CN110842949A - Brick laying robot - Google Patents
Brick laying robot Download PDFInfo
- Publication number
- CN110842949A CN110842949A CN202010034283.7A CN202010034283A CN110842949A CN 110842949 A CN110842949 A CN 110842949A CN 202010034283 A CN202010034283 A CN 202010034283A CN 110842949 A CN110842949 A CN 110842949A
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- China
- Prior art keywords
- brick
- laying
- moving mechanism
- manipulator
- supply
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
Abstract
The invention discloses a brick laying robot, comprising: a chassis; the brick supply moving mechanism is arranged on the chassis; the brick feeding manipulator is used for grabbing bricks to be plastered, is arranged at the output end of the brick feeding moving mechanism, and can drive the brick feeding manipulator to lift and horizontally move; the bricklaying moving mechanism is arranged on the chassis; the mechanical hand of laying bricks for snatch the brick of having plastered the thick liquid and build by laying bricks or stones, the mechanical hand of laying bricks sets up in the output of the moving mechanism of laying bricks, and the moving mechanism of laying bricks can drive the mechanical hand of laying bricks lift and horizontal migration. According to the brick laying robot, the brick supply manipulator for grabbing the bricks to be plastered is arranged at the output end of the brick supply moving mechanism, and the brick supply moving mechanism can drive the brick supply manipulator to lift and horizontally move, so that the brick supply manipulator can grab the bricks at different heights and different positions in the horizontal direction on the ground, and the expansion of the moving range for grabbing the bricks is realized.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a brick laying robot.
Background
At present, 80% of inner walls in the market are in a masonry form, a traditional operation method of full manual operation is still adopted in domestic and foreign masonry, the labor intensity of workers is high, the efficiency is low, the operation environment condition is poor, the operation cost is high, and the engineering quality and the safety of the workers are not easy to guarantee. With the continuous development of the construction industry and the continuous progress of science and technology, the traditional operation method cannot meet the requirements of the times, so a design scheme for building by replacing a brick-laying robot with a human is provided, and under the background, how to expand the moving range of the brick-laying robot for grabbing bricks is one of the problems which need to be solved urgently.
Disclosure of Invention
The invention aims to provide a brick laying robot which can expand the moving range of grabbing bricks.
In order to achieve the purpose, the invention adopts the following technical scheme:
a brick laying robot comprising:
a chassis;
the brick supply moving mechanism is arranged on the base plate;
the brick feeding manipulator is used for grabbing bricks to be plastered, the brick feeding manipulator is arranged at the output end of the brick feeding moving mechanism, and the brick feeding moving mechanism can drive the brick feeding manipulator to lift and horizontally move;
the bricklaying moving mechanism is arranged on the chassis; and
the brick laying manipulator is used for grabbing the plastered bricks for laying bricks, and the brick laying manipulator is arranged at the output end of the brick laying moving mechanism and can drive the brick laying manipulator to lift and horizontally move.
In some embodiments, the supply brick moving mechanism comprises:
the brick supply bracket is arranged on the chassis;
the first linear driving assembly is arranged on the brick supply bracket, and the output end of the first linear driving assembly can reciprocate along the horizontal direction; and
the second linear driving assembly is arranged at the output end of the first linear driving assembly, the output end of the second linear driving assembly can vertically lift, and the brick feeding manipulator is installed at the output end of the second linear driving assembly.
In some embodiments, the first linear drive assembly and the second linear drive assembly are both lead screw nut assemblies.
In some embodiments, the brick laying robot further comprises:
and the first rotary driving mechanism is arranged at the output end of the brick supply moving mechanism, is connected with the brick supply manipulator and can drive the brick supply manipulator to rotate in a horizontal plane.
In some embodiments, the first rotary drive mechanism comprises:
the first connecting plate is connected to the output end of the brick supply moving mechanism; and
the brick supply manipulator comprises a first driving assembly, wherein the first driving assembly comprises a first joint part and a first motor, the first motor is arranged on the first connecting plate, an output shaft of the first motor is vertically arranged, the first joint part is connected with the output shaft of the first motor, the first motor can drive the first joint part to rotate, and the brick supply manipulator is arranged on the first joint part.
In some embodiments, the brick feeding robot includes:
a first arm mounted to the first joint member and horizontally disposed;
the second arm is connected below the first arm in a sliding mode, and the length direction of the second arm is the same as that of the first arm;
the brick supply clamping claw is used for grabbing bricks to be plastered, and is connected to the second arm; and
and the second driving assembly is arranged on the first arm and can drive the second arm to reciprocate along the length direction of the first arm.
In some embodiments, the brick feeding robot further comprises:
the first mounting frame is rotatably connected to the second arm, and the brick clamping claw is connected to the first mounting frame; and
and the third driving assembly is arranged on the second arm and can drive the first mounting rack to rotate relative to the second arm in a horizontal plane.
In some embodiments, the brick laying robot further comprises:
the bricklaying moving mechanism is arranged on the chassis; and
the brick laying manipulator is used for grabbing the plastered bricks for laying bricks, and the brick laying manipulator is arranged at the output end of the brick laying moving mechanism and can drive the brick laying manipulator to lift and horizontally move.
In some embodiments, the brick laying robot further comprises:
and the second rotary driving mechanism is arranged at the output end of the brick laying moving mechanism, is connected with the brick laying manipulator and can drive the brick laying manipulator to rotate in a horizontal plane.
In some embodiments, the brick laying robot further comprises:
the brick jacking mechanism is arranged on the chassis and used for placing the bricks to be subjected to plastering and grabbed by the brick feeding manipulator;
the mortar feeding mechanism is used for supplying mortar; and
and the mortar applying mechanism is used for applying the mortar of the mortar conveying mechanism to the brick to be subjected to mortar applying arranged on the brick jacking mechanism, and the brick laying manipulator is used for grabbing the brick coated with the mortar on the brick jacking mechanism.
In some embodiments, the brick laying robot further comprises an electric cabinet, the electric cabinet and the brick jacking mechanism are positioned at two opposite ends of the chassis, and the plastering mechanism is positioned above the brick jacking mechanism;
the slurry feeding mechanism is located between the brick supplying moving mechanism and the brick laying moving mechanism.
In some embodiments, at least one of the brick laying movement mechanism and the brick supply movement mechanism is movably mounted on the chassis to be closer to or farther from the other.
In some embodiments, the top of the chassis is provided with a sliding drive assembly capable of driving at least one of the laying movement mechanism and the supply movement mechanism to move on the chassis to approach or move away from the other.
In some embodiments, the slide drive assembly comprises:
the sliding motor is arranged on the chassis;
the double-end lead screw is connected to the output end of the sliding motor and can rotate under the driving of the sliding motor; and
one of the two movable pieces is connected with the brick supply moving mechanism, and the other movable piece is connected with the brick laying moving mechanism; the two moving parts are respectively in threaded connection with two ends of the double-head screw rod and can move along the length direction of the double-head screw rod along with the rotation of the double-head screw rod so as to be close to or far away from each other.
The brick laying robot at least has the following beneficial effects: the brick supplying manipulator used for grabbing the brick to be plastered is arranged at the output end of the brick supplying moving mechanism, and the brick supplying moving mechanism can drive the brick supplying manipulator to lift and move horizontally, so that the brick supplying manipulator can grab bricks at different heights and different positions in the horizontal direction on the ground, and the expansion of the moving range for grabbing the bricks is realized.
Drawings
Fig. 1 is a schematic structural diagram of a brick laying robot provided by an embodiment of the invention;
fig. 2 is a top view of the brick laying robot shown in fig. 1;
fig. 3 is a left side view of the brick laying robot shown in fig. 2;
fig. 4 is a schematic structural view of a brick laying robot provided by an embodiment of the invention in a folded state;
fig. 5 is a front view of the brick laying robot shown in fig. 4;
fig. 6 is a top view of the brick laying robot shown in fig. 5;
fig. 7 is a schematic view of a partial structure of a brick supplying moving mechanism and a brick laying moving mechanism of a brick laying robot moving towards the middle of a chassis according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a chassis provided in an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a brick feeding moving mechanism and a brick feeding manipulator provided by an embodiment of the invention;
fig. 10 is a schematic structural view of a brick laying moving mechanism and a brick laying manipulator provided in an embodiment of the present invention;
the reference numbers illustrate:
the brick feeding mechanism comprises a chassis 10, a brick feeding moving mechanism 20, a brick feeding support 21, a first brick feeding sliding rail 22, a second brick feeding motor 23, a second brick feeding screw 24, a first brick feeding motor 25, a first brick feeding screw 26, a second brick feeding sliding rail 27, a brick feeding manipulator 30, a first connecting plate 31, a first motor 32, a first arm 33, a brick feeding clamping jaw 34, a second arm 35, a first mounting frame 36, a brick laying moving mechanism 40, a brick laying support 41, a lifting motor 42, a lifting screw 43, a transverse moving mounting frame 44, a transverse moving motor 45, a driving wheel 46, a driven wheel 47, a synchronous belt 48, a brick laying manipulator 50, a brick jacking mechanism 60, a mortar conveying mechanism 70, a mortar plastering mechanism 80, an electric cabinet 90, a sliding motor 101, a double-head screw 102, a movable piece 103, a guide rail 111 and a sliding block 112.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
As shown in fig. 1 to 10, the brick laying robot of an embodiment includes a chassis 10, a brick supply moving mechanism 20, a brick supply manipulator 30, a brick laying moving mechanism 40, and a brick laying manipulator 50. Wherein, the brick supply moving mechanism 20 is arranged on the chassis 10; the brick supplying manipulator 30 is used for grabbing bricks to be grouted, the brick supplying manipulator 30 is arranged at the output end of the brick supplying moving mechanism 20, and the brick supplying moving mechanism 20 can drive the brick supplying manipulator 30 to move up and down and horizontally; the bricklaying moving mechanism 40 is arranged on the chassis 10; the brick laying manipulator 50 is used for grabbing the plastered bricks for laying bricks, the brick laying manipulator 50 is arranged at the output end of the brick laying moving mechanism 40, and the brick laying moving mechanism 40 can drive the brick laying manipulator 50 to lift and move horizontally.
The brick-laying robot arranges the brick-supplying manipulator 30 for grabbing bricks to be plastered at the output end of the brick-supplying moving mechanism 20, and the brick-supplying moving mechanism 20 can drive the brick-supplying manipulator 30 to move up and down and horizontally, so that the brick-supplying manipulator 30 can grab bricks at different heights on the ground and different positions in the horizontal direction, and the brick-grabbing movable range is expanded; through setting up the manipulator 50 of laying bricks in the output of the moving mechanism 40 of laying bricks, the moving mechanism 40 of laying bricks can drive the manipulator 50 of laying bricks lift and horizontal migration to the manipulator 50 of laying bricks can snatch the brick of plastering and remove to the different positions of co-altitude and horizontal direction, has enlarged the home range of manipulator 50 of laying bricks.
As shown in fig. 9, in some embodiments, the tile feeding moving mechanism 20 comprises a tile feeding support 21, a first linear driving assembly and a second linear driving assembly, wherein the tile feeding support 21 is disposed on the chassis 10; the first linear driving assembly is arranged on the brick supply bracket 21, and the output end of the first linear driving assembly can reciprocate along the horizontal direction; the second linear driving assembly is arranged at the output end of the first linear driving assembly, the output end of the second linear driving assembly can vertically lift, and the brick-making manipulator 30 is arranged at the output end of the second linear driving assembly.
In some embodiments, the first linear drive assembly and the second linear drive assembly are both lead screw nut assemblies. Specifically, the first linear driving assembly comprises a first brick supply motor 25, a first brick supply lead screw 26 and a first nut, the first nut is connected with the second linear driving assembly, the first brick supply lead screw 26 is connected to the output end of the first brick supply motor 25 and extends along the horizontal direction, and the first brick supply motor 25 can drive the first brick supply lead screw 26 to rotate around the axis of the first brick supply lead screw 26; the first nut is sleeved on the first brick supply lead screw 26 and is in threaded connection with the first brick supply lead screw 26, and can drive the second linear driving assembly and the brick supply manipulator 30 to move along the length direction of the first brick supply lead screw 26 along with the rotation of the first brick supply lead screw 26.
The second linear driving assembly comprises a second brick supply motor 23, a second brick supply lead screw 24 and a second nut, the second nut is connected with the brick supply manipulator 30, the second brick supply lead screw 24 is connected with the output end of the second brick supply motor 23 and extends along the vertical direction, and the second brick supply motor 23 can drive the second brick supply lead screw 24 to rotate around the axis of the second brick supply lead screw 24; the second nut is sleeved on the second brick supply lead screw 24, is in threaded connection with the second brick supply lead screw 24, and can drive the brick supply manipulator 30 to move along the length direction of the second brick supply lead screw 24 along with the rotation of the second brick supply lead screw 24.
Further, the brick feeding moving mechanism 20 further includes a first guide assembly for guiding the vertical lifting of the brick feeding robot 30 and a second guide assembly for guiding the horizontal movement of the second linear driving assembly.
Specifically, the first guiding assembly includes a first brick supplying slide rail 22 and a first brick supplying slide block slidably connected to the first brick supplying slide rail 22, a length direction of the first brick supplying slide rail 22 is the same as a length direction of the second brick supplying lead screw 24, and the first brick supplying slide block is fixedly connected to the brick supplying manipulator 30. The second guiding assembly comprises a second brick supplying slide rail 27 and a second brick supplying slide block which is connected with the second brick supplying slide rail 27 in a sliding mode, the length direction of the second brick supplying slide rail 27 is the same as that of the first brick supplying lead screw 26, and the second brick supplying slide block is fixedly connected with the second linear driving assembly.
In some embodiments, the brick laying robot further comprises a first rotary driving mechanism disposed at the output end of the brick feeding moving mechanism 20, and the first rotary driving mechanism is connected to the brick feeding robot 30 and can drive the brick feeding robot 30 to rotate in the horizontal plane. The brick feeding manipulator 30 can be far away from the brick feeding moving mechanism 20 (extended) through the first rotary driving mechanism in operation so as to increase the working stroke; when the brick laying robot needs to pass through a narrow space, the brick feeding manipulator 30 can rotate in the horizontal plane to be attached (contracted) with the brick feeding moving mechanism 20 through the first rotary driving mechanism, so that the overall dimension of the brick laying robot is reduced, the brick laying robot can smoothly pass through the narrow space, and the space adaptability of the brick laying robot is improved.
Optionally, the first rotary drive mechanism comprises a first connecting plate 31 and a first drive assembly, the first connecting plate 31 being connected to the output end of the brick moving mechanism 20; the first driving assembly comprises a first joint part and a first motor 32, the first motor 32 is arranged on the first connecting plate 31, an output shaft of the first motor is vertically arranged, the first joint part is connected with the output shaft of the first motor 32, and the first motor 32 can drive the first joint part to rotate so that the brick manipulator 30 can be installed on the first joint part. When the brick feeding manipulator 30 is used, the brick feeding manipulator 30 extends horizontally, so that the bending moment of the brick feeding manipulator 30 is completely borne on the first joint part, a motor output shaft or a speed reducer is not needed for transmission in the middle, the required motor torque is greatly reduced, the bending moment bearing capacity is improved, and compared with the traditional mode that an arm is directly arranged on the speed reducer or the motor output shaft, the brick feeding manipulator is more symmetrical and has more reasonable structural stress; during the rotation of the first joint member, only the rotation friction force and the inertia force for starting and stopping the brick-supplying manipulator 30 need to be overcome.
As shown in fig. 9, in some embodiments, the brick feeding robot 30 includes a first arm 33, a second arm 35, a brick feeding gripper 34, and a second driving assembly, the first arm 33 being mounted to the first joint member and horizontally disposed; the second arm 35 is slidably connected below the first arm 33, and the length direction thereof is the same as the length direction of the first arm 33; the brick clamping claw 34 is used for grabbing bricks to be plastered, and the brick clamping claw 34 is connected to the second arm 35; the second driving assembly is disposed on the first arm 33, and the second driving assembly can drive the second arm 35 to reciprocate along the length direction of the first arm 33. It can be understood that by designing the second arm 35 to be slidably connected below the first arm 33 and to have the same length direction as the first arm 33, the extension length of the brick feeding robot 30 can be varied to better suit the work requirement: when the second arm 35 extends, the total length of the brick feeding manipulator 30 is increased, and the movable range of the brick feeding manipulator 30 is expanded; when the second arm 35 is retracted, the overall length of the brick feeding robot 30 becomes short, and the occupied space can be reduced.
Further, the brick feeding manipulator 30 further comprises a first mounting bracket 36 and a third driving assembly, wherein the first mounting bracket 36 is rotatably connected to the second arm 35, and the brick clamping claw 34 is connected to the first mounting bracket 36; the third driving assembly is disposed on the second arm 35, and the third driving assembly can drive the first mounting frame 36 to rotate in a horizontal plane relative to the second arm 35, so as to increase flexibility of the brick clamping jaw 34.
As shown in fig. 10, the bricklaying movement mechanism 40 includes a bricklaying support 41, a lifting drive assembly, and a traverse drive assembly, wherein the bricklaying support 41 is provided on the chassis 10; the lifting driving assembly is arranged on the bricklaying support 41, and the output end of the lifting driving assembly can vertically lift; the transverse moving driving assembly is arranged at the output end of the lifting driving assembly, the output end of the transverse moving driving assembly can reciprocate along the horizontal direction, and the brick-laying manipulator 50 is arranged at the output end of the transverse moving driving assembly.
Specifically, the lifting driving assembly comprises a lifting motor 42, a lifting screw 43 and a lifting nut, the lifting nut is connected with the transverse moving driving assembly, the lifting screw 43 is connected to the output end of the lifting motor 42 and extends along the vertical direction, and the lifting motor 42 can drive the lifting screw 43 to rotate around the axis of the lifting screw 43; the lifting nut is sleeved on the lifting screw 43 and is in threaded connection with the lifting screw 43, and can drive the transverse moving driving assembly and the brick laying manipulator 50 to move along the length direction of the lifting screw 43 along with the rotation of the lifting screw 43.
The transverse moving driving assembly comprises a transverse moving mounting rack 44, a transverse moving motor 45 and a transmission assembly, the transverse moving mounting rack 44 is horizontally arranged and connected with the lifting nut, and the transverse moving motor 45 is installed on the transverse moving mounting rack 44; the transmission assembly comprises a driving wheel 46, a driven wheel 47 and a synchronous belt 48, the synchronous belt 48 is respectively connected with the driven wheel 47 and the driving wheel 46, the driving wheel 46 is connected with an output shaft of the transverse moving motor 45 and can rotate under the driving of the transverse moving motor 45, and the synchronous belt 48 is connected with a brick laying manipulator 50. As the drive wheel 46 rotates, the timing belt 48 will cause the brick laying robot 50 to move horizontally relative to the traverse mounting 44.
Further, the brick laying robot further comprises a second rotary driving mechanism, the second rotary driving mechanism is arranged at the output end of the brick laying moving mechanism 40, and the second rotary driving mechanism is connected with the brick laying manipulator 50 and can drive the brick laying manipulator 50 to rotate in the horizontal plane. The brick laying manipulator 50 can be far away from the brick laying moving mechanism 40 (extended) through the second rotary driving mechanism during operation so as to increase the working stroke; when needing to pass through narrow space, accessible second rotary driving mechanism makes brick laying manipulator 50 at horizontal rotation to laminating (shrink) with brick laying moving mechanism 40 to reduce brick laying robot's overall dimension, so that brick laying robot passes through narrow space smoothly, has improved brick laying robot's space adaptability.
Optionally, the second rotary driving mechanism comprises a second connecting plate and a second driving assembly, the second connecting plate is connected to the output end of the brick laying moving mechanism 40; the second driving assembly comprises a second joint piece and a second motor, the second motor is arranged on the second connecting plate, an output shaft of the second motor is vertical, the second joint piece is connected with the output shaft of the second motor, the second motor can drive the second joint piece to rotate, and the brick laying manipulator 50 is installed on the second joint piece. When the brick laying manipulator is used, the brick laying manipulator 50 extends horizontally, so that the bending moment of the brick laying manipulator 50 is completely borne on the second joint part, and the transmission of a motor output shaft or a speed reducer is not needed in the middle, so that the required motor torque is greatly reduced, the bending moment bearing capacity is improved, and compared with the traditional mode that an arm is directly arranged on the speed reducer or the motor output shaft, the brick laying manipulator is more symmetrical and the structural stress is more reasonable; during the rotation of the second joint member, only the rotation friction force and the inertia force of the brick laying manipulator 50 for starting and stopping need to be overcome.
In some embodiments, at least one of the brick laying moving mechanism 40 and the brick supply moving mechanism 20 is movably mounted on the chassis 10 to be close to or far from the other, so that both the moving mechanism and the manipulator can be retracted in the space right above the chassis 10, the overall passing performance of the robot is improved, and the manipulator or the moving mechanism is prevented from generating abnormal collision with the outside during walking.
Optionally, the top of the chassis 10 is provided with a sliding drive assembly capable of driving at least one of the brick laying movement mechanism 40 and the brick moving mechanism 20 to move on the chassis 10 to approach or move away from the other.
As shown in fig. 8, the sliding driving assembly may include a sliding motor 101, a double-headed lead screw 102 and two movable members 103, wherein the sliding motor 101 is disposed on the chassis 10; the double-head screw 102 is connected to the output end of the sliding motor 101 and can rotate under the driving of the sliding motor 101; one movable piece 103 is connected with the brick supply moving mechanism 20, and the other movable piece 103 is connected with the brick laying moving mechanism 40; the two movable members 103 are respectively in threaded connection with two ends of the double-threaded lead screw 102, and can move along the length direction of the double-threaded lead screw 102 along with the rotation of the double-threaded lead screw 102 so as to be close to or far away from each other. Namely, the bricklaying moving mechanism 40 and the brick supplying moving mechanism 20 are driven by the double-headed screw 102 and the movable member 103 to approach and open each other, and the limit positions of the two can be set by the stroke length and the end of the double-headed screw 102.
The double-head screw 102 drives the two movable pieces 103 to move through one power source, the structure is simpler, and when the double-head screw 102 rotates, the bricklaying moving mechanism 40 and the brick supplying moving mechanism 20 are driven to move towards the directions close to or away from each other at the same time. Alternatively, the brick moving mechanism 40 and the brick supply moving mechanism 20 may be mounted on the guide rail 111 and the slider 112, guided by the guide rail 111 and the slider 112.
Specifically, as shown in fig. 7, the brick laying moving mechanism 40 and the brick supplying moving mechanism 20 are arranged in parallel and in parallel, and are respectively connected with the chassis 10 in a sliding manner, when the brick laying moving mechanism 40 slides to a limit position close to the brick supplying moving mechanism 20, and the brick laying manipulator 50 swings (rotates) to be attached to the brick laying moving mechanism 40, at this time, the brick laying moving mechanism 40 and the brick laying manipulator 50 are located in the longitudinal three-dimensional space of the chassis 10 and do not protrude out of the longitudinal three-dimensional space of the chassis 10 (a folded state, as shown in fig. 5 and 6). When the brick supplying moving mechanism 20 slides to the limit position close to the brick laying moving mechanism 40, and the brick supplying manipulator 30 swings (rotates) to be attached to the brick supplying moving mechanism 20, the brick supplying moving mechanism 20 and the brick supplying manipulator 30 are located in the longitudinal three-dimensional space of the chassis 10, and do not protrude out of the longitudinal three-dimensional space of the chassis 10 (the folded state, as shown in fig. 5 and 6). The slidable design structure of the brick laying moving mechanism 40 and the brick supplying moving mechanism 20 can enable the moving mechanism and the manipulator to be recovered in the space right above the chassis 10, so that the overall passing performance of the robot is improved, and the manipulator or the moving mechanism is prevented from being abnormally collided with the outside in the walking process.
As shown in fig. 1-6, in some embodiments, the brick laying robot further comprises a brick jacking mechanism 60, a slurry feed mechanism 70, and a slurry application mechanism 80. The brick jacking mechanism 60 is arranged on the chassis 10 and used for placing bricks to be grouted, which are grabbed by the brick manipulator 30; the mortar feeding mechanism 70 is used for supplying mortar; plastering mechanism 80 is used for smearing the mortar of slurry feeding mechanism 70 to the brick fragment of waiting to plaster on arranging brick climbing mechanism 60 in, and bricklaying manipulator 50 is used for snatching the brick fragment of having painted the mortar on brick climbing mechanism 60, and the robot of building bricks can collect and grab brick, plaster and function in an organic whole of building bricks from this, realizes that the robot of building bricks replaces the workman to carry out the work of building bricks, improves and builds by laying bricks efficiency.
Further, the brick laying robot further comprises an electric cabinet 90, the electric cabinet 90 and the brick jacking mechanism 60 are positioned at two opposite ends of the chassis 10, and the plastering mechanism 80 is positioned above the brick jacking mechanism 60; the brick supplying moving mechanism 20 and the brick laying moving mechanism 40 are positioned in the middle of the chassis 10 and are arranged at intervals, and the slurry feeding mechanism 70 is positioned between the brick supplying moving mechanism 20 and the brick laying moving mechanism 40. The electric cabinet 90, the brick supply moving mechanism 20, the brick jacking mechanism 60, the plastering mechanism 80 and the brick laying moving mechanism 40 are reasonably arranged on the chassis 10 and work independently, actions are not interfered with each other and can be carried out synchronously, and the brick laying efficiency is improved.
Alternatively, the chassis 10 may be an AGV (Automated Guided Vehicle), and the AGV drives the electric cabinet 90, the brick moving mechanism 20, the brick lifting mechanism 60, the plastering mechanism 80, and the brick laying moving mechanism 40 to move together, so that a large-scale operation can be realized.
The working flow of the brick laying robot shown in fig. 1 to 6 is as follows:
the chassis 10 moves to a position to be built; the brick feeding manipulator 30 grabs bricks to be grouted from the ground according to visual guidance and places the bricks to be grouted on the brick jacking mechanism 60; the plastering mechanism 80 plasters the bottom surface and the side surface of the brick to be plastered on the brick jacking mechanism 60, and then jacks the plastered brick to a proper height through the brick jacking mechanism 60; the brick laying manipulator 50 grabs the grouted bricks from the brick jacking mechanism 60 to move to a laying position, and lays the grouted bricks to a correct position according to visual guidance and sensor detection to finish brick laying; and continuously building the next brick.
It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A brick laying robot, comprising:
a chassis (10);
a brick supply moving mechanism (20) arranged on the chassis (10);
the brick feeding manipulator (30) is used for grabbing bricks to be plastered, the brick feeding manipulator (30) is arranged at the output end of the brick feeding moving mechanism (20), and the brick feeding moving mechanism (20) can drive the brick feeding manipulator (30) to lift and horizontally move;
the bricklaying moving mechanism (40) is arranged on the chassis (10); and
the mechanical hand of laying bricks (50) for snatch the plastering fragment of brick and build by laying bricks or stones, the mechanical hand of laying bricks (50) set up in the output of the moving mechanism of laying bricks (40), moving mechanism of laying bricks (40) can drive mechanical hand of laying bricks (50) lift and horizontal migration.
2. The brick laying robot according to claim 1, characterized in that the brick supply moving mechanism (20) comprises:
a brick supply bracket (21) arranged on the chassis (10);
the first linear driving assembly is arranged on the brick supply bracket (21), and the output end of the first linear driving assembly can reciprocate along the horizontal direction; and
the second linear driving assembly is arranged at the output end of the first linear driving assembly, the output end of the second linear driving assembly can vertically lift, and the brick feeding manipulator (30) is installed at the output end of the second linear driving assembly.
3. The brick laying robot of claim 2 wherein the first linear drive assembly and the second linear drive assembly are both lead screw nut assemblies.
4. The brick laying robot according to claim 1, further comprising:
the first rotary driving mechanism is arranged at the output end of the brick supply moving mechanism (20), is connected with the brick supply manipulator (30) and can drive the brick supply manipulator (30) to rotate in a horizontal plane.
5. The brick laying robot of claim 4 wherein the first rotary drive mechanism comprises:
a first connecting plate (31) connected to the output end of the brick supply moving mechanism (20); and
the brick feeding mechanism comprises a first driving assembly, wherein the first driving assembly comprises a first joint part and a first motor (32), the first motor (32) is arranged on the first connecting plate (31) and an output shaft of the first motor (32) is vertically arranged, the first joint part is connected with the output shaft of the first motor (32), the first motor (32) can drive the first joint part to rotate, and the brick feeding manipulator (30) is installed on the first joint part.
6. Brick laying robot according to claim 5, characterized in that the brick feeding manipulator (30) comprises:
a first arm (33) mounted to the first joint member and disposed horizontally;
a second arm (35) which is connected below the first arm (33) in a sliding manner, and the length direction of the second arm is the same as that of the first arm (33);
a brick supply jaw (34) for gripping a brick to be grouted, the brick supply jaw (34) being connected to the second arm (35); and
and the second driving assembly is arranged on the first arm (33) and can drive the second arm (35) to reciprocate along the length direction of the first arm (33).
7. The brick laying robot according to claim 6, characterized in that the brick feeding manipulator (30) further comprises:
-a first mounting bracket (36) rotatably connected to said second arm (35), said brick supply jaw (34) being connected to said first mounting bracket (36); and
and the third driving assembly is arranged on the second arm (35) and can drive the first mounting frame (36) to rotate relative to the second arm (35) in a horizontal plane.
8. The brick laying robot according to claim 1, further comprising:
the second rotary driving mechanism is arranged at the output end of the bricklaying moving mechanism (40), and the second rotary driving mechanism is connected with the bricklaying manipulator (50) and can drive the bricklaying manipulator (50) to rotate in the horizontal plane.
9. The brick laying robot according to claim 1, further comprising:
the brick jacking mechanism (60) is arranged on the chassis (10) and used for placing bricks to be plastered and grabbed by the brick feeding manipulator (30);
a mortar feeding mechanism (70) for supplying mortar; and
and the mortar applying mechanism (80) is used for applying the mortar of the mortar conveying mechanism (70) to the brick to be subjected to mortar applying on the brick jacking mechanism (60), and the brick laying manipulator (50) is used for grabbing the brick coated with the mortar on the brick jacking mechanism (60).
10. The brick laying robot according to claim 9, further comprising an electric cabinet (90), wherein the electric cabinet (90) and the brick jacking mechanism (60) are located at opposite ends of the chassis (10), and the plastering mechanism (80) is located above the brick jacking mechanism (60);
supply brick moving mechanism (20) with movement mechanism (40) of laying bricks is located the middle part and the interval arrangement of chassis (10), send thick liquid mechanism (70) to be located supply brick moving mechanism (20) with between the movement mechanism (40) of laying bricks.
11. A brick laying robot according to claim 1, characterized in that at least one of the brick laying movement mechanism (40) and the brick supply movement mechanism (20) is movably mounted on the chassis (10) to be close to or remote from the other.
12. The brick laying robot according to claim 11, characterized in that the top of the chassis (10) is provided with a sliding drive assembly which can drive at least one of the brick laying movement mechanism (40) and the brick supply movement mechanism (20) to move on the chassis (10) to approach or move away from the other.
13. The brick laying robot of claim 12 wherein the slide drive assembly comprises:
a slide motor (101) disposed on the chassis (10);
the double-head lead screw (102), the double-head lead screw (102) is connected to the output end of the sliding motor (101), and can rotate under the driving of the sliding motor (101); and
two movable pieces (103), wherein one movable piece (103) is connected with the brick supply moving mechanism (20), and the other movable piece (103) is connected with the brick laying moving mechanism (40); the two movable pieces (103) are respectively in threaded connection with two ends of the double-head lead screw (102) and can move along the length direction of the double-head lead screw (102) along with the rotation of the double-head lead screw (102) to be close to or far away from each other.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010034283.7A CN110842949B (en) | 2020-01-14 | 2020-01-14 | Brick laying robot |
| PCT/CN2020/121637 WO2021143236A1 (en) | 2020-01-14 | 2020-10-16 | Bricklaying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010034283.7A CN110842949B (en) | 2020-01-14 | 2020-01-14 | Brick laying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110842949A true CN110842949A (en) | 2020-02-28 |
| CN110842949B CN110842949B (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010034283.7A Active CN110842949B (en) | 2020-01-14 | 2020-01-14 | Brick laying robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110842949B (en) |
| WO (1) | WO2021143236A1 (en) |
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| CN111088895A (en) * | 2020-03-20 | 2020-05-01 | 广东博智林机器人有限公司 | Bricklaying device and bricklaying robot |
| CN111519920A (en) * | 2020-05-11 | 2020-08-11 | 广东博智林机器人有限公司 | Plastering device and wall building equipment |
| CN111622517A (en) * | 2020-06-01 | 2020-09-04 | 广东博智林机器人有限公司 | Brick plastering device and brick plastering equipment |
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| CN114753664A (en) * | 2022-05-12 | 2022-07-15 | 重庆电子工程职业学院 | Brick laying robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2021143236A1 (en) | 2021-07-22 |
| CN110842949B (en) | 2020-06-02 |
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