CN111677303A

CN111677303A - Bricklaying equipment

Info

Publication number: CN111677303A
Application number: CN202010524559.XA
Authority: CN
Inventors: 李义金; 曹耿; 严启凡; 乔莉莉
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-09-18

Abstract

The invention relates to the technical field of construction machinery, in particular to brick laying equipment. The brick laying equipment comprises a guide rail assembly, a guide rail assembly and a brick laying device, wherein the guide rail assembly extends along the length direction of a wall body to be laid; the plastering device is arranged beside the guide rail assembly and can paint slurry on the bricks and move the bricks painted with the slurry onto the guide rail assembly; and the brick laying device is arranged on the guide rail assembly in a sliding mode, and after the mortar is smeared, the bricks move to the designated position along the guide rail assembly, and the brick laying device can grab the bricks after the mortar is smeared and lay bricks on the wall to be laid. Among this equipment of laying bricks, the device of laying bricks slides along the guide rail subassembly, and plastering unit independently sets up at the guide rail subassembly side for plastering unit need not to set up in same space with the device of laying bricks, and plastering unit can select the position of laying as required, has increased the equipment of laying bricks and has used more in a flexible way to the compatibility of crowded environment.

Description

Bricklaying equipment

Technical Field

The invention relates to the technical field of construction machinery, in particular to brick laying equipment.

Background

Building walls are typically formed by cast-in-place concrete, bricking, prefabricated wall panel assembly, and the like, with bricked walls being the most common. Traditional brick wall adopts the manual work to align, and the workman uses the mortar as the connecting agent, builds the fragment of brick in order in the demand position, and whole intensity of labour is great, and the wall roughness of manual work simultaneously built by laying bricks or stones is lower, has directly increaseed the degree of difficulty and the mortar use amount of follow-up plastering for building weight and cost increase.

In order to reduce the labor cost and improve the working efficiency, the prior brick laying equipment is used for replacing manual operation, and automatic brick laying is realized. However, the brick laying equipment has more functions and a complex structure, so that the equipment is large in size and cannot adapt to a smaller brick laying environment, and the use of the brick laying equipment is limited.

Disclosure of Invention

The invention aims to provide brick laying equipment which can increase the compatibility of a smaller brick laying environment and is more flexible to use.

In order to achieve the purpose, the invention adopts the following technical scheme:

a brick laying apparatus comprising:

the guide rail assembly extends along the length direction of the wall body to be built;

the plastering device is arranged beside the guide rail assembly and can paint slurry on the bricks and move the bricks painted with the slurry onto the guide rail assembly; and

the brick laying device is arranged on the guide rail assembly in a sliding mode, after the mortar is smeared, the brick blocks move to the designated positions along the guide rail assembly, and the brick laying device can grab the brick blocks after the mortar is smeared and lay bricks on the wall to be laid.

Wherein the guide rail assembly comprises:

the brick laying device is connected with the guide rail in a sliding manner;

the guide rail is arranged on the bottom frame; and

a plurality of stabilizer blades, the stabilizer blade set up in underframe bottom, just the height-adjustable of stabilizer blade.

Wherein the guide rail includes:

the first limiting groove extends along the length direction of the wall body to be built, and the brick laying device is arranged in the first limiting groove in a sliding mode; and

and the designated position is positioned in the second limiting groove.

Wherein, brickwork device includes:

the movable base comprises a forward roller and a lateral roller, the forward roller can roll along the bottom surface of the first limiting groove, and the lateral roller can roll along the side wall of the first limiting groove; and

the lifting mechanism is arranged on the movable base; and

and the brick laying mechanism is arranged at the output end of the lifting mechanism and used for grabbing the brick.

Wherein, the guide rail subassembly include with treat the parallel linear guide subassembly of the wall body of building and be located treat the arc guide rail subassembly of the wall body corner of building, the linear guide subassembly with the connection can be dismantled to the arc guide rail subassembly.

Wherein, the bricklaying equipment still includes:

the visual positioning mechanism is configured to acquire the three-dimensional coordinates of the specified position, the brick laying device and the wall body to be laid, and the brick laying device grabs the brick at the specified position according to the three-dimensional coordinates and lays the brick on the wall body to be laid.

Wherein, the plastering device includes:

the mounting frame is arranged on one side, away from the wall to be built, of the guide rail assembly;

the brick grabbing mechanism is arranged on the mounting frame and can grab the bricks;

the supporting table is used for receiving the bricks grabbed by the plastering grabbing mechanism;

the plastering mechanism is arranged on the mounting frame and used for smearing slurry on the bricks on the supporting table; and

and the turnover driving mechanism is arranged on the mounting frame and can drive the supporting table to switch between a horizontal position and a vertical position and drive the bricks to turn, so that two adjacent surfaces of the bricks can be opposite to the plastering mechanism in sequence.

Wherein, the plastering mechanism includes:

the plastering hopper is arranged on the mounting frame in a sliding manner along the horizontal direction;

the ash storage hopper is arranged on the mounting frame, and the support table, the plastering hopper and the ash storage hopper are arranged along the sliding direction of the plastering hopper; and

hopper drive assembly set up in on the mounting bracket, and with the plastering hopper is connected, hopper drive assembly can drive the plastering hopper slide extremely supporting bench top in order to paint the thick liquids on the fragment of brick, and can drive the plastering hopper slide extremely store up the ash hopper below in order to supply the thick liquids.

Wherein, plastering unit still includes:

the pushing mechanism is arranged on the mounting frame and can move the bricks coated with the slurry to the guide rail assembly;

the push mechanism includes:

the clamping assembly is used for clamping the brick after being coated with the slurry, and the brick arranged on the supporting table is positioned in a clamping space of the clamping assembly;

the pushing driving assembly is arranged on the mounting frame and can drive the clamping assembly to move to the designated position.

Wherein, it includes to plaster snatchs the mechanism:

the plastering translation assembly is arranged on the mounting frame;

the plastering rotation assembly is arranged at the output end of the plastering translation assembly;

the plastering extension assembly is arranged at the output end of the plastering rotating assembly and can drive the plastering extension assembly to rotate around a vertical axis; and

the plastering grabbing component is arranged at the output end of the plastering telescopic component and is used for grabbing the bricks.

Has the advantages that: the invention provides brick laying equipment. Among this equipment of laying bricks, the device of laying bricks slides along the guide rail subassembly, and plastering unit independently sets up at the guide rail subassembly side for plastering unit need not to set up in same space with the device of laying bricks, and plastering unit can select the position of laying as required, has increased the equipment of laying bricks and has used more in a flexible way to the compatibility of crowded environment.

Drawings

Fig. 1 is a schematic structural view of a brick laying apparatus provided by the present invention;

figure 2 is a side view of a brick laying apparatus provided by the present invention;

FIG. 3 is a top plan view of the bricklaying apparatus provided by the present invention;

FIG. 4 is a schematic structural view of a portion of the structure of the track assembly provided by the present invention;

fig. 5 is a schematic structural view of part of the structure of a guide rail assembly and a bricklaying device provided by the present invention;

fig. 6 is a schematic structural view of the bricklaying device provided by the present invention;

fig. 7 is a schematic structural view of the plastering apparatus provided by the present invention;

FIG. 8 is a schematic view of the support platform of the plastering apparatus of the present invention in a horizontal position;

FIG. 9 is a schematic view of the support platform of the plastering apparatus of the present invention in a vertical position;

FIG. 10 is a schematic structural view of a pushing mechanism provided by the present invention;

fig. 11 is a schematic structural view of the plastering grabbing mechanism provided by the present invention.

Wherein:

100. a guide rail assembly; 200. a plastering device; 300. a brick laying device; 400. piling bricks; 41. a brick block; 500. a wall body to be built;

11. a bottom frame; 12. a support leg; 13. a right-angle rib; 14. a first limit groove; 15. a second limit groove; 16. a rail trolley;

21. a mounting frame; 22. a plastering grabbing mechanism; 221. a plastering translation component; 2221. a rotating plate; 2222. a rotary drive member; 223. a plastering telescopic component; 224. a plastering grabbing component; 231. a turnover driving mechanism; 232. a support table; 24. a plastering mechanism; 241. a plastering hopper; 242. an ash storage hopper; 243. a hopper drive assembly; 2431. a sliding table; 2432. a slide rail; 25. a pushing mechanism; 251. a clamping plate; 2511. an elastic block; 252. clamping the motor; 253. clamping the gear; 254. clamping the rack; 255. pushing the driving component; 2551. mounting a plate; 2552. a primary sliding plate; 2553. a secondary sliding plate;

31. moving the base; 311. a forward roller; 312. a lateral roller; 32. a lifting mechanism; 321. a first-stage lifting frame; 322. a second-stage lifting frame; 33. brick laying mechanism.

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 drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

As shown in fig. 1 and 2, the present embodiment provides a brick laying apparatus, including a guide rail assembly 100, a brick laying device 300 and a plastering device 200, the guide rail assembly 100 extends along the length direction of a to-be-laid wall body 500, the brick laying device 300 is slidably disposed on the guide rail assembly 100 so as to move to a required brick laying position, the plastering device 200 can grab a brick 41 in a brick pile 400, slurry is applied to the surface of the brick 41, and the plastered brick 41 can be placed on the guide rail assembly 100, when the brick 41 is moved to a specific position along the guide rail assembly 100, the brick laying device 300 can grab the brick 41 at the specific position, and drives the brick 41 which is applied with slurry to move and be laid on the to-be-laid wall body 500, so as to automatically implement brick laying operation.

Because of the scene of the equipment of laying bricks is used is complicated, for improving the flexibility of the equipment of laying bricks use, in this embodiment, as shown in fig. 2 and fig. 3, the device 300 of laying bricks slides along guide rail assembly 100, and plastering unit 200 independently sets up at guide rail assembly 100 side for plastering unit 200 need not to set up in same space with the device 300 of laying bricks, and plastering unit 200 can select the position of laying as required, has increased the equipment of laying bricks and has used more in a flexible way to the compatibility of crowded environment.

In this embodiment, the designated position is set up on the guide rail assembly 100, and the plastering unit 200 can place the brick 41 after smearing the slurry on the guide rail assembly 100 to make things convenient for the brick laying device 300 to snatch the use.

As shown in fig. 4, the guide rail assembly 100 may be a multi-segment structure, and the multi-segment structure is sequentially connected to form the integral guide rail assembly 100, so that the length of the guide rail assembly 100 can be conveniently adjusted according to actual needs, and the guide rail assembly is convenient to store.

To meet the use requirements of an L-shaped wall or a U-shaped wall, the guide rail assembly 100 includes a linear guide rail assembly parallel to the wall 500 to be built and an arc-shaped guide rail assembly located at a corner of the wall 500 to be built. During the in-service use, can be according to the particular case of waiting to build a wall body 500, select the linear guide subassembly and the cooperation of arc guide subassembly of corresponding quantity to use, can realize building by laying bricks or stones L type wall and U type wall etc..

Each section of guide rail assembly 100 comprises a guide rail, a bottom frame 11 and a plurality of support legs 12, the guide rail is arranged on the bottom frame 11, and the brick laying device 300 is slidably connected with the guide rail. The legs 12 are used for supporting the base frame 11 and are adjustable in height so as to adjust the base frame 11 to a horizontal position in combination with a laser measuring instrument or a level gauge, etc., so as to improve the laying accuracy.

In order to improve the stability of the brick laying device 300 moving along the guide rail assembly 100, the guide rail comprises a first limit groove 14, and the first limit groove 14 is parallel to the to-be-laid wall body 500 so as to guide the brick laying device 300 to move and ensure the position accuracy of the brick laying device 300 and the to-be-laid wall body 500.

Similarly, in order to limit the bricks 41 at the designated positions conveniently, the guide rail further comprises a second limiting groove 15, and the bricks 41 coated with the sizing agent are placed in the second limiting groove 15.

Specifically, as shown in fig. 5, a plurality of right-angle ribs 13 are arranged on the bottom frame 11, the plurality of right-angle ribs 13 are arranged on the top surface of the bottom frame 11 in parallel, each two of the right-angle ribs 13 form a set of limiting grooves, each limiting groove comprises a second limiting groove 15 for placing bricks 41 coated with slurry and a first limiting groove 14 in sliding fit with the brick laying device 300.

Further, the first limit groove 14 and the second limit groove 15 are arranged in parallel, the rail trolley 16 can be arranged in the second limit groove 15 in a sliding mode, the plastering device 200 can place bricks 41 coated with the slurry into the rail trolley 16, and the bricks 41 coated with the slurry can move between the designated position and the plastering device 200 through the movement of the rail trolley 16 along the second limit groove 15, so that the wall building efficiency is improved.

Further, second spacing groove 15 is located the front side of first spacing groove 14, can guarantee that brick 41 after smearing the thick liquids removes the assigned position after, and the device 300 of laying bricks snatchs the position of brick 41 and builds brick 41 to the position of waiting to build in the wall body 500 and all is located the front side of the device 300 of laying bricks, makes things convenient for the device 300 of laying bricks to snatch, is favorable to simplifying the control of the device 300 of laying bricks, improves the work precision of the device 300 of laying bricks. Wherein, the front side is the side of the brick laying device 300 close to the wall body 500 to be laid.

As shown in fig. 5 and 6, the brick laying device 300 comprises a movable base 31, an elevating mechanism 32 and a brick laying mechanism 33, the movable base 31 is slidably arranged in a first limiting groove 14, the elevating mechanism 32 is arranged on the movable base 31, the brick laying mechanism 33 is arranged at the output end of the elevating mechanism 32, and brick laying can be realized at any position through the cooperation of the elevating mechanism 32 and the brick laying mechanism 33.

The movable base 31 is rotatably provided with a forward roller 311 and a lateral roller 312, the forward roller 311 is used for driving the movable base 31 to slide along the extending direction of the first limit groove 14, and the lateral roller 312 is used for rolling contact with the side wall of the first limit groove 14 to play a role of a wire, so that the movable base 31 is prevented from being stuck.

Alternatively, the lifting mechanism 32 may be a two-stage lifting structure, which can increase the lifting stroke of the brick laying mechanism 33. The lifting mechanism 32 comprises a primary lifting frame 321, a primary lifting assembly, a secondary lifting frame 322 and a secondary lifting assembly. The primary lifting frame 321 is installed on the movable base 31, the secondary lifting frame 322 is connected to the primary lifting frame 321 in a sliding mode in the vertical direction, and the primary lifting assembly can drive the secondary lifting frame 322 to slide relative to the primary lifting frame 321; the brick laying mechanism 33 slides along the vertical direction and is arranged on the second-level lifting frame 322, and the second-level lifting assembly can drive the brick laying mechanism 33 to slide relative to the second-level lifting frame 322, so that vertical lifting is realized.

Illustratively, the primary lifting assembly and the secondary lifting assembly can be linear motion mechanisms such as a lead screw and nut mechanism, a rack and pinion mechanism or a linear motor.

Bricklaying mechanism 33 includes the translation subassembly of laying bricks, the subassembly is snatched to the rotation subassembly of laying bricks and laying bricks, translation subassembly of laying bricks and the rotation subassembly of laying bricks are connected, and one of the two sets up the output at elevating system 32, another output installation is bricklayed and is snatched the subassembly, translation subassembly of laying bricks can drive the subassembly of snatching to be close to or keep away from and treat 500 directions (fore-and-aft direction promptly) removals of the body of laying bricks, rotation subassembly of laying bricks can drive the subassembly of snatching to rotate around vertical axis, with the angle of placing of adjustment fragment of brick 41.

Optionally, the brickwork translation assembly can be a secondary translation structure, the specific structure of the brickwork translation assembly can be the same as that of the lifting mechanism 32, and the secondary translation in the horizontal direction can be realized only by rotating the lifting mechanism 32 by 90 degrees. The brick grasping assembly can grasp bricks in a clamping or adsorption mode, and can adopt any one of clamping structures or adsorption structures in the prior art, and the brick grasping assembly is not specifically described here.

Further, the equipment of laying bricks still includes vision positioning mechanism, and vision positioning mechanism can treat wall body 500 and guide rail assembly 100's spatial position and measure, establishes guide rail assembly 100's three-dimensional coordinate system to it is clear and definite that the position of the fragment of brick 41 after smearing the thick liquids that treats snatchs and this fragment of brick 41 correspond the laying position on treating wall body 500, so that the mechanism 33 of laying bricks can accomplish the space according to the coordinate and remove, so that whole equipment of laying bricks has higher efficiency and the precision of laying bricks. The visual positioning mechanism comprises a graph acquisition module and an analysis and calculation module, the graph acquisition module is used for acquiring image information, the image acquisition module can comprise a CCD camera, and the analysis and calculation module is used for analyzing the image information acquired by the graph acquisition module and establishing a three-dimensional coordinate system, so that the brick laying mechanism 33 can complete space movement according to coordinates.

It should be noted that the visual positioning mechanism is a mature technology in the field, and the visual positioning mechanism in the present embodiment may adopt any specific structure in the prior art, and the structure and principle of the visual positioning mechanism are not described in detail here.

As shown in fig. 7, the plastering apparatus 200 includes a mounting frame 21, a plastering grabbing mechanism 22, a supporting table 232 and a plastering mechanism 24, wherein the plastering grabbing mechanism 22, the supporting table 232 and the plastering mechanism 24 are all disposed on the mounting frame 21. In operation of the plastering apparatus 200, the plastering grabbing mechanism 22 can grab a brick 41 in the brick pile 400 and place the brick 41 on the supporting table 232, and the supporting table 232 can support and position the brick 41 so that the plastering mechanism 24 can apply mortar to the surface of the brick 41.

When the bricks 41 are constructed, the gaps between the adjacent bricks 41 need to be bonded and fixed by the slurry, so that the plastering device 200 needs to apply the slurry to the two adjacent surfaces of the bricks 41. In order to meet the plastering requirement of two adjacent surfaces of the brick 41, in this embodiment, the supporting platform 232 can drive the brick 41 thereon to turn over, so that the two adjacent surfaces of the brick 41 can sequentially correspond to the position of the plastering mechanism 24, and the plastering mechanism 24 can respectively plaster the two adjacent surfaces with the slurry.

Specifically, the plastering device 200 further comprises a turning driving mechanism 231, the supporting table 232 is used for receiving the bricks 41 grabbed by the plastering grabbing mechanism 22, the turning driving mechanism 231 is mounted on the mounting frame 21 and connected with the supporting table 232, and the turning driving mechanism 231 can drive the supporting table 232 to switch between the horizontal supporting position and the vertical supporting position so as to drive the bricks 41 on the supporting table 232 to turn, so that two adjacent surfaces of the bricks 41 can sequentially correspond to the position of the plastering mechanism 24, and the plastering mechanism 24 can respectively paint the slurry on the two adjacent surfaces of the bricks 41.

In this embodiment, the turning of the brick 41 is realized by switching the position of the supporting table 232, so that the surfaces of the brick 41 corresponding to the plastering mechanism 24 are switched to coat the slurry on the two adjacent surfaces, on one hand, compared with the inclined placement of the vertex angle of the brick 41 in contact with the supporting surface in the prior art, the positioning of the brick 41 is more stable, and the brick 41 is convenient to cooperate with the brick laying device 300 to complete automatic brick laying; on the other hand, the motion of plastering mechanism 24 when daubing the thick liquids can be simplified, be favorable to improving the precision of plastering, improve the roughness of laying bricks.

Specifically, the mounting frame 21 is a frame structure, and the plastering grabbing mechanism 22, the supporting table 232, the overturning driving mechanism 231 and the plastering mechanism 24 are all disposed in the mounting frame 21, so as to improve the modularization degree of the plastering apparatus 200. The plastering grabbing mechanism 22 is provided above the supporting base 232 to facilitate the placement of the grabbed bricks 41 on the supporting base 232. The plastering mechanism 24 is slidably disposed on the mounting frame 21 along the horizontal direction, and the plastering mechanism 24 is located above the supporting table 232. When smearing the thick liquids, plastering mechanism 24 is the horizontal slip of mounting bracket 21 relatively to paint thick liquids on the highest horizontal surface of fragment of brick 41, compare the surface slope that fragment of brick 41 waited to paint among the prior art and place, the equal level of surface of accepting the thick liquids of fragment of brick 41 is placed when smearing in this embodiment, can avoid thick liquids to follow fragment of brick 41 surface lapse under the action of gravity, is favorable to avoiding the thick liquids extravagant.

The support platform 232 comprises a deck which is horizontally disposed as shown in fig. 7 and 8 when the support platform 232 is in a horizontal position, and after the plastering grabbing mechanism 22 lays the brick 41 on the deck, the top surface of the brick 41 extends horizontally and is located below the plastering mechanism 24, and for convenience of description, the top surface of the brick 41 when the deck is in a horizontal position is referred to as a first surface hereinafter. The plastering mechanism 24 can apply the paste to the first surface when the plastering mechanism 24 slides left and right with respect to the mounting bracket 21.

As shown in fig. 9, after the platen turns the brick 41 thereon by 90 °, the support table 232 is located at a vertical position, the first surface extends along a vertical direction, and when the lower scale platen is located at the vertical position, the top surface of the brick 41 is a second surface, and the first surface is adjacent to the second surface. The plastering mechanism 24 can apply the paste to the second surface when the plastering mechanism 24 slides left and right with respect to the mounting bracket 21.

In order to prevent the bricks 41 from falling off when the positions of the bedplate are switched, the bedplate is further provided with fixing pieces, and after the plastering grabbing mechanism 22 flatly places the bricks 41 on the bedplate, the bricks are fixed by the fixing pieces on the bedplate, so that the bedplate and the bricks 41 can be turned over synchronously.

Illustratively, the positioning member may be an absorbing member, such as a sponge chuck, which has a relatively rigid structure, is not easily damaged, and has a low maintenance cost in a later period. Because of fragment of brick 41 rough surface, it is fixed effectual to use sponge sucking disc to adsorb, adsorbs more stably.

In other embodiments, the positioning member may also include a plurality of blocking ribs protruding from the surface of the platen, and the blocking ribs are at least disposed on the edge of the platen on one side of the rotating shaft, so that when the platen is switched to the vertical state, the blocking ribs can support the bricks 41 from the bottoms of the bricks 41, and the bricks 41 are prevented from sliding off.

In order to ensure that the bedplate is positioned at the vertical position and the horizontal position, the top surfaces of the bricks 41 can be matched with the plastering mechanism 24, and when the bedplate is positioned at the horizontal position and the vertical position, the heights of the first surface and the second surface on the bricks 41 are unchanged, so that the distance between the top surfaces of the bricks 41 and the plastering mechanism 24 is unchanged, on one hand, the bricks 41 can be prevented from interfering with the plastering mechanism 24 after being turned over, and on the other hand, the same height of the plastering slurry on the two surfaces can be ensured.

Illustratively, the platen is rotatably connected to the mounting frame 21 via a rotating shaft extending in a horizontal direction, and the turnover driving mechanism 231 can drive the platen to rotate around the rotating shaft to turn the brick 41. When brick 41 is placed on the table, the horizontal distance between the surface of brick 41 parallel to the axis of rotation and the axis of rotation is equal to the height of brick 41.

Taking the orientation shown in fig. 7 as an example, the distance of the axis of rotation from the right side surface, i.e., the second surface, of block 41 is equal to the height of block 41 (the dimension of block 41 in the vertical direction shown in fig. 7). When the bedplate is switched from the horizontal position to the vertical position, the height of the second surface in fig. 9 is the same as that of the first surface in fig. 7 because the position of the rotating shaft is unchanged, and the plastering mechanism 24 can be matched with the first surface and the second surface without adjusting the position.

Illustratively, the flipping drive mechanism 231 may include a motorized cylinder mounted on the mounting frame 21 and having one end rotatably connected to the platen. When the electric cylinder stretches, the bedplate can be driven to rotate around the rotating shaft, so that the bricks 41 can be turned over. The bedplate is driven to rotate by the electric cylinder, the structure is simple, and the cost is low.

In other embodiments, the inversion driving mechanism 231 may have other structures, as long as it can drive the platen to rotate and ensure that the height of the surface to be painted on the brick 41 is the same after the brick 41 is inverted.

In this embodiment, the plastering mechanism 24 includes a plastering hopper 241, a mortar hopper 242, and a hopper driving assembly 243. An ash hopper 242 is provided on the mounting frame 21 for storing slurry. The plastering hopper 241 is horizontally slidably disposed on the mounting frame 21, and is arranged with the plastering hopper 242 along the sliding direction of the plastering hopper 241. A grout outlet is formed in the bottom of the plastering hopper 241 and is positioned above the supporting table 232, and the hopper driving assembly 243 can drive the plastering hopper 241 to slide, so that on one hand, the grout in the plastering hopper 241 can fall on the surface of the brick 41 below the plastering hopper 241 after flowing out of the grout outlet, and the plastering of the grout is realized; on the other hand, the hopper drive assembly 243 is also capable of driving the plastering hopper 241 to move below the plastering hopper 242 so as to replenish the plastering hopper 241 with slurry.

Alternatively, the size of the grout outlet may be the same as the size of the brick 41 in a direction perpendicular to the sliding direction of the plastering hopper 241. That is, the size of the grout outlet in the front-back direction is the same as the size of the brick 41 in the front-back direction, so that the grout can be uniformly applied to the surface to be applied of the brick 41 only by sliding along the left-right direction in the working process of the plastering hopper 241, and the plastering hopper 241 does not need to move back and forth, thereby simplifying the movement of the plastering hopper 241.

Optionally, at least one side surface of the plastering hopper 241 is inclined from top to bottom towards the inner side of the plastering hopper 241, so that the flow of the slurry in the plastering hopper 241 can be guided, and the slurry accumulation can be avoided.

In this embodiment, the hopper drive assembly 243 includes a rack and pinion mechanism, a slide 2431, and a slide 2432. Rack and slide rail 2432 parallel arrangement, and equal horizontal installation on mounting bracket 21, slip table 2431 is connected on plastering hopper 241 to with slide rail 2432 sliding connection, gear and the driving piece setting among the rack and pinion mechanism are on slip table 2431, and the driving piece is connected with gear drive, gear and rack toothing. The driving piece drives the gear to rotate, and the plastering hopper 241 can be driven to slide by the sliding table 2431 so as to realize the plastering of the slurry.

In other embodiments, the rack and pinion mechanism can be replaced by a screw nut mechanism, a linear motor or an air cylinder, as long as the sliding of the plastering hopper 241 can be realized.

For making things convenient for plastering unit 200 and the cooperation of brick laying device 300 to realize automatic wall building, plastering unit 200 still includes push mechanism 25, push mechanism 25 sets up on mounting bracket 21, can move brick 41 after smearing the thick liquids on supporting bench 232 moves to guide rail assembly 100 on to brick 41 after smearing the thick liquids moves to the assigned position back along the guide rail, brick 41 of assigned position can be grabbed to brick laying device 300, and then builds brick 41 by laying bricks or stones on waiting to build wall body 500.

Specifically, push mechanism 25 includes propelling movement drive assembly 255 and centre gripping subassembly, and the fragment of brick 41 after the thick liquids are paintd in the centre gripping subassembly can the centre gripping, and propelling movement drive assembly 255 can drive the centre gripping subassembly and remove to drive fragment of brick 41 and remove to the assigned position, make things convenient for device 300 of laying bricks to press from both sides and get.

As shown in fig. 10, the clamping assembly includes a clamping driving member and two clamping plates 251 disposed opposite to each other, and the clamping driving member can adjust a distance between the two clamping plates 251 so as to clamp or release the brick 41.

Optionally, the lateral wall of grip block 251 still is provided with elastic block 2511, and elastic block 2511 and fragment of brick 41 butt can be avoided on the one hand the unevenness in brick 41 surface to lead to fragment of brick 41 and grip block 251 contact failure, and on the other hand, can cushion the impact force that grip block 251 or fragment of brick 41 received to avoid centre gripping subassembly or fragment of brick 41 to damage.

To make the construction of the plastering apparatus 200 more compact, the supporting base 232 may be located directly below the space between the two holding plates 251 so that the brick 41 placed on the supporting base 232 is located between the two holding plates 251. When the plastering mechanism 24 applies the mortar to the brick 41, the clamping driving member increases the distance between the two clamping plates 251 to facilitate the brick 41 to be placed on the supporting table 232 or to be turned over with the supporting table 232. After the plastering mechanism 24 finishes plastering, the clamping driving member reduces the distance between the two clamping plates 251 so as to clamp the brick 41 after plastering. Thereafter, the pushing drive assembly 255 drives the clamping assembly to move to the designated position, and the clamping assembly releases the brick 41 so that the brick 41 is placed at the designated position to wait.

Further, the height of the top surface of the clamping plate 251 is not higher than the height of the surface to be plastered of the brick 41, avoiding the clamping plate 251 to interfere with the plastering mechanism 24.

Illustratively, the clamp drive includes a clamp motor 252, a clamp gear 253, and a clamp rack 254. Each clamping plate 251 is fixedly connected with a clamping rack 254, the clamping racks 254 are perpendicular to the clamping plates 251, the two clamping racks 254 are opposite, the clamping gear 253 is arranged between the two clamping racks 254 and is meshed with the two clamping racks 254, the clamping gear 253 is driven by the clamping motor 252 to rotate in the forward direction, the two clamping racks 254 can be driven to move in the reverse direction, the two clamping plates 251 are driven to move in the opposite direction or in the opposite direction, and clamping or loosening of bricks 41 is achieved.

In other embodiments, the clamping driving member may have other structures as long as the distance between the two clamping plates 251 can be adjusted.

In this embodiment, the pushing driving assembly 255 can drive the clamping assembly to move the brick 41 out of the mounting frame 21, so that the brick laying device 300 can be conveniently clamped. Specifically, the pushing driving assembly 255 is a two-stage telescopic mechanism, which can increase the moving distance of the brick 41, and can reduce the space occupied by the pushing driving assembly 255 during the non-operation, so that the plastering device 200 can have a more compact structure.

Specifically, the push drive assembly 255 includes a mounting plate 2551, a primary slide plate 2552, and a secondary slide plate 2553. The mounting plate 2551 is fixed on the mounting frame 21, the primary sliding plate 2552 is slidably connected to the mounting plate 2551 in the front-rear direction, and a primary sliding driving piece is arranged between the mounting plate 2551 and the primary sliding plate 2552 and used for driving the primary sliding plate 2552 to slide relative to the mounting plate 2551; the secondary sliding plate 2553 slides on the primary sliding plate 2552 in the front-rear direction, and a secondary sliding driving member is provided therebetween, and the secondary sliding driving member can drive the secondary sliding plate 2553 to slide relative to the primary sliding plate 2552.

For example, the primary slide driving member and the secondary slide driving member may be a screw-nut mechanism, a rack-and-pinion mechanism, or a linear motor, as long as the mounting plate 2551 and the primary slide plate 2552, and the primary slide plate 2552 and the secondary slide plate 2553 can be driven to slide relatively, and the structures thereof will not be described in detail in this embodiment.

Illustratively, a guide member, such as a guide rail slider assembly, may be disposed between the mounting plate 2551 and the primary slide plate 2552 and between the primary slide plate 2552 and the secondary slide plate 2553 to guide the sliding direction of the primary slide plate 2552 and the secondary slide plate 2553 to prevent the pushing drive assembly 255 from being jammed during the movement.

As shown in fig. 11, the plastering grabbing mechanism 22 comprises a plastering translational assembly 221, a plastering rotational assembly, a plastering telescopic assembly 223 and a plastering grabbing assembly 224. The plastering translational component 221 is arranged on the mounting frame 21, and the plastering rotational component is arranged at the output end of the plastering translational component 221 and can horizontally move under the driving of the plastering translational component 221; the flexible subassembly 223 of plastering sets up in the output of the revolving subassembly of plastering, can rotate around vertical axis under the drive of the revolving subassembly of plastering, and the subassembly 224 of plastering is set up in the output of the flexible subassembly 223 of plastering for snatch the fragment of brick 41, and can go up and down under the drive of the flexible subassembly 223 of plastering.

Through the cooperation of the plastering translation assembly 221 and the plastering lifting assembly, the horizontal position and the vertical height of the plastering grabbing assembly 224 can be adjusted, so that the plastering grabbing assembly 224 moves above the brick pile 400 and the supporting table 232, and the grabbing and placing position precision of the brick 41 is improved; through setting up the rotating assembly that plasters, can adjust the angle that the subassembly 224 was grabbed in plastering, be favorable to improving and snatch the brick 41 reliability, and can adjust the angle of placing of brick 41 on a supporting bench 232 to the convenient plastering mechanism 24 work.

Alternatively, the structure of the plastering translational assembly 221 can be the same as that of the pushing driving assembly 255 as long as the output linear reciprocating motion can be realized, and the specific structure of the plastering translational assembly 221 is not specifically described in this embodiment.

The rotatory subassembly of plastering includes rotor plate 2221 and rotary driving spare 2222, rotor plate 2221 can rotate the output that sets up at the translation subassembly 221 of plastering through the rotation axis of vertical setting, flexible subassembly 223 of plastering and rotary driving spare 2222 all set up on rotor plate 2221, rotary driving spare 2222 passes through synchronous pulley subassembly or gear assembly transmission with the rotation axis and is connected, so that the drive rotation axis rotates the output of translation subassembly 221 of plastering relatively, thereby drive rotor plate 2221 and rotate, and then realize plastering and snatch subassembly 224 and rotate around vertical axis.

In this embodiment, the lifting unit that plasters is the crossbar structure, and the upper end and the rotor plate 2221 of crossbar structure are articulated, and the lower extreme snatchs the subassembly 224 with plastering and articulates, and the crossbar structure is in the shrink state occupation space little, is favorable to reducing the volume of plastering mechanism 24. The crossbar structure can realize flexible drive through mechanisms such as cylinder, linear electric motor to the cylinder is the example, and the cylinder can set up on rotor plate 2221 or plaster and snatch subassembly 224, and the flexible end of cylinder is articulated with arbitrary member in the crossbar structure, and through the flexible of cylinder, it is flexible to drive the crossbar structure to realize snatching the subassembly and go up and down.

The plastering grabbing component 224 can fix the brick 41 in a clamping manner, and the structure of the plastering grabbing component can be the same as that of the clamping component, and other structures can be adopted as long as the brick 41 can be grabbed.

The concrete working process of the bricklaying equipment provided by the embodiment is as follows:

1. the guide rail assembly 100 is placed at a designated position beside a wall body 500 to be built, and the bottom frame 11 is in a horizontal state by adjusting the height of the support leg 12 and matching with a laser measuring instrument or a level bar, so as to ensure the working precision of the brick laying device 300; mounting the brick laying device 300 on the guide rail assembly 100, and placing the plastering device 200 beside the guide rail assembly 100, specifically, the plastering device 200 is arranged on the side of the guide rail assembly 100 facing away from the wall body 500 to be laid;

2. the plastering grabbing mechanism 22 in the plastering apparatus 200 is started, the plastering translational assembly 221 in the plastering grabbing mechanism 22 drives the plastering grabbing assembly 224 to slide left and right to extend out of the mounting bracket 21 and to be positioned above the brick pile 400, the direction of the plastering grabbing assembly 224 is adjusted by the plastering rotational assembly, the height of the plastering grabbing assembly 224 is adjusted by the plastering telescopic assembly 223 to grab the brick 41 in the brick pile 400, and the brick 41 is placed on the supporting table 232;

3. the overturning driving mechanism 231 drives the supporting table 232 to rotate to the vertical position, and the hopper driving assembly 243 drives the plastering hopper 241 to move so as to paint slurry on the second side surface of the brick 41; then, the overturning driving mechanism 231 drives the supporting table 232 to rotate to the horizontal position, and the hopper driving assembly 243 drives the plastering hopper 241 to move so as to paint slurry on the first side surface of the brick 41;

4. the pushing mechanism 25 is started, the pushing driving component 255 is matched with the clamping component, the brick 41 coated with the slurry is placed on the small rail car 16 in the second limiting groove 15 and moves to an appointed position through the small rail car 16, and the brick laying device 300 moves according to a coordinate system established by the vision mechanism so as to grab the brick 41 to be laid on the wall body 500 to be laid;

5. the brick laying device 300 moves along the guide rail assembly 100 and completes each layer of brick laying work from bottom to top respectively, so that the full-automatic brick laying work of the wall body 500 to be laid is realized.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.

Claims

1. A brick laying apparatus, comprising:

2. The brick laying apparatus according to claim 1 wherein the guide rail assembly comprises:

the brick laying device is connected with the guide rail in a sliding manner;

the guide rail is arranged on the bottom frame; and

3. The brick laying apparatus according to claim 2 wherein the guide rail comprises:

and the designated position is positioned in the second limiting groove.

4. The brick laying apparatus according to claim 3 wherein the brick laying device comprises:

the lifting mechanism is arranged on the movable base; and

5. The brick laying apparatus of claim 1 wherein the rail assembly comprises a linear rail assembly parallel to the body to be laid and an arcuate rail assembly at a corner of the body to be laid, the linear rail assembly being removably connected to the arcuate rail assembly.

6. The brick laying apparatus according to any one of claims 1-5, further comprising:

7. The brick laying apparatus according to any one of claims 1-5, wherein the plastering device comprises:

the plastering grabbing mechanism is arranged on the mounting frame and can grab the brick;

8. The brick laying apparatus according to claim 7 wherein the plastering mechanism comprises:

9. The brick laying apparatus according to claim 7, wherein the plastering device further comprises:

the push mechanism includes:

10. The brick laying apparatus according to claim 7 wherein the plastering grabbing mechanism comprises:

the plastering translation assembly is arranged on the mounting frame;