliding part 161 and a second horizontal sliding rod part 162 which can slide with each other; the third horizontal sliding rod 17 is composed of a third horizontal sliding rod sliding part 171 and a third horizontal sliding rod part 172 which can slide with each other; the second horizontal sliding rod sliding part 161 and the third horizontal sliding rod sliding part 171 are fixed on the first vertical fixing rod middle section part 112 and the second vertical fixing rod middle section part 122, respectively; the second horizontal sliding rod member 162 and the third horizontal sliding rod member 172 are fixed to the third vertical fixing rod middle section member 132 and the fourth vertical fixing rod middle section member 142, respectively; the invention can accurately self-move and level in a building, is used as a base of a robot or a professional operation tool, and adopts manual operation for walking or is additionally provided with an intelligent control system to work in cooperation with the robot.

1) fixing, namely extending two ends of a first vertical fixing rod 11, a second vertical fixing rod 12, a third vertical fixing rod 13 and a fourth vertical fixing rod 14, contacting with a floor slab ceiling and the ground, applying pressure, and fixing with a building under the action of the pressure;

2) the first horizontal sliding rod 15 is moved, the first vertical fixing rod 11 and the third vertical fixing rod 13 are contracted at two ends and separated from a ceiling and the ground of a floor slab, and after the first vertical fixing rod 11 and the third vertical fixing rod 13 slide to required positions relative to the first horizontal sliding rod 15, the two ends of the first vertical fixing rod 11 and the third vertical fixing rod 13 extend out, are in contact with the ceiling and the ground of the floor slab and exert pressure, and are fixed with a building under the action of the pressure; the two ends of the second vertical fixing rod 12 and the fourth vertical fixing rod 14 are contracted to be separated from the ceiling and the ground of the floor slab, the two ends of the second vertical fixing rod 12 and the fourth vertical fixing rod 14 extend out after the second vertical fixing rod 12 and the fourth vertical fixing rod 14 drive the first horizontal sliding rod 15 to slide to a required position relative to the first vertical fixing rod 11 together, contact with the ceiling and the ground of the floor slab and apply pressure, and are fixed with the building under the action of the pressure;

3) the first horizontal sliding rod 15 is vertically moved, the two ends of the first vertical fixing rod 11 and the second vertical fixing rod 12 are contracted and separated from the ceiling and the ground of the floor slab, and after the second horizontal sliding rod sliding part 161 and the third horizontal sliding rod sliding part 171 slide to a required position relative to the second horizontal sliding rod part 162 and the third horizontal sliding rod part 172 respectively, the two ends of the first vertical fixing rod 11 and the second vertical fixing rod 12 extend out, are in contact with the ceiling and the ground of the floor slab, apply pressure and are fixed with the building under the action of the pressure; the third vertical fixing rod 13 and the fourth vertical fixing rod 14 are contracted at two ends and separated from the floor ceiling and the ground, the second horizontal sliding rod component 162 and the third horizontal sliding rod component 172 slide to required positions relative to the second horizontal sliding rod sliding component 161 and the third horizontal sliding rod sliding component 171 respectively, and then the two ends of the third vertical fixing rod 13 and the fourth vertical fixing rod 14 extend out, are in contact with the floor ceiling and the ground and exert pressure, and are fixed with the building under the action of the pressure;

4) the second vertical fixing rod 12, the third vertical fixing rod 13 and the fourth vertical fixing rod 14 are contracted at two ends and separated from a floor ceiling and the ground, the second vertical fixing rod 12, the third vertical fixing rod 13 and the fourth vertical fixing rod 14 extend at two ends after the first vertical fixing rod 11 is rotated to a required position, the two ends are in contact with the floor ceiling and the ground and exert pressure, the building is fixed under the action of the pressure, and the rotation along the second vertical fixing rod 12, the third vertical fixing rod 13 and the fourth vertical fixing rod 14 can be completed by the same method.

1) the first vertical fixing rod upper section part 113, the second vertical fixing rod upper section part 123, the third vertical fixing rod upper section part 133 and the fourth vertical fixing rod upper section part 143 are contracted to be separated from the floor slab ceiling;

2) adjusting the vertical heights of the first vertical fixing rod middle section component 112, the second vertical fixing rod middle section component 122, the third vertical fixing rod middle section component 132 and the fourth vertical fixing rod middle section component 142 to enable the plane formed by the first horizontal sliding rod 15, the second horizontal sliding rod 16 and the third horizontal sliding rod 17 to be horizontal, and further enabling the robot or the professional operation tool carried by the robot to be horizontal;

3) the first vertical fixing rod upper section part 113, the second vertical fixing rod upper section part 123, the third vertical fixing rod upper section part 133 and the fourth vertical fixing rod upper section part 143 extend out to be in contact with the floor and the ceiling and exert pressure, and are fixed with the building under the action of the pressure.

The self-walking and leveling machine base is characterized in that a first horizontal support 1111, a second horizontal support 1211, a third horizontal support 1311 and a fourth horizontal support 1411 which are close to the ground are respectively added at the lower parts of the first vertical fixing rod lower section component 111, the second vertical fixing rod lower section component 121, the third vertical fixing rod lower section component 131 and the fourth vertical fixing rod lower section component 141, the first horizontal support 1111, the second horizontal support 1211, the third horizontal support 1311 and the fourth horizontal support 1411 can respectively rotate on the first vertical fixing rod lower section component 111, the second vertical fixing rod lower section component 121, the third vertical fixing rod lower section component 131 and the fourth vertical fixing rod lower section component 141, and the equipment can still be stable in the walking process under the condition that no top floor slab ceiling is supported.

The self-walking and levelling machine base, the first horizontal sliding bar 15, the second horizontal sliding bar 16 and the third horizontal sliding bar 17 can be replaced by a telescopic mechanism or a folding mechanism.

The posture-maintaining robot arm 2 in the narrow and long space includes: a long direction sliding mechanism 21, a short direction sliding mechanism 22, and a posture holding rotation mechanism 23; the long sliding mechanism 21 is composed of a first long sliding rod 211 and a second long sliding rod 212, the first long sliding rod 211 and the second long sliding rod 212 can slide with each other, and the first long sliding rod 211 is fixed on the base; the short sliding mechanism 22 is composed of a first short sliding rod 221 and a second short sliding rod 222, the first short sliding rod 221 and the second short sliding rod 222 can slide with each other, the first short sliding rod 221 is vertically connected to the second long sliding rod 212, and the first short sliding rod 221 can slide on the second long sliding rod 212; the posture maintaining rotating mechanism 23 comprises a rotating rod 231, a first synchronous pulley 232, a second synchronous pulley 233, a synchronous belt 234 and a working part connecting piece 235, wherein the rotating rod 231 can rotate relative to the second short-direction sliding rod 222, the first synchronous pulley 232 is fixed on the second short-direction sliding rod 222, the first synchronous pulley 232 cannot rotate relative to the second short-direction sliding rod 222, the second synchronous pulley 233 is hinged on the rotating rod 231, the second synchronous pulley 233 can rotate relative to the rotating rod 231, the synchronous belt 234 is connected with the first synchronous pulley 232 and the second synchronous pulley 233, the synchronous belt 234 enables the second synchronous pulley 233 to synchronously rotate relative to the first synchronous pulley 232, the working part connecting piece 235 is fixedly connected on the second synchronous pulley 233, and the working part connecting piece 235 and the second synchronous pulley 233 rotate together; when the rotating lever 231 rotates, the working member link 235 is held in a posture not to rotate; the invention can be used for the operation of a construction robot mechanical arm or an industrial robot mechanical arm in a narrow and long space.

The attitude keeping turning mechanisms 23 can be connected in series, and the flexibility of the mechanical arm is enhanced.

The first short sliding rod 221 is vertically connected to the first long sliding rod 211, and the first short sliding rod 221 can slide or be fixed on the first long sliding rod 211, and the second long sliding rod 212 is eliminated.

Multifunctional brick laying clamp 3 includes: a clamping part 311, a vertical surface turning part 312, a horizontal surface turning part 313, a brick pressing part 314; the telescopic rod 3111 of the clamping part 311 and the clamping part is telescopic to drive two clamping pieces 3112 fixed at two ends to clamp or loosen bricks; the vertical surface turning part 312 and the two vertical surface turning parts 312 are respectively connected to the two clamping pieces 3112, and the two vertical surface turning part telescopic rods 3121 respectively drive the two turntables 3123 which can rotate on the two clamping pieces 3112 through the two connecting rods 3122, so as to drive the vertical surfaces of the bricks sandwiched between the two turntables 3123 to turn; the horizontal plane rotating part 313 and the clamping part 311 are fixed with a rotating shaft 3113, the rotating shaft 3113 is fixed with a disc 31131, the rotating shaft 3113 can rotate relative to the connecting part 3133, and the telescopic rod 3131 of the horizontal plane rotating part drives the disc 31131 to rotate through a connecting rod 3132, so as to drive the clamped brick to rotate horizontally; the brick extruding component 314 is characterized in that an expansion rod 3141 of the brick extruding component extends out to drive a pressing plate 3142 with a fixed end head to extrude a brick; the invention can be used as a brick grabbing and posture adjusting component of a brick laying robot.

The multifunctional brick-laying clamp 3 completes the laying of a plurality of bricks at the same time, and single clamp components 31 are combined and connected by equidistant moving components 32 to obtain a clamp capable of laying a plurality of bricks at the same time; the equidistant moving part 32 consists of an equidistant moving mechanism 321 and two power mechanisms 322 which move equidistantly, the equidistant moving mechanism 321 is formed by hinging two groups of equal-length rod pieces which are hinged end to end at the middle point of the rod pieces, wherein the length of the four rod pieces at the end part is half of that of the middle rod piece; the single clamp part 31 is hinged on the hinge point of the two groups of rod pieces; two power mechanisms 322 moving equidistantly are arranged on any two adjacent single clamp parts 31, and two telescopic rods 3221 moving equidistantly are fixedly connected with each other; when the power mechanism 322 with equidistant motion drives the equidistant motion mechanism 321 to move in a stretching and contracting manner, any single clamp part 31 moves equidistantly.

The multifunctional bricklaying fixture 3 is used for paving horizontal mortar joint mortar, and one or two mortar funnels 34 are arranged on a fixture shell 33, so that the multifunctional bricklaying fixture has the function of paving the horizontal mortar joint mortar; the clamp shell 33 is provided with two rails, the single clamp part 31 can slide on the rails of the clamp shell 33, the single end clamp part 31 is provided with a power mechanism 331 for positioning the clamp, and an expansion rod 3311 for positioning the clamp is connected with the clamp shell 33 and is used for positioning the initial position of the single end clamp part 31; the mortar funnel 34 is connected with the clamp shell 33 through four equal-length connecting rods 341, and the mortar funnel 34 does parallelogram motion relative to the clamp shell 33; the bottom of the mortar funnel 34 is provided with a gate 342 for controlling mortar to flow out and close, two flanges 343 are arranged around the lower part of the mortar funnel 34, the height of the flanges 343 is less than the thickness of mortar joints, the flanges are used for preventing mortar from flowing out of a wall, and the direction of the flanges is parallel to that of a masonry wall.

Brick mortar joint mortar device 4 that paves includes: a mortar hopper 41, a brick conveying frame 42 and a brick overturning wheel 43; the mortar hopper 41 consists of a mortar storage tank 411, supporting legs 412, a first discharge port 413 and a second discharge port 414, wherein the supporting legs 412 comprise first supporting legs 4121, second supporting legs 4122, third supporting legs 4123 and fourth supporting legs 4124, the middle parts of the second supporting legs 4122 are bent inwards, a space is reserved for receiving mortar at the discharge port, the bottoms of the first discharge port 413 and the second discharge port 414 are respectively provided with a first flashboard 4131 and a second flashboard 4141 for opening and closing the mortar, bolt holes for connecting the supporting legs 412 and the mortar storage tank 411 are waist-shaped holes, so that the height of the mortar storage tank 411 can be adjusted, the first discharge port 413 is used for paving vertical mortar joint mortar, and the second discharge port 414 is used for supplying mortar to a brick laying robot; the brick conveying frame 42 consists of a brick conveying frame base 421, a first clamping rail 422 and a second clamping rail 423, and bolt holes for connecting the brick conveying frame 42 and the supporting feet 412 are waist-shaped holes, so that the height of the conveying frame 42 can be adjusted; brick upset wheel 43, brick upset wheel 43 fixed connection is on carriage 42, rotate the wheel 431 by square, square rotation wheel pivot 432, square rotation wheel support frame 433, first roof brick spare spout connecting rod 434, second roof brick spare spout connecting rod 435 and square rotation wheel roof brick spare 4311 are constituteed, square rotation wheel 431 middle square and every limit outwards extend a blade, square rotation wheel 431 rotates wheel pivot 432 fixed connection with square rotation, square rotation wheel pivot 432 can rotate for square rotation wheel support frame 433, it rotates wheel roof brick spare 4311 to rotate the square when blade drives fragment of brick horizontal position and turns to the time, leave the clearance and make things convenient for the snatching of fragment of brick.

The part of brick carriage base 421 and fragment of brick contact is provided with a plurality of round steel, reduce the frictional force of brick carriage base 421 and fragment of brick, the perk of the horizontal afterbody of brick carriage base 421 anterior segment for the fragment of brick can rely on the gravity to act on the first rail 422 that presss from both sides of brick and second clamp between the rail 423 in brick carriage base 421 afterbody slides in, there is the chain to rotate under the motor drives above first rail 422 that presss from both sides and the second clamp rail 423 respectively, promote the fragment of brick forward, open at the first flashboard 4131 in propulsion in-process top, the mortar paves at the fragment of brick top.

The square top brick piece 4311 of the rotating wheel is a part formed by fixing a plurality of round steels on the same rod, the four square top brick pieces 4311 of the rotating wheel are respectively arranged at the bottoms of four blades of the square rotating wheel 431, when the blades rotate to the horizontal position, the square top brick piece 4311 of the rotating wheel contacts with the chutes on the first top brick piece chute connecting rod 434 and the second top brick piece chute connecting rod 435, the square top brick piece 4311 of the rotating wheel is ejected, so that bricks are pushed out, and a gap is reserved to facilitate the grabbing of the bricks.

The use method of the brick mortar joint mortar paving device 4 comprises the following steps:

1) adjusting the distance between the first discharge hole 413 and the brick conveying frame base 421 to make the gap between the first discharge hole 413 and the top of the brick equal to the thickness of mortar joint of the brick;

2) placing the brick at the tail of the brick conveying frame base 421, and sliding the brick into the space between the first clamping rail 422 and the second clamping rail 423 under the action of gravity;

3) the first clamping rail 422 and the second clamping rail 423 push the bricks forward under the driving of the motor;

4) when the brick passes through the first discharge hole 413, the first gate plate 4131 is opened, mortar is spread on the top of the brick, and the brick with spread mortar is pushed into the square rotating wheel 431;

5) after the square rotating wheel 431 is fully stacked, the first clamping rail 422 and the second clamping rail 423 operate temporarily;

6) the square rotating wheel 431 rotates for 90 degrees to turn the bricks for 90 degrees, when the bricks reach the horizontal position, the square rotating wheel top brick 4311 pushes the bricks out, a gap is reserved to facilitate the grabbing of the bricks, and a brick laying robot grabs the bricks; the first clamping rail 422 and the second clamping rail 423 resume operation;

7) and (5) repeating the steps 2) to 6) until the wall is built.

Example 2, a method of using a brick laying robot to lay a standard butyl brick as shown in figures 1 to 13, comprising the steps of:

1) the brick mortar joint mortar paving device 4 conveys and turns over bricks to a horizontal position, and keeps the bricks in a vertical posture, namely a 240mm long and 115mm wide surface is vertical, and the first gate plate 4131 does not open and pave vertical mortar joint mortar in the brick conveying process;

2) the posture maintaining mechanical arm 2 in the narrow space drives the mortar funnel 34 to be in butt joint with the second discharge hole 414, the second gate plate 4141 is opened, and the mortar funnel 34 is closed after being filled with the mortar;

3) the multifunctional brick-laying clamp 3 simultaneously clamps a plurality of bricks;

4) the multifunctional brick-laying clamp 3 is driven to be above a wall to be laid by the mechanical arm 2 in the narrow and long space, so that the clamp shell 33 is parallel to the wall to be laid, the mortar hopper 34 moves to the top of the wall to be paved with horizontal mortar joint under the driving of a parallelogram mechanism formed by the connecting rods 341, the gap between the mortar hopper and the top of the wall to be paved is equal to the thickness of a horizontal mortar joint, the gate plate 342 is opened, and the mortar flows onto the wall; the mortar funnel 34 horizontally slides on the brick to enable mortar to be spread on the wall, the gate 342 is closed after the mortar is spread to a required position, and the mortar funnel 34 leaves the wall under the driving of a parallelogram mechanism formed by the connecting rods 341;

5) the equidistant moving part 32 equidistantly pulls the single clamp parts 31 apart, the vertical surface overturning part 312 acts to overturn the bricks by 90 degrees on the vertical surface, and the equidistant moving part 32 finely adjusts the distance between the single clamp parts 31 so that the clearance of the bricks is equal to the thickness of the vertical mortar joint; the posture maintaining mechanical arm 2 in the narrow space moves bricks to the position of building, and the brick extruding part 314 mechanism acts to extrude the bricks and place the bricks on the wall;

Example 3, a method of using a brick laying robot to lay a standard brick running brick as shown in figures 1 to 13, comprising the steps of:

5) the equidistant moving part 32 pulls the single clamp parts 31 apart equidistantly, the horizontal plane rotating part 313 moves to rotate the 240mm long edge of the brick to be parallel to the wall body, the vertical plane overturning part 312 moves to overturn the brick at 90 degrees on the vertical plane, and the equidistant moving part 32 finely adjusts the distance between the single clamp parts 31 to ensure that the clearance of the brick is equal to the thickness of the vertical mortar joint; the posture maintaining mechanical arm 2 in the narrow space moves bricks to the position of building, and the brick extruding part 314 mechanism acts to extrude the bricks and place the bricks on the wall;

Example 4, a method of using a brick laying robot to lay a standard brick or a raised brick as shown in figures 1 to 13, comprising the steps of:

1) the brick mortar joint mortar paving device 4 conveys and turns bricks to a horizontal position, the bricks are kept in a vertical posture, namely a 240mm long and 115mm wide surface is vertical, and the first gate plate 4131 is opened to pave vertical mortar joint mortar in the brick conveying process;

2) the multifunctional brick-laying clamp 3 simultaneously clamps a plurality of bricks;

3) the equidistant moving part 32 pulls the single clamp parts 31 apart at equal intervals, the horizontal plane rotating part 313 acts to rotate the 240mm long edge of the brick to be parallel to the wall, and the equidistant moving part 32 finely adjusts the distance between the single clamp parts 31 to ensure that the clearance of the brick is equal to the thickness of the vertical mortar joint; the posture maintaining mechanical arm 2 in the narrow space moves bricks to the position of building, and the brick extruding part 314 mechanism acts to extrude the bricks and place the bricks on the wall;

Example 5, a method of using a brick laying robot masonry block as shown in figures 1 to 13, comprising the steps of:

1) the brick mortar joint mortar paving device 4 conveys and turns the building blocks to a horizontal position, the building blocks are kept upright on the surface parallel to the wall surface, and the first flashboard 4131 is opened to pave vertical mortar joint mortar in the building block conveying process;

3) the multifunctional brick-laying clamp 3 clamps a block;

4) the multifunctional brick-laying clamp 3 is driven to be above a wall to be laid by the mechanical arm 2 in the narrow and long space, so that the clamp shell 33 is parallel to the wall to be laid, the mortar hopper 34 moves to the top of the wall to be paved with horizontal mortar joint under the driving of a parallelogram mechanism formed by the connecting rods 341, the gap between the mortar hopper and the top of the wall to be paved is equal to the thickness of a horizontal mortar joint, the gate plate 342 is opened, and the mortar flows onto the wall; the mortar funnel 34 horizontally slides on the building block to enable mortar to be spread on the wall, the gate 342 is closed after the mortar is spread to a required position, and the mortar funnel 34 leaves the wall under the driving of a parallelogram mechanism formed by the connecting rods 341;

5) the posture maintaining mechanical arm 2 in the narrow space moves the building blocks to the building position, and the building block extruding component 314 mechanism acts to extrude the building blocks and place the building blocks on the wall;

In embodiment 6, as shown in fig. 1, the first vertical fixing rod 11, the second vertical fixing rod 12, the third vertical fixing rod 13 and the fourth vertical fixing rod 14 only retain 1 to 3 fixing rods, so that the size of the brick laying robot can be reduced, and the brick laying robot can be used for construction in corner walls or narrow spaces.

Those skilled in the art can make modifications or changes to the equivalent embodiments according to the technical contents disclosed above without departing from the technical solutions of the present invention, but any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solutions of the present invention.

Claims

1. The invention relates to a brick laying robot, which is characterized by comprising: the automatic leveling machine comprises a self-walking leveling machine base (1), a posture maintaining mechanical arm (2) in a long and narrow space, a multifunctional brick laying clamp (3) and a mortar paving device (4) for a brick mortar joint; the posture maintaining mechanical arm (2) in the long and narrow space is connected to the self-walking and leveling machine base (1) and can slide and rotate relative to the self-walking and leveling machine base (1); the multifunctional brick laying clamp (3) is connected to the posture maintaining mechanical arm (2) in the long and narrow space, and the multifunctional brick laying clamp (3) can horizontally rotate relative to the posture maintaining mechanical arm (2) in the long and narrow space; the brick mortar joint mortar paving device (4) is fixed on the base (1) of the self-walking and leveling machine or is independently supported on the ground.

2. The use of the brick laying robot for laying standard butyl bricks according to claim 1, characterized by comprising the steps of:

1) the brick mortar joint mortar paving device (4) conveys and turns bricks to a horizontal position, the bricks are kept in a vertical posture, namely a 240mm long wide surface of 115mm is vertical, and the first gate plate (4131) does not open and pave vertical mortar joint mortar in the brick conveying process;

2) the posture maintaining mechanical arm (2) in the narrow space drives the mortar funnel (34) to be in butt joint with the second discharge hole (414), the second gate plate (4141) is opened, and the mortar funnel (34) is closed after being filled with the mortar;

3) the multifunctional brick-laying clamp (3) clamps a plurality of bricks simultaneously;

4) the multifunctional brick-laying clamp (3) is driven to be above a masonry wall body by the posture maintaining mechanical arm (2) in the narrow and long space, so that a clamp shell (33) is parallel to the masonry wall body, a mortar funnel (34) is driven by a parallelogram mechanism formed by connecting rods (341) to move to the top of the wall body needing to be paved with horizontal mortar joint mortar, the gap between the mortar funnel and the top of the wall body which is already built is equal to the thickness of a horizontal mortar joint, a flashboard (342) is opened, and the mortar flows onto the wall body; the mortar funnel (34) horizontally slides on the brick to enable mortar to be spread on the wall, the gate plate (342) is closed after the mortar is spread to a required position, and the mortar funnel (34) is driven by a parallelogram mechanism formed by the connecting rods (341) to leave the wall;

5) the equidistant moving part (32) pulls the single clamp parts (31) apart equidistantly, the vertical surface overturning part (312) acts to overturn the bricks at 90 degrees on the vertical surface, and the equidistant moving part (32) finely adjusts the distance between the single clamp parts (31) to ensure that the clearance of the bricks is equal to the thickness of the vertical mortar joint; the brick is moved to a building position by the posture maintaining mechanical arm (2) in the narrow space, and the brick extruding part (314) is actuated to extrude the brick and place the brick on a wall body;

3. The method of using a brick laying robot to lay a standard brick running brick according to claim 1, comprising the steps of:

5) the equidistant moving part (32) pulls the single clamp parts (31) apart equidistantly, the horizontal plane rotating part (313) acts to rotate the 240mm long edge of the brick to be parallel to the wall body, the vertical plane overturning part (312) acts to overturn the brick at 90 degrees on the vertical plane, and the equidistant moving part (32) finely adjusts the distance between the single clamp parts (31) to enable the clearance of the brick to be equal to the thickness of the vertical mortar joint; the brick is moved to a building position by the posture maintaining mechanical arm (2) in the narrow space, and the brick extruding part (314) is actuated to extrude the brick and place the brick on a wall body;

4. The use of the brick laying robot for laying standard brick or raised brick according to claim 1, comprising the steps of:

1) the brick mortar joint mortar paving device (4) conveys and turns bricks to a horizontal position, the bricks are kept in a vertical posture, namely a 240mm long and 115mm wide surface is vertical, and the first gate plate (4131) is opened to pave vertical mortar joint mortar in the brick conveying process;

2) the multifunctional brick-laying clamp (3) clamps a plurality of bricks simultaneously;

3) the equidistant moving part (32) pulls the single clamp parts (31) apart at equal intervals, the horizontal plane rotating part (313) acts to rotate the 240mm long edge of the brick to be parallel to the wall body, and the equidistant moving part (32) finely adjusts the distance between the single clamp parts (31) to ensure that the clearance of the brick is equal to the thickness of the vertical mortar joint; the brick is moved to a building position by the posture maintaining mechanical arm (2) in the narrow space, and the brick extruding part (314) is actuated to extrude the brick and place the brick on a wall body;

5. A method of using a brick laying robot masonry block according to claim 1, characterised by the steps of:

1) the brick mortar joint mortar paving device (4) conveys and turns the building blocks to a horizontal position, the building blocks are kept upright on a surface parallel to the wall surface, and the first flashboard (4131) is opened to pave vertical mortar joint mortar in the building block conveying process;

3) a brick-laying multifunctional clamp (3) clamps a block;

4) the multifunctional brick-laying clamp (3) is driven to be above a masonry wall body by the posture maintaining mechanical arm (2) in the narrow and long space, so that a clamp shell (33) is parallel to the masonry wall body, a mortar funnel (34) is driven by a parallelogram mechanism formed by connecting rods (341) to move to the top of the wall body needing to be paved with horizontal mortar joint mortar, the gap between the mortar funnel and the top of the wall body which is already built is equal to the thickness of a horizontal mortar joint, a flashboard (342) is opened, and the mortar flows onto the wall body; the mortar funnel (34) horizontally slides on the building block to enable mortar to be spread on the wall body, the gate plate (342) is closed after the mortar is spread to a required position, and the mortar funnel (34) is driven by a parallelogram mechanism formed by the connecting rods (341) to leave the wall body;

5) the building blocks are moved to the building position by the posture maintaining mechanical arm (2) in the narrow space, and the building block extruding component (314) acts to extrude the building blocks and place the building blocks on the wall;

6. The brick laying robot according to claim 1, characterized in that the first vertical fixing rod (11), the second vertical fixing rod (12), the third vertical fixing rod (13) and the fourth vertical fixing rod (14) only retain 1 to 3 fixing rods, and the brick laying robot can be reduced in size and used for construction in corner walls or narrow spaces.