CN111088895A - Bricklaying device and bricklaying robot - Google Patents

Abstract

The invention discloses a brick laying device and a brick laying robot, wherein the brick laying device comprises: base, the subassembly that shifts of laying bricks, the subassembly of feeding of laying bricks and plastering subassembly. The brick laying transfer assembly comprises a mechanical arm and a grabbing piece, the mechanical arm is connected with the grabbing piece to transfer bricks, and the mechanical arm is movably arranged on the base and can move up and down relative to the base. The bricklaying material loading subassembly includes the plummer, and the plummer is suitable for bearing the bricklaying, and the plummer can be for the base oscilaltion motion and the adjustment maximum distance for the base to make the bricklaying be located the snatching within range of grabbing the piece all the time. The plastering assembly is arranged on the base and comprises a plastering head, and the plastering head is used for plastering the brickwork. The brick laying device provided by the embodiment of the invention integrates brick conveying, mortar plastering and laying, a plurality of processes can be automatically completed, manpower is liberated, and the laying operation process is promoted. The time consumed during brick taking is short, the brick can be quickly plastered and built after being taken, the time of the whole process is short, and the building efficiency is high.

Description

Bricklaying device and bricklaying robot

Technical Field

The invention belongs to the technical field of building robots, and particularly relates to a brick laying device and a brick laying robot.

Background

At present, 80% of inner walls in the market are in a masonry form, a traditional manual masonry operation method is still adopted during masonry, and generally, when the masonry process is completed by the same worker or a plurality of workers, the workers have the disadvantages of high labor intensity, low efficiency, poor operation environment conditions, high operation cost and difficulty in ensuring the safety of the workers, the procedures comprise multiple procedures such as brick transfer, brick plastering and brick masonry.

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 and cannot meet the requirements of safe, efficient and automatic construction processes.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the brick laying device integrates brick conveying, mortar plastering and laying, has high automation degree, and solves the problems of low efficiency and poor safety of manual laying operation.

The invention also aims to provide a brick laying robot comprising the brick laying device.

A brick laying device according to an embodiment of the present invention includes: a base; the brick laying transfer assembly comprises a mechanical arm and a grabbing piece, the mechanical arm is connected with the grabbing piece to transfer bricks, the mechanical arm is movably arranged on the base, and the mechanical arm can move up and down relative to the base; the brickwork feeding assembly comprises a bearing table, the bearing table is suitable for bearing brickwork and can move up and down relative to the base, and the bearing table is adjusted to be the highest distance relative to the base along with the rising of the mechanical arm in the brickwork process so that the brickwork is always positioned in the grabbing range of the grabbing piece; the plastering assembly is arranged on the base and comprises a plastering head, and the plastering head is used for plastering the brickwork.

According to the brick laying device provided by the embodiment of the invention, the brick laying transfer component, the brick laying feeding component and the plastering component are integrated on the base, so that the brick laying device integrates brick conveying, brick laying plastering and masonry, a plurality of processes can be automatically completed, manpower is liberated, and the masonry operation process is promoted. The brickwork that the plummer born on the brickwork material loading subassembly can reach predetermined particular position through oscilaltion, and be in the within range that the arm extends to reach all the time, thereby make and snatch the piece and snatch the nimble convenience of brickwork, required consumption's time when having reduced and getting the brick, and can carry out the plastering behind getting the brick fast, the fast movement after the plastering is built by laying bricks or stones to the wall body department of waiting to build by laying bricks or stones, the required time of whole process has greatly been shortened, the efficiency of building by laying bricks or stones has been promoted, whole process of building by laying bricks or stones links up, it is complete, be favorable to. In the process of building by laying bricks or stones, along with the wall body height of building by laying bricks or stones risees, the arm is for the height of base and the plummer that bears the weight of building bricks to the high homogeneous phase of base rise relatively, and the distance that snatchs a piece and snatch building bricks keeps at reasonable within range, and the arm need not frequent lift and the structural design of arm is simple, and the size is little.

According to the bricklaying device of one embodiment of the invention, the bricklaying transfer assembly further comprises a first lifting assembly, the first lifting assembly is arranged on the base, and the first lifting assembly comprises: the supporting frame is vertically connected to the base; the first transmission mechanism is vertically arranged on the supporting frame; the output end of the first driving mechanism is connected with the input end of the first transmission mechanism; the first lifting platform is connected to the first transmission mechanism, and the mechanical arm is connected to the first lifting platform to drive the mechanical arm to move up and down relative to the base.

Optionally, the first transmission mechanisms include two groups arranged in parallel, each group of the first transmission mechanisms includes at least two transmission wheels and a flexible part in transmission fit, the flexible parts of the two groups of the first transmission mechanisms are in synchronous transmission, and the first lifting table is connected to the flexible part; the first lifting assembly further comprises a first guiding and supporting mechanism, the first guiding and supporting mechanism comprises a sliding rail and a sliding block which are arranged in pairs, or the first guiding and supporting mechanism comprises a sliding rail and a sliding groove which are arranged in pairs, the extending direction of the sliding rail is consistent with the transmission direction of the flexible part, the sliding rail is arranged on the supporting frame, and the sliding block or the sliding groove is arranged on the first lifting platform.

According to a further embodiment of the present invention, the first lifting platform comprises a first connecting plate, a first platform, a second platform, and a vertical connecting rod, wherein a plurality of sliding grooves or sliding blocks are formed on one side of the first connecting plate facing the sliding rail, the middle of the first connecting plate is connected to the flexible member, the first platform and the second platform are arranged on one side of the first connecting plate facing away from the sliding rail, and the vertical connecting rod is connected between the first platform and the second platform.

According to the bricklaying device of one embodiment of the invention, the bricklaying feeding assembly further comprises a second lifting assembly, the second lifting assembly is arranged on the base, and the second lifting assembly comprises: the second guide supporting mechanisms comprise two groups which are arranged in parallel, and the two groups of second guide supporting mechanisms are arranged on the base; the second connecting plate is connected between the two groups of second guide supporting mechanisms; the second transmission mechanism is vertically arranged between the second connecting plate and the base, and the plummer is connected with the second transmission mechanism; and the second driving mechanism drives the second transmission mechanism to transmit.

According to a further embodiment of the invention, one end of the plummer close to the second guiding and supporting mechanism is provided with a guiding hole which is communicated up and down, the second guiding and supporting mechanism comprises a guiding rod, and the guiding hole is matched with the guiding rod; and a stop block is arranged at one end, far away from the second guide supporting mechanism, of the bearing table, and the stop block extends upwards or obliquely upwards.

According to the bricklaying device provided by the embodiment of the invention, the plastering assembly is positioned between the bricklaying transfer assembly and the bricklaying feeding assembly, the plastering assembly further comprises a mortar conveying pump assembly and a mortar conveying pipe, the mortar conveying pump assembly is arranged on the base, the mortar conveying pipe is connected between the mortar conveying pump assembly and the plastering head, and the mortar conveying pump assembly pumps mortar from the mortar conveying pipe to the plastering head.

Advantageously, the mortar delivery pump assembly comprises a servo motor, a screw pump and a slurry tank, wherein the caliber of the slurry tank is gradually increased in the direction far away from the base, a plastering area is formed at the upper part of the slurry tank, the slurry sprayed out of the plastering head falls into the slurry tank, the servo motor is electrically connected with the screw pump, and the screw pump pumps the slurry in the slurry tank to the plastering head.

According to the brick laying device provided by the embodiment of the invention, the base is an AGV navigation base, and an obstacle avoidance mechanism is arranged on the AGV navigation base; the brickwork is autoclaved aerated brickwork.

According to the brick laying device provided by the embodiment of the invention, the gripping part comprises two clamping jaws arranged oppositely, and a third driving mechanism, the third driving mechanism is connected to the mechanical arm, the third driving mechanism drives the two clamping jaws to move towards or away from each other so as to clamp or release the brick, or the third driving mechanism drives one clamping jaw to move relative to the other clamping jaw so as to clamp or release the brick; and the grabbing piece is provided with a visual mechanism.

A brick laying robot according to an embodiment of the invention comprises the brick laying device.

The brick laying robot provided by the embodiment of the invention is provided with the brick laying device, so that brick conveying, mortar plastering and laying are integrated, the laying efficiency is high, and the labor cost is greatly reduced.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of the general structure of a brick laying robot according to an embodiment of the present invention.

Fig. 2 is a front view of fig. 1.

Fig. 3 is a side view of fig. 1.

Fig. 4 is a top view of fig. 1.

Fig. 5 is a front view of a first lift assembly in accordance with one embodiment of the present invention.

Fig. 6 is a schematic perspective view of a first lifting assembly according to an embodiment of the present invention.

Fig. 7 is a side view of fig. 6.

Fig. 8 is a schematic perspective view of a load bearing brickwork of the brickwork loading assembly according to one embodiment of the invention.

Fig. 9 is a side view of fig. 8.

Fig. 10 is a perspective view of a grasping element according to an embodiment of the present invention.

Fig. 11 is a front view of fig. 10.

Reference numerals:

a brick laying device 100,

A base 1, an obstacle avoidance mechanism 11,

A brick laying transfer component 2,

A mechanical arm 21,

A gripping member 22, a gripping jaw 221, a third driving mechanism 222, a third transmission mechanism 223,

A third connecting plate 224, a connecting seat 225,

A first lifting component 23,

A supporting frame 231,

A first transmission mechanism 232, a transmission wheel 232a, a flexible part 232b, a first linkage shaft 232c, a bearing seat 232d,

A first drive mechanism 233,

A first lifting platform 234,

A first connecting plate 234a, a first platform 234b, a second platform 234c, a vertical connecting rod 234d,

A first guide supporting mechanism 235, a slide rail 235a, a slide block 235b,

A brick laying and feeding component 3,

A carrier 31, a stopper 311, a guide hole 312,

A second lifting component 32,

A second guide support mechanism 321, a second connecting plate 322,

A second transmission mechanism 323, a second driving mechanism 324, a second linkage shaft 325, a sliding connection block 326,

A plastering component 4,

A plastering head 41, a connecting part 411, a clamping opening 412, a grout outlet 413,

Mortar delivery pump assembly 42, mortar tank 421, plastering area 422,

A mortar delivery pipe 43,

A fixing frame 44, a positioning rod 441, a supporting rod 442,

An electric cabinet 5,

And (5) laying bricks 200.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

A bricklaying device 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

A brick laying apparatus 100 according to an embodiment of the present invention, as shown in fig. 1, includes: base 1, the subassembly 2 is shifted to the bricklaying, and bricklaying material loading subassembly 3 and plastering subassembly 4.

As shown in fig. 1, the brick laying transfer assembly 2 includes a robot arm 21 and a grabbing part 22, the robot arm 21 is connected with the grabbing part 22 to transfer bricks 200, the robot arm 21 is movably disposed on the base 1, and the robot arm 21 can move up and down relative to the base 1. The mechanical arm 21 is preferably constructed in multiple segments and has a structure with multiple rotational degrees of freedom, and this structure of the mechanical arm 21 is known in the art and will not be described herein.

As shown in fig. 1 and 2, the brick feeding assembly 3 includes a bearing platform 31, the bearing platform 31 is adapted to bear the brick 200, the bearing platform 31 can move up and down relative to the base 1, and the bearing platform 31 adjusts the highest distance relative to the base 1 along with the ascending of the mechanical arm 21 during the masonry process, so that the brick 200 is always located within the grabbing range of the grabbing piece 22. The bearing table 31 is lifted up and down and lifts the brickwork 200 to a proper height, so that the height change of the brickwork being built is conveniently matched for adjustment, the mechanical arm 21 drives the grabbing piece 22 to move relatively less, and the time required by the movement of the brickwork is controlled within a reasonable range.

As shown in fig. 1 and 2, the plastering assembly 4 is disposed on the base 1, and the plastering assembly 4 includes a plastering head 41, and the plastering head 41 is used for plastering the brickwork 200.

According to the brick laying device 100, the brick laying transfer assembly 2, the brick laying feeding assembly 3 and the plastering assembly 4 are integrally arranged on the base 1, so that the brick laying device 100 integrates brick conveying, plastering and masonry on the bricks 200, a plurality of processes can be automatically completed, manual labor is greatly liberated, the construction cost is reduced, and the masonry operation process is promoted.

Specifically, the brickwork 200 that plummer 31 on the brickwork material loading subassembly 3 bore can reach predetermined specific position through the up-and-down motion, and this specific position can be adjusted according to the progress of building by laying bricks or stones to be in the arm 21 all the time and extend the within range that can reach, thereby make and snatch 22 and snatch the nimble convenience of brickwork 200, required consumption's time when having reduced to get the brick. In the building process, along with the rising of the height of the built wall body, the height of the mechanical arm 21 relative to the base 1 and the height of the bearing platform 31 bearing the brick building 200 relative to the base 1 are both relatively raised, the distance for the grabbing piece 22 to grab the brick building 200 is kept in a relatively fixed range, the mechanical arm 21 does not need to be frequently lifted, and the mechanical arm 21 is simple in structural design and small in size.

It can be understood that, arm 21 self has certain length and movable scope, when the high lifting of building a wall, in order to realize getting the brick, the plastering, build by laying bricks or stones, arm 21 need constantly adjust the height for base 1, in order to realize all processes, and plummer 31 of this application can in time follow and build the process adjustment height, this will make arm 21 need not to reciprocate frequently for base 1, also can realize all processes, not only can suitably shorten the length of arm 21, reduce the material of arm 21, make arm 21 lighter, whole brick device 100 structure is compacter, can also make arm 21 move at the during operation more accurately, control is more sensitive, it is extremely high to build by laying bricks or stones efficiency, build by laying bricks or stones of high qualityly.

Compare in prior art the design structure complicacy, length is very big, the more arm of section rotates, whole journey all relies on the arm to adjust self motion form between the position of building by laying bricks of getting brick position and relative change unchangeable relatively, the plummer 31 of this application is after supplying arm 21 to take once building bricks 200, at the in-process of building the wall body after arm 21 drives building bricks 200 to the regional 422 plastering of plastering and plastering, the plummer 31 is enough to utilize this time interval to descend once more and gets to use building bricks 200 and rise to the within range with arm 21 assorted, make things convenient for grabbing piece 22 on the arm 21 to get to use building bricks 200. Consequently at the in-process of building by laying bricks or stones, this application adopts plummer 31 for base 1 oscilaltion motion, and arm 21 only need not downstream along with the height of building by laying bricks or stones the wall body and upward movement, and arm 21 size is small and exquisite, and the structure is comparatively simple, alright easily accomplish whole building by laying bricks or stones the process, and plummer 31 lift rectilinear motion is difficult for breaking down, and plummer 31's control is simple.

In some embodiments of the present invention, as shown in fig. 1, the brick laying transfer assembly 2 further comprises a first lifting assembly 23, the first lifting assembly 23 being disposed on the base 1, as shown in fig. 5 and 6, the first lifting assembly 23 comprising: a support frame 231, a first transmission mechanism 232, a first driving mechanism 233 and a first lifting platform 234.

As shown in fig. 2, the supporting frame 231 is vertically connected to the base 1. The supporting frame 231 provides a stable support for the first lifting component 23 to drive the mechanical arm 21 to lift up and down, and also provides a mounting structure for the first driving mechanism 233 and the first transmission mechanism 232.

As shown in fig. 5, the first transmission mechanism 232 is vertically disposed on the supporting frame 231, and an output end of the first driving mechanism 233 is connected to an input end of the first transmission mechanism 232. The first lifting platform 234 is connected to the first transmission mechanism 232, and the robot 21 is connected to the first lifting platform 234 to drive the robot 21 to move up and down relative to the base 1. The first driving mechanism 233 provides a sufficient driving force, and the driving force is transmitted to the first lifting platform 234 by the first transmission mechanism 232, and the first lifting platform 234 can drive the mechanical arm 21 thereon to complete the up-and-down lifting movement.

Alternatively, the first driving mechanism 233 is a general motor, a servo motor, or an air cylinder. When the servo motor is adopted in the present application, the first driving mechanism 233 can precisely control the up-and-down movement of the first transmission mechanism 232.

In some examples, as shown in fig. 5 and 6, the first transmission mechanisms 232 include two sets arranged in parallel, each set of the first transmission mechanisms 232 includes at least two transmission wheels 232a and a flexible part 232b in transmission fit, the flexible parts 232b of the two sets of the first transmission mechanisms 232 are synchronously transmitted, and the first lifting platform 234 is connected to the flexible part 232 b. Through setting up two sets of parallel first drive mechanism 232, can make first elevating platform 234 form stable reciprocating, greatly promoted the stationarity that arm 21 reciprocated, prevent that first elevating platform 234 is crooked and lead to the action of arm 21 inaccurate.

Alternatively, each set of driving wheels 232a includes two chain wheels respectively disposed at the upper and lower portions of the supporting frame 231, and the corresponding flexible members 232b engaged with the chain wheels are chains. Thus, the two groups of chains are longitudinally arranged in parallel, and the transmission directions are consistent.

Optionally, each set of driving wheels 232a includes two belt wheels, the two belt wheels are respectively disposed at the upper portion and the lower portion of the supporting frame 231, and the corresponding flexible component 232b engaged with the belt wheels is a transmission belt. At this time, two conveyor belts arranged longitudinally in parallel are formed, and the transmission directions are consistent.

Advantageously, as shown in fig. 5, the two sets of driving wheels 232a are connected by a first linkage shaft 232c between the driving wheels 232a on the same side of the supporting frame 231, and two ends of the first linkage shaft 232c are respectively limited on the supporting frame 231 by bearing seats 232 d. This will stabilize the two sets of first gears 232 in synchronous motion.

In some embodiments, as shown in fig. 5 and 6, the first lifting assembly 23 further includes a first guiding and supporting mechanism 235, as shown in fig. 6, the first guiding and supporting mechanism 235 includes a sliding rail 235a and a sliding block 235b, which are arranged in pair, an extending direction of the sliding rail 235a is consistent with a transmission direction of the flexible part 232b, the sliding rail 235a is arranged on the supporting frame 231, the sliding block 235b is arranged on the first lifting platform 234, and the sliding block 235b is slidably arranged in the sliding rail 235a, and the first guiding and supporting mechanism 235 provides guidance for the first lifting platform 234 during the up-and-down lifting movement, so that the stability is higher, the front-and-back shaking is not easy to occur, at the same time, the acting force of the first lifting platform 234 on the first transmission mechanism 232 is also reduced, and the service life of the first transmission mechanism 232 is increased.

In other examples, the first guiding and supporting mechanism 235 includes a sliding rail 235a and a sliding groove, which are arranged in pairs, the extending direction of the sliding rail 235a is consistent with the transmission direction of the flexible element 232b, the sliding rail 235a is arranged on the supporting frame 231, the sliding groove is arranged on the first lifting platform 234, and the sliding rail 235a is stably embedded in the sliding groove and can slide relatively. In these examples, the chute is formed as a part of the first elevating platform 234, corresponding to being directly provided on the first elevating platform 234.

Alternatively, as shown in fig. 5, the first elevating platform 234 includes a first connecting plate 234a, a first platform 234b, a second platform 234c, and a vertical connecting rod 234 d.

Wherein, a plurality of sliding grooves or sliding blocks 235b are formed on one side of the first connecting plate 234a facing the sliding rail 235a, and the middle part of the first connecting plate 234a is connected with the flexible member 232 b. The first connection plate 234a provides a reliable connection structure for the first lifting platform 234 and the first guide support mechanism 235 and the first transmission mechanism 232, and the first connection plate 234a is vertically arranged to increase the contact surface with the first guide support mechanism 235 and the first transmission mechanism 232, so that the corresponding connection structure is conveniently arranged.

As shown in fig. 6 and 7, a first platform 234b and a second platform 234c are disposed on a side of the first connecting plate 234a away from the sliding rail 235a, and a plurality of vertical connecting rods 234d are connected between the first platform 234b and the second platform 234 c. A plurality of vertical connecting rods 234d are arranged between the first platform 234b and the second platform 234c to form a double-layer platform, and gaps between the double-layer platform enable hands of a user to stretch into the first lifting platform 234 when the mechanical arm 21 is installed, so that the mechanical arm 21 is convenient to assemble. The first platform 234b and the second platform 234c also increase the connection force with the first connection plate 234a, so that a connection platform which is not easy to fall off can be provided for the mechanical arm 21, and the working stability of the mechanical arm 21 in the whole construction process is ensured.

In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In some embodiments of the present invention, as shown in fig. 1 and 3, the laying and feeding assembly 3 further comprises a second lifting assembly 32, the second lifting assembly 32 is disposed on the base 1, and the second lifting assembly 32 comprises a second guiding and supporting mechanism 321, a second connecting plate 322, a second transmission mechanism 323 and a second driving mechanism 324.

As shown in fig. 8, the second guiding and supporting mechanisms 321 include two groups arranged in parallel, the two groups of second guiding and supporting mechanisms 321 are arranged on the base 1, the second connecting plate 322 is connected between the two groups of second guiding and supporting mechanisms 321, the second transmission mechanism 323 is vertically arranged between the second connecting plate 322 and the base 1, the plummer 31 is connected with the second transmission mechanism 323, and the second driving mechanism 324 drives the second transmission mechanism 323 to transmit. The second driving mechanism 324 provides the power for the up-and-down movement of the loading platform 31.

Optionally, the second driving mechanism 324 is a common motor, a servo motor or an air cylinder. When the second driving mechanism 324 adopts a servo motor, the second driving mechanism 324 can accurately control the second transmission mechanism 323 to move up and down.

Alternatively, the second transmission mechanism 323 may be a combination of a screw and a nut, in which case, each group of the second transmission mechanisms 323 is matched with one group of the second driving mechanisms 324, the second driving mechanisms 324 drive the screw to rotate, the nut is connected with the bearing table 31, and the two second driving mechanisms 324 are adapted to be controlled by the controller to move synchronously.

Alternatively, the second transmission mechanism 323 may be a combination of a sprocket and a chain, two sets of the second transmission mechanisms 323 respectively include a rotatable sprocket and a movable chain, the two sprockets are rotatably connected to the second connecting plate 322, and the two sprockets are connected by the second linkage shaft 325 to form a synchronous motion. Two sets of chains are respectively connected on corresponding sprockets in a meshed mode, the ends of the chains are respectively connected to the bearing platform 31 and the base 1, the two sets of chains are longitudinally arranged in parallel, and the transmission directions are consistent.

Further, as shown in fig. 8, the second guiding and supporting mechanisms 321 include three sets arranged in parallel, wherein a sliding connection block 326 is arranged on the set of second guiding and supporting mechanisms 321 located in the middle, one end of the chain is connected to the sliding connection block 326, and the sliding connection block 326 has a certain weight to keep the chain in a straightened state. The slide connecting block 326 can save the required chain length and ensure the stable lifting performance of the bearing platform 31.

In some examples, the second guiding and supporting mechanism 321 includes multiple sets arranged in parallel, which can be selected according to actual needs to achieve sufficient supporting effect for the carrier 31 and ensure self structural strength.

In some examples, as shown in fig. 1, one end of the carrier 31 near the second guiding and supporting mechanism 321 forms a guiding hole 312 which penetrates up and down, and the second guiding and supporting mechanism 321 includes a guiding rod, and the guiding hole 312 is matched with the guiding rod. When the plummer 31 moves up and down along with the second transmission mechanism 323, the guide rod provides the guide for the movement of the plummer 31, simultaneously reduces the pulling force applied to the second transmission mechanism 323, prevents the second transmission mechanism 323 from deforming, improves the stability of the system, simultaneously enhances the connection between the plummer 31 and the second guide support mechanism 321, enables the plummer 31 to be always kept in a horizontal state, and is beneficial to stably containing the brick 200.

In other examples, one end of the carrier 31 near the second guiding and supporting mechanism 321 is connected to a guiding sleeve, the guiding sleeve is sleeved on a guiding rod of the second guiding and supporting mechanism 321, and the guiding sleeve is in sliding fit with the guiding rod.

Optionally, the second guiding and supporting mechanism 321 further includes a supporting square tube, and the supporting square tube is disposed between the base 1 and the second connecting plate 322 to improve the overall stability of the second lifting assembly 32.

Alternatively, as shown in fig. 8, a stop 311 is disposed at an end of the plummer 31 away from the second guiding and supporting mechanism 321, and as shown in fig. 9, the stop 311 extends upward or obliquely upward. The stopper 311 herein provides a stopper for the brickwork 200 placed on the platform 31, effectively preventing the brickwork 200 from coming out of the front end of the platform 31. In addition, the stop 311 can also limit the position of the laying brick 200, so that the laying brick 200 placed on the bearing table 31 can be located at the same position, and the mechanical arm 21 can conveniently adjust the position and drive the grabbing piece 22 to grab the laying brick 200. The space formed between the stopper 311 and the second guide support mechanism 321 provides an effective holding space for the brickwork 200.

In some embodiments of the present invention, as shown in fig. 1, the plastering assembly 4 is located between the brick laying transfer assembly 2 and the brick laying charging assembly 3, the plastering assembly 4 is located at the above position, and can be quickly moved to the plastering head 41 for plastering after the grabbing member 22 takes the brick, and the mechanical arm 21 moves again after plastering to drive the brick 200 plastered on the grabbing member 22 to quickly move to the wall to be built for building, so that the time required by the whole process is greatly shortened, the building efficiency is improved, the whole building process is continuous and complete, and the subsequent processes (such as pointing) can be implemented conveniently.

In some embodiments of the present invention, as shown in fig. 1, the plastering assembly 4 further comprises a mortar delivery pump assembly 42, a mortar delivery pipe 43, the mortar delivery pump assembly 42 being provided on the base 1, the mortar delivery pipe 43 being connected between the mortar delivery pump assembly 42 and the plastering head 41, the mortar delivery pump assembly 42 pumping the mortar from the mortar delivery pipe 43 to the plastering head 41. The mortar can be pumped to the plastering head 41 at a higher position by arranging the mortar conveying pump assembly 42 so as to plaster the surface of the brickwork 200 at a specific position at a high position, the cooperation with the grabbing piece 22 is convenient, and the time from plastering to brickwork is saved.

Optionally, the mortar delivery pump assembly 42 includes a servo motor, a screw pump, and a slurry tank 421, as shown in fig. 2 and 3, the slurry tank 421 has an aperture gradually increasing in a direction away from the base 1, as shown in fig. 2, a plastering area 422 is formed at an upper portion of the slurry tank 421, the slurry sprayed from the plastering head 41 falls into the slurry tank 421, the servo motor is electrically connected to the screw pump, and the screw pump pumps the slurry in the slurry tank 421 to the plastering head 41. Through servo motor and screw pump, can control the pumping speed and the pump output of thick liquids effectively, and then control the plastering volume and the degree of consistency of plastering head 41 to brick 200, promote subsequent building quality. In the application, the slurry tank 421 is provided, so that the diameter of the slurry tank is large at the top and small at the bottom, the slurry can be conveniently fed, and meanwhile, the slurry can be dropped in the process of plastering the brickwork 200 by the plastering head 41, so that the subsequent cleaning steps are reduced, the manpower is reduced, and the neatness and the working continuity of the brickwork device 100 are kept; in addition, the use amount of mortar is also saved.

Optionally, as shown in fig. 1, the plastering assembly 4 further comprises a fixing frame 44, the fixing frame 44 is connected to the base 1, and a mortar delivery pipe 43 and a plastering head 41 are erected on the fixing frame 44. When the plastering head 41 is used for plastering, the mortar conveying pipe 43 and the plastering head 41 are prevented from moving by a reverse acting force formed by spraying the internal mortar, so that the position of the plastering head 41 is not changed during plastering, and the plastering amount is uniform and controllable.

Further, as shown in fig. 1, the fixing frame 44 includes a positioning rod 441 and at least two sets of supporting rods 442, the supporting rods 442 are fixedly connected to the base 1, the positioning rod 441 is formed between the sets of supporting rods 442, the plastering head 41 includes a connecting portion 411, a clamping opening 412 and a plastering nozzle 413, the connecting portion 411 is communicated with the mortar conveying pipe 43 and the plastering nozzle 413, the clamping opening 412 is formed outside the connecting portion 411, and the clamping opening 412 is clamped on the positioning rod 441, so that the mortar conveying pipe 43 and the whole plastering head 41 are simultaneously positioned on the fixing frame 44.

Advantageously, the mortar delivery pipe 43 is a rigid pipe, and the mortar delivery pipe 43 has at least two bent corners, so that the mortar delivery pipe 43 extends upward from the base 1 and then horizontally, even downward, to provide a suitable spraying position for the plastering head 41.

Advantageously, be equipped with multiunit locating lever 441 between the bracing piece 442, each group locating lever 441 is laid in the length direction of bracing piece 442 at parallel interval, conveniently sets up plastering head 41 in different height position to the lift adjustment of plummer 31 of cooperation building progress, building brick material loading subassembly 3. In these examples, the mortar feed pipe 43 is a telescopic hose or a general hose to adjust the overall length of the mortar feed pipe 43.

In some embodiments of the present invention, as shown in fig. 1, the base 1 is an AGV navigation base, and as shown in fig. 3, an obstacle avoidance mechanism 11 is provided on the AGV navigation base. Make the convenient and automation of the whole removal of the device of laying bricks 100, effectively avoid the device of laying bricks 100 to hit the barrier and turn on one's side moving the in-process, can also strengthen the nimble removal and the quick locate function of the whole machine of the device of laying bricks 100, the device of laying bricks 100 can be fixed a position fast and move to the position of waiting to build by laying bricks or stones, the removal of the device of laying bricks 100 is enough steady.

Optionally, the obstacle avoidance mechanism 11 may be a laser obstacle avoidance mechanism or an infrared obstacle avoidance mechanism.

In some embodiments of the invention, the brickwork 200 is autoclaved aerated brickwork. Light weight per unit volume, good heat preservation effect, excellent fire resistance, impermeability and sound insulation performance. The bricks 200 with uniform specification can be conveniently manufactured.

In some embodiments of the present invention, as shown in fig. 10 and 11, the gripping member 22 includes two opposing gripping jaws 221, and a third driving mechanism 222, wherein the third driving mechanism 222 is connected to the robot arm 21. The third drive mechanism 222 provides a driving force for the opening and closing movement of the jaws 221.

In some examples, the third drive mechanism 222 drives the two jaws 221 to move toward or away from each other to grip or release the brick 200. In these examples, each clamping jaw 221 corresponds to one third driving mechanism 222, and the two third driving mechanisms 222 respectively drive the clamping jaws 221 to move to form the clamping or the putting down of the bricklaying 200.

In other examples, the third drive mechanism 222 drives one jaw 221 to move relative to the other jaw 221 to grip or release the bricklay 200, with the other jaw 221 remaining stationary. In these examples, only one third drive mechanism 222 is required to complete the picking and placing of the masonry brick 200 by the gripper 22.

Optionally, as shown in fig. 10, the grabbing member 22 further includes a third connecting plate 224, a connecting seat 225 is disposed on the third connecting plate 224, the connecting seat 225 is connected to the robot arm 21, and two clamping jaws 221 and a third driving mechanism 222, which are capable of moving relatively, are disposed on the third connecting plate 224, respectively. The provision of the third connecting plate 224 and the connecting socket 225 provides the required support means for the gripping jaw 221 and the third drive mechanism 222, and also facilitates the stable connection of the gripper member 22 to the robot arm 21.

Optionally, as shown in fig. 10, the gripping member 22 further includes a third transmission mechanism 223, and the third driving mechanism 222 drives the gripping jaws 221 to move through the third transmission mechanism 223, so as to form a stable gripping and releasing action between the two gripping jaws 221.

In some specific examples, the third transmission mechanism 223 includes two belt pulleys, a synchronous belt tightly fitted on the belt pulleys, and a screw nut mechanism, the output end of the third driving mechanism 222 is connected to one of the belt pulleys, the other belt pulley rotates under the driving of the synchronous belt, the other belt pulley drives the screw to rotate, the screw drives the nut to rotate, the nut is connected to one of the clamping jaws 221, so that the clamping jaw 221 can be displaced stably, and the two clamping jaws 221 can clamp the brick 200 or release the brick 200.

Optionally, the grabbing member 22 is provided with a visual mechanism, so that the grabbing member 22 can be accurately positioned when grabbing the brickwork 200 or placing the brickwork through the visual mechanism, and the posture of the grabbing member is quickly corrected to accurately act on the brickwork 200.

In the description of the invention, features defined as "first", "second" and "third" may explicitly or implicitly include one or more of the features for distinguishing between the described features, whether they are sequential or not.

In some embodiments of the present invention, as shown in fig. 1 and fig. 2, an electric cabinet 5 is connected to the base 1, a power supply and an electric control module are disposed in the electric cabinet 5, the power supply provides required power for each power structure, and the electric control module is electrically connected to the first driving mechanism 233, the second driving mechanism 324, the third driving mechanism 222, the AGV base, the vision mechanism, the mechanical arm 21, the mortar conveying pump assembly 42, and the like to form an electric control loop, so as to control the action time and the action amplitude of each mechanism. The principle and specific manner of electric control belong to the prior art, and are not described herein.

Advantageously, the upper surface of base 1 is formed into roughly rectangle, is equipped with respectively on four angles of rectangle and steps the brick transfer subassembly 2, the material loading subassembly of laying bricks 3, the subassembly of plastering 4, electric cabinet 5, wherein the subassembly of plastering 4 and the first side that shifts subassembly 2 and lay bricks and lie in base 1 to be close to the region of laying bricks, the subassembly of plastering 4 and the second side that the material loading subassembly of laying bricks 3 lies in base 1, the material loading subassembly of laying bricks 3 and electric cabinet 5 lie in the third side of base 1, and be close to and supply brick one side. I.e. the laying transfer assembly 2 and the laying feeding assembly 3 are located on the diagonal of the base 1, respectively. By adopting the arrangement structure, the layout is compact, the rotation space of the mechanical arm 21 is large enough, the bearing table 31 is always positioned at the position where the mechanical arm 21 can reach, the grabbing piece 22 is switched between the bearing table 31 and the plastering head 41 quickly, the grabbing piece 22 is switched between the plastering area 422 and the masonry area quickly, and the masonry efficiency is high. It can be understood that, adopt above-mentioned mode of laying, can also make electric cabinet 5 and bricklaying material loading subassembly 3 keep away from the region of building by laying bricks or stones, avoid being stained by the thick liquids of drippage.

A brick laying robot according to an embodiment of the present invention is described below.

The brick laying robot comprises the brick laying device, integrates brick conveying, brick laying, mortar plastering and laying, is high in laying efficiency and high in intellectualization and automation degree, and greatly reduces the labor cost.

Specific structures of the brick laying device 100 and the brick laying robot in the specific embodiment of the invention are described below with reference to the drawings in the specification, and the brick laying 200 is described as an example of autoclaved aerated brick laying. The embodiments of the present invention may be all embodiments in which a plurality of the aforementioned technical solutions are combined, and are not limited to the following specific embodiments.

Example 1

A brick laying apparatus 100, as shown in fig. 1, comprising: base 1, the subassembly 2 is shifted to the bricklaying, and bricklaying material loading subassembly 3 and plastering subassembly 4.

As shown in fig. 1, the brick laying transfer assembly 2 comprises a robot arm 21 and a gripping member 22, wherein the robot arm 21 is connected with the gripping member 22, and the robot arm 21 is movably arranged on the base 1. As shown in fig. 1 and 2, the bricklaying feeding assembly 3 includes a bearing platform 31 and a second lifting assembly 32, the bearing platform 31 is adapted to bear the bricklaying 200, and the second lifting assembly 32 drives the bearing platform 31 to lift and make the bearing platform 31 move up and down relative to the base 1, so that the bricklaying 200 is located in the grabbing range of the grabbing member 22. As shown in fig. 1 and 2, the plastering assembly 4 is arranged on the base 1, the plastering assembly 4 is positioned between the brick transfer assembly 2 and the brick feeding assembly 3, the plastering assembly 4 comprises a plastering head 41, a mortar delivery pump assembly 42, a mortar delivery pipe 43 and a fixing frame 44, the fixing frame 44 is connected to the base 1, the mortar delivery pipe 43 and the plastering head 41 are erected on the fixing frame 44, the mortar delivery pump assembly 42 is arranged on the base 1, the mortar delivery pipe 43 is connected between the mortar delivery pump assembly 42 and the plastering head 41, the mortar delivery pump assembly 42 pumps mortar from the mortar delivery pipe 43 to the plastering head 41, and the plastering head 41 is used for plastering the brick 200.

A brick laying robot includes the brick laying device 100 in embodiment 1.

Example 2

A brick laying device 100, different from embodiment 1, further comprises an electric cabinet 5, as shown in fig. 1, a base 1 is formed into a substantially rectangular shape, the base 1 is an AGV navigation base, as shown in fig. 3, an obstacle avoidance mechanism 11 is arranged on the AGV navigation base. Four angles on the top surface of the base 1 are respectively provided with a brick laying transfer component 2, a plastering component 4, a brick laying feeding component 3 and an electric cabinet 5. The brick laying transfer component 2 and the brick laying feeding component 3 are respectively located on the diagonal line of the base 1, the electric cabinet 5 and the plastering component 4 are respectively located on the other diagonal line of the base 1, and meanwhile, the plastering component 4 and the brick laying transfer component 2 are located on the first side of the base 1 and are close to a brick laying area.

The mortar delivery pump assembly comprises a servo motor, a screw pump and a slurry tank 421, as shown in fig. 2 and 3, the caliber of the slurry tank 421 gradually increases in the direction away from the base 1, as shown in fig. 2, a plastering area 422 is formed at the upper part of the slurry tank 421, the slurry sprayed out of the plastering head 41 falls into the slurry tank 421, the servo motor is electrically connected with the screw pump, and the screw pump pumps the slurry in the slurry tank 421 to the plastering head 41.

A brick laying robot includes the brick laying device 100 in embodiment 2.

Example 3

A brick laying apparatus 100, different from embodiment 1, the brick laying transfer assembly 2 further comprises a first lifting assembly 23, the first lifting assembly 23 is disposed on the base 1, as shown in fig. 5 and 6, the first lifting assembly 23 comprises: a support frame 231, a first transmission mechanism 232, a first driving mechanism 233 and a first lifting platform 234. As shown in fig. 2, the supporting frame 231 is vertically connected to the base 1. As shown in fig. 5, the first transmission mechanism 232 is vertically disposed on the supporting frame 231, and an output end of the first driving mechanism 233 is connected to an input end of the first transmission mechanism 232. The first driving mechanism 233 is a common motor, the first driving mechanism 232 includes two belt wheels and a conveyor belt, the two belt wheels are respectively disposed on the supporting frame 231 and the base 1, and the conveyor belt is vertically tensioned on the two belt wheels. A first lifting platform 234 is attached to the belt.

A brick laying robot includes the brick laying device 100 in embodiment 3.

Example 4

Different from the embodiment 3, in the brick laying device 100, as shown in fig. 5 and 6, each first transmission mechanism 232 comprises two groups arranged in parallel, each group of first transmission mechanisms 232 comprises two chain wheels and a chain which are in transmission fit, the two chain wheels are respectively arranged at the upper part and the lower part of a support frame 231, and the chain wheels positioned at the same side of the support frame 231 are connected by a first linkage shaft 232 c. The bricklaying transfer assembly 2 further comprises a first guiding and supporting mechanism 235, as shown in fig. 6, the first guiding and supporting mechanism 235 comprises a sliding rail 235a and a sliding block 235b which are arranged in pair, the extending direction of the sliding rail 235a is consistent with the transmission direction of the chain, the sliding rail 235a is arranged on the supporting frame 231, the sliding block 235b is arranged on the first lifting platform 234, and the sliding block 235b is slidably arranged in the sliding rail 235 a.

A brick laying robot includes the brick laying device 100 in embodiment 4.

Example 5

A brick laying apparatus 100 is based on embodiment 4, and as shown in fig. 5, a first lifting platform 234 is optimally designed, and the first lifting platform 234 comprises a first connecting plate 234a, a first platform 234b, a second platform 234c and a vertical connecting rod 234 d. Wherein, a plurality of sliding blocks 235b are formed at one side of the first connecting plate 234a facing the sliding rail 235a, and a chain is connected to the middle of the first connecting plate 234 a. As shown in fig. 6 and 7, a first platform 234b and a second platform 234c are disposed on a side of the first connecting plate 234a away from the sliding rail 235a, and a plurality of vertical connecting rods 234d are connected between the first platform 234b and the second platform 234 c.

A brick laying robot includes the brick laying device 100 in embodiment 5.

Example 6

A bricklaying device 100, wherein the second lifting assembly 32 comprises: a second guide support mechanism 321, a second connecting plate 322, a second transmission mechanism 323 and a second driving mechanism 324. The second driving mechanism 324 includes a servo motor, the second transmission mechanism 323 includes a chain and a sprocket, as shown in fig. 8, the second guiding and supporting mechanism 321 includes three sets arranged in parallel, the second connecting plate 322 is connected to the top of the three sets of second guiding and supporting mechanism 321, wherein a sliding connection block 326 is arranged on the set of second guiding and supporting mechanism 321 located in the middle, one end of the chain is connected to the sliding connection block 326, the other end of the chain is connected to the second connecting plate 322, the chain is engaged with the sprocket, and the sliding connection block 326 has a certain balance weight to keep the chain in a straight state.

A brick laying robot includes the brick laying device 100 in embodiment 6.

Example 7

On the basis of embodiment 2, as shown in fig. 10 and 11, a brick laying device 100 is provided, wherein a grabbing piece 22 comprises two clamping jaws 221, a third driving mechanism 222, a third connecting plate 224 and a connecting seat 225 which are oppositely arranged, the third connecting plate 224 is provided with the connecting seat 225, the connecting seat 225 is connected with a mechanical arm 21, and the third driving mechanism 222 is connected with the third connecting plate 224. The third driving mechanism 222 drives one clamping jaw 221 to move relative to the other clamping jaw 221 to clamp or unclamp the bricklaying 200, and the other clamping jaw 221 is kept still and fixed on the third connecting plate 224.

A brick laying robot includes the brick laying device 100 in embodiment 7.

Example 8

A brick laying device 100 is provided with a visual mechanism on a grabbing piece 22 based on the embodiment 7.

A brick laying robot includes the brick laying device 100 in embodiment 8.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Other constructions of the brick laying device 100 and of the brick laying robot according to embodiments of the present invention, such as concrete operations of plastering, concrete operations of laying, electric control principles, etc., are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (11)

1. A brick laying device, comprising:

a base;

the brick laying transfer assembly comprises a mechanical arm and a grabbing piece, the mechanical arm is connected with the grabbing piece to transfer bricks, the mechanical arm is movably arranged on the base, and the mechanical arm can move up and down relative to the base;

the brickwork feeding assembly comprises a bearing table, the bearing table is suitable for bearing brickwork and can move up and down relative to the base, and the bearing table is adjusted to be the highest distance relative to the base along with the rising of the mechanical arm in the brickwork process so that the brickwork is always positioned in the grabbing range of the grabbing piece;

the plastering assembly is arranged on the base and comprises a plastering head, and the plastering head is used for plastering the brickwork.

2. The brick laying device according to claim 1, wherein the brick laying transfer assembly further comprises a first lifting assembly disposed on the base, the first lifting assembly comprising:

the supporting frame is vertically connected to the base;

the first transmission mechanism is vertically arranged on the supporting frame;

the output end of the first driving mechanism is connected with the input end of the first transmission mechanism;

the first lifting platform is connected to the first transmission mechanism, and the mechanical arm is connected to the first lifting platform to drive the mechanical arm to move up and down relative to the base.

3. The brick laying device according to claim 2, wherein the first transmission mechanisms comprise two sets arranged in parallel, each set of the first transmission mechanisms comprises at least two transmission wheels and a flexible member which are in transmission fit, the flexible members of the two sets of the first transmission mechanisms are in synchronous transmission, and the first lifting platform is connected to the flexible members;

the first lifting assembly further comprises a first guiding and supporting mechanism, the first guiding and supporting mechanism comprises a sliding rail and a sliding block which are arranged in pairs, or the first guiding and supporting mechanism comprises a sliding rail and a sliding groove which are arranged in pairs, the extending direction of the sliding rail is consistent with the transmission direction of the flexible part, the sliding rail is arranged on the supporting frame, and the sliding block or the sliding groove is arranged on the first lifting platform.

4. The brick laying device according to claim 3, wherein the first lifting platform comprises a first connecting plate, a first platform, a second platform and vertical connecting rods, wherein a plurality of sliding grooves or sliding blocks are formed on one side of the first connecting plate facing the sliding rail, the flexible piece is connected to the middle of the first connecting plate, the first platform and the second platform are arranged on one side of the first connecting plate away from the sliding rail, and the vertical connecting rods are connected between the first platform and the second platform.

5. The brick laying device according to claim 1, wherein the brick laying feeding assembly further comprises a second lifting assembly, the second lifting assembly being disposed on the base, the second lifting assembly comprising:

the second guide supporting mechanisms comprise two groups which are arranged in parallel, and the two groups of second guide supporting mechanisms are arranged on the base;

the second connecting plate is connected between the two groups of second guide supporting mechanisms;

the second transmission mechanism is vertically arranged between the second connecting plate and the base, and the plummer is connected with the second transmission mechanism;

and the second driving mechanism drives the second transmission mechanism to transmit.

6. The bricklaying device according to claim 5, wherein one end of the bearing platform close to the second guide support mechanism is provided with a guide hole which is communicated up and down, the second guide support mechanism comprises a guide rod, and the guide hole is matched with the guide rod; and a stop block is arranged at one end, far away from the second guide supporting mechanism, of the bearing table, and the stop block extends upwards or obliquely upwards.

7. The brick laying apparatus according to claim 1 wherein the plastering assembly is located between the brick laying transfer assembly and the brick laying and feeding assembly, the plastering assembly further comprising a mortar delivery pump assembly provided on the base, a mortar delivery pipe connected between the mortar delivery pump assembly and the plastering head, the mortar delivery pump assembly pumping mortar from the mortar delivery pipe to the plastering head.

8. The bricklaying device of claim 7, wherein the mortar delivery pump assembly comprises a servo motor, a screw pump, and a slurry tank, wherein the slurry tank has an increasing diameter in a direction away from the base, the upper portion of the slurry tank forms a plastering area, slurry sprayed from the plastering head falls into the slurry tank, the servo motor is electrically connected with the screw pump, and the screw pump pumps the slurry in the slurry tank to the plastering head.

9. The brick laying device according to claim 1, wherein the base is an AGV navigation base, and an obstacle avoidance mechanism is arranged on the AGV navigation base; the brickwork is autoclaved aerated brickwork.

10. The brick laying apparatus according to claim 1 wherein the gripper comprises two jaws arranged in opposition, a third drive mechanism connected to the robotic arm, the third drive mechanism driving the two jaws to move toward or away from each other to grip or release the laying brick, or the third drive mechanism driving one of the jaws to move relative to the other jaw to grip or release the laying brick; and the grabbing piece is provided with a visual mechanism.

11. A brick laying robot characterized in that the brick laying robot comprises a brick laying device according to any one of claims 1-10.

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