CN112302356A - Brick laying robot - Google Patents
Brick laying robot Download PDFInfo
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- CN112302356A CN112302356A CN202011039053.6A CN202011039053A CN112302356A CN 112302356 A CN112302356 A CN 112302356A CN 202011039053 A CN202011039053 A CN 202011039053A CN 112302356 A CN112302356 A CN 112302356A
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- chassis
- brick
- gripper
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- mortar
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/22—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by cutting, e.g. incising
- B28D1/24—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by cutting, e.g. incising with cutting discs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a brick laying robot, which belongs to the technical field of building of brick laying, and comprises a moving chassis, a mechanical gripper mechanism and a displacement detection device; the robot gripper mechanism comprises a six-degree-of-freedom robot body with one end mounted on the moving chassis and a gripper mechanism connected with the other end of the robot body, and the gripper mechanism can be driven by the robot body to perform brick picking and placing operation; the gripper mechanism comprises a mounting seat connected with the robot body and a gripper assembly arranged on the mounting seat and capable of moving relative to the mounting seat; the displacement detection device is arranged on the gripper mechanism and used for detecting the displacement of the gripper assembly. The invention can improve the construction precision and efficiency of the field masonry of the parameterized brick wall.
Description
Technical Field
The invention relates to the technical field of building of brick masonry, in particular to a brick-laying robot.
Background
Masonry of brick walls is a very traditional construction technique. Workers use bricks as units and build the bricks in a combined manner to form the final wall. The traditional bricklaying method comprises the following steps: all-in-one, two flat sides, all-in-one, one-in-one, plum blossom, three-in-one and the like. The surface of the wall body finished by the masonry method is mostly a plane, and the texture of the wall surface is single. Under the support of the current parameterization design technology, a designer can more freely define the parameters such as the rotation angle, the position and the like of each brick by means of three-dimensional modeling software, and the brick wall is not constrained by the traditional building form. The masonry brick not only has corresponding structural performance, but also presents customized nonstandard wall surface texture characteristics and has certain aesthetic identification.
Based on the parameterized design method, a parameterized bricklaying method of the ganged brick is provided for the big handle, the Yan snowflakes, the Yinshanhong and the like (the great handle, the Yan snowflakes, the Yinshanhong and the like. the parameterized bricklaying method of the ganged brick is that China, 109736484[ P ].2020.03.27), parameterized tools Rhino and Grasshopper are adopted to design the wall surface, a cross bricklaying method is adopted during construction, the accurate position of each brick is determined by establishing a coordinate system, and the gradual change effect of the wall surface is realized by controlling the distance of the T-shaped brick protruding out of the wall surface. The traditional manual construction mode enables the problems of low efficiency, high labor cost and high precision control difficulty in field construction of the parameterized brick wall.
Currently, there is another way to build parametric brick walls, namely, robotic building. The principle is that a data file in a computer is converted into path data of the robot masonry brick and command instructions of all units. At present, most of wall building equipment of robots are in a fixed position environment of a laboratory, and the robots complete building of brick walls within a specific range at fixed positions. In a construction site, the brick wall building has the problems of complex synthesis, such as a mobile robot, a positioning robot, brick and mortar supply, building quality detection and the like.
Therefore, the technical personnel in the field need to solve the problem of realizing the building of the parameterized brick wall with customized nonstandard texture on the construction site by utilizing the robot technology and the mobile chassis.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a brick laying robot which can improve the construction precision and the construction efficiency of field construction of parameterized brick walls.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a brick laying robot, which comprises a movable chassis, a mechanical gripper mechanism and a displacement detection device, wherein the movable chassis is provided with a plurality of guide rails;
the robot gripper mechanism comprises a six-degree-of-freedom robot body with one end mounted on the moving chassis and a gripper mechanism connected with the other end of the robot body, and the gripper mechanism can be driven by the robot body to perform brick picking and placing operation;
the gripper mechanism comprises a mounting seat connected with the robot body and a gripper assembly arranged on the mounting seat and capable of moving relative to the mounting seat;
the displacement detection device is arranged on the gripper mechanism and used for detecting and acquiring the displacement distance of the gripper assembly.
Furthermore, the gripper assembly is connected with the mounting seat through a connecting shaft rod, and the displacement monitoring device comprises a distance sensor and a spring;
the spring is sleeved on the connecting shaft rod, one side of the spring abuts against one end of the connecting shaft rod, the other side of the spring abuts against the mounting seat, the spring is compressed when the connecting shaft rod and the gripper assembly move relative to the mounting seat, and the distance sensor is fixedly mounted on the mounting seat and used for detecting the compression amount of the spring.
Further, the gripper mechanism further comprises a position feedback camera arranged on the gripper assembly and used for positioning.
Further, the brick laying robot still includes fragment of brick feeding mechanism, fragment of brick feeding mechanism includes:
the brick storage mechanism is arranged on the movable chassis and used for storing and sorting bricks;
the conveying mechanism is arranged on the movable chassis and connected with the brick discharging mechanism and used for conveying the bricks in the brick storage mechanism.
Further, the brick laying robot further comprises a mortar feeding mechanism, and the mortar feeding mechanism comprises:
the mortar storage mechanism is arranged on the movable chassis and used for storing mortar;
quantitative smearing mechanism, set up in on the removal chassis, and with mortar storage mechanism is connected, be used for with mortar ration in the mortar storage mechanism is smeared on the fragment of brick that transport mechanism conveys.
Further, the brick laying robot further comprises a brick cutting mechanism, wherein the brick cutting mechanism comprises a cutting support arranged on the movable chassis and a cutting assembly arranged on the cutting support and used for cutting bricks.
Further, the brick cutting mechanism further comprises a two-dimensional sliding mechanism, and the cutting support is arranged on the two-dimensional sliding mechanism.
Further, the brick laying robot further comprises a control mechanism arranged on the moving chassis, and the control mechanism is in signal connection with the moving chassis, the robot body, the gripper mechanism, the displacement detection device, the brick feeding mechanism, the mortar feeding mechanism and the brick cutting mechanism respectively.
Further, the movable chassis comprises a chassis frame, and a chassis wheel set, a chassis driving motor, a robot connecting chassis, a power supply and a chassis supporting mechanism which are arranged on the chassis frame;
the chassis driving motor is in driving connection with the chassis wheel set and is used for controlling the movable chassis to move by driving the chassis wheel set; a
The robot connecting chassis is used for connecting the robot gripper mechanism;
the chassis supporting mechanism is used for stably leveling and supporting the movable chassis;
the power supply is used for providing electric power for the chassis wheel set, the chassis driving motor, the robot connecting chassis, the chassis supporting mechanism and the machine gripper mechanism.
Compared with the prior art, the invention has the following beneficial effects:
by adopting the displacement detection device, the difference information between the actual building height and the theoretical building height of the brick building is judged by acquiring displacement data, namely the amount of the pressing spring, so that the building precision and the building efficiency of the field building of the parameterized brick wall can be improved, and the labor cost is saved;
the brick feeding mechanism, the mortar feeding mechanism and the brick cutting mechanism are adopted, and the control mechanisms are used for coordinately controlling the mechanisms, so that the streamlined operation and the intellectualization of the brick laying process can be realized, and the laying efficiency is improved;
the main parameter information of the machine is preset through the control mechanism, and the machine gripper mechanism is controlled to build a customized nonstandard-texture parameterized brick wall by combining the position feedback device and the displacement detection device, so that the building intelligence and diversity can be realized.
Drawings
Fig. 1 is a schematic view of the overall structure of a brick laying robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of the mobile chassis of FIG. 1;
FIG. 3 is a schematic structural diagram of a gripper mechanism, a position feedback device and a displacement detection device of the gripper mechanism of the machine in FIG. 1;
FIG. 4 is a schematic structural diagram of a mortar storing mechanism and a quantitative smearing mechanism of the mortar feeding mechanism in FIG. 1;
fig. 5 is a schematic diagram of a parameterized brick wall built by the brick laying robot according to an embodiment of the invention.
In the figure:
1. moving the chassis; 2. a machine gripper mechanism; 3. a control mechanism; 4. a brick feeding mechanism; 5. a mortar feeding mechanism; 6. a brick cutting mechanism; 7. connecting the shaft lever; 8. a mounting seat; 9. a transfer station; 10. the gripper runs the guide rail; 11. a power source; 12. a chassis drive motor; 13. a chassis wheel set; 14. a crawler belt; 15. hydraulically leveling a support leg interface; 16. the robot is connected with the chassis; 17. a chassis frame; 18. the supporting legs unfold the bearing joints; 21. a gripper assembly; 22. a position feedback camera; 23. a displacement detection device; 24. a mortar storage mechanism; 25. a quantitative smearing mechanism.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of the present invention provides a brick laying robot including a moving chassis 1 capable of moving at a construction site, a machine gripper mechanism 2, and a displacement detecting device 23. The robot gripper mechanism 2 comprises a six-degree-of-freedom robot body with one end arranged on the movable chassis 1 and a gripper mechanism connected with the other end of the robot body, wherein the six-degree-of-freedom robot can realize operations such as up-down, left-right, translation and rotation, and can flexibly grip and place masonry bricks.
The gripper mechanism can be driven by the robot body to perform the brick picking and placing operation, and as an embodiment of the invention, a separate driving mechanism, such as a driving cylinder and the like, can be arranged on the gripper mechanism, and the driving mechanism drives the gripper mechanism to perform the brick picking and placing operation. Specifically, the gripper mechanism comprises a mounting seat 8 connected with the robot body and a gripper assembly 21 arranged on the mounting seat 8 and capable of moving relative to the mounting seat 8, wherein the gripper assembly 21 comprises a gripper running guide rail 10 and two grippers oppositely arranged on the gripper running guide rail 10, the gripper assembly 21 is connected with the mounting seat 8 through a connecting shaft rod 7, one end of the connecting shaft rod 7 is fixedly connected with the gripper assembly 21, the other end of the connecting shaft rod penetrates through the mounting seat 8, and the gripper assembly 21 can be communicated with the mounting seat 8 to move together relative to the mounting seat.
The displacement detection device 23 is disposed on the gripper mechanism for detecting the displacement of the gripper assembly 21. As an embodiment of the present invention, the displacement detecting means 23 includes a distance sensor and a spring. Specifically, the spring is sleeved on the connecting shaft rod 7, one side of the spring is abutted against one end of the connecting shaft rod 7, and the other side of the spring is abutted against the mounting seat 8; in the brick laying process, when the placed bricks are pressed down by the gripper assembly 21, the connecting shaft rod 7 and the gripper assembly 21 are displaced relative to the mounting seat 8 and compress the spring, wherein the compression amount of the spring is equal to the displacement amount of the gripper assembly 21 relative to the mounting seat 8; consequently, can judge the difference on actual height and the theoretical model height that the fragment of brick was built by laying bricks or stones through the distance that detects down the spring, specifically, at the building in-process, detect the actual spring compression volume alright obtain the actual displacement volume of tongs subassembly through distance sensor, contrast with predetermineeing the displacement volume, alright obtain the error on actual height and the theoretical model height that the fragment of brick was built by laying bricks or stones.
The embodiment of the invention detects the distance of the pressing spring through the distance sensor, and particularly, the distance sensor is fixedly arranged on the mounting seat 8 and used for detecting the compression amount of the spring or detecting the displacement distance of the connecting shaft rod 7 and the like. The brick laying robot of the embodiment can improve the construction precision and the construction efficiency of on-site construction of the parameterized brick wall, and saves the labor cost.
As shown in fig. 2, a moving chassis 1 of a brick laying robot provided by the embodiment of the present invention includes a chassis frame 17, chassis wheel sets 13 arranged on the chassis frame 17, a chassis driving motor 12, a robot connecting chassis 16, a power source 11, and a chassis supporting mechanism. Specifically, the power supply 11 is used for providing electric power for the chassis wheel set 13, the chassis driving motor 12, the robot connecting chassis 16, the chassis supporting mechanism, the machine gripper mechanism 2 and the like; the chassis driving motor 12 is in driving connection with a chassis wheel set 13 and is used for controlling the moving chassis 1 to move through the chassis wheel set 13, wherein the driving wheel set also comprises a crawler 14; the robot connecting chassis 16 is used for connecting the robot gripper mechanism 2; the chassis supporting mechanism is used for stably leveling and supporting the movable chassis 1, and specifically comprises a hydraulic leveling support leg interface 15, a hydraulic valve and a support leg unfolding bearing joint 18.
In practical use, an operator can manually operate the mobile chassis 1 to move in a construction site in a wired or wireless mode, and after reaching a designated position, the joints of the supporting feet can be unfolded, so that the supporting feet are lowered to fix the mobile chassis 1; after the masonry operation task of the point location is completed, the supporting feet can be lifted, and after the supporting feet are folded, the next construction point location is moved for masonry operation, so that the function of movement on a construction site can be realized, and the supporting feet are kept stable in the working state of the robot.
The brick laying robot provided by the embodiment of the invention further comprises a position feedback camera 22, the position feedback camera can photograph the surrounding environment in the positioning stage to obtain position information, and the position of the robot can be obtained through calculation and feedback.
As shown in fig. 1, the brick laying robot provided by the embodiment of the present invention further includes a brick feeding mechanism 4, where the brick feeding mechanism 4 includes: fragment of brick feed mechanism and transport mechanism. The brick storage mechanism is arranged on the movable chassis 1 and used for storing and sorting bricks; the transfer mechanism is arranged on the movable chassis 1 and can transfer bricks placed on the transfer mechanism to a designated position to wait for the grabbing component 21 to grab.
The brick laying robot provided by the embodiment of the invention further comprises a mortar feeding mechanism 5, and as shown in fig. 4, the mortar feeding mechanism 5 comprises a mortar storing mechanism 24 and a quantitative smearing mechanism 25. The mortar storage mechanism 24 is arranged on the movable chassis 1 and used for storing mortar; the quantitative smearing mechanism 25 is arranged on the movable chassis 1, is connected with the mortar storage mechanism, and is used for smearing mortar in the mortar storage mechanism on bricks conveyed by the conveying mechanism in a quantitative manner. Specifically, when mortar is applied to the bricks, firstly, the gripper assembly 21 grips the bricks on the brick feeding mechanism 4 and sends the bricks to the mortar quantitative applying mechanism 25; then, the mortar storage mechanism 24 starts to convey mortar, the quantitative smearing mechanism 25 extrudes the conveyed mortar, and meanwhile the gripper assembly 21 drives the brick blocks to move, so that the extruded mortar is smeared on the preset positions of the brick blocks.
The brick laying robot provided by the embodiment of the invention further comprises a brick cutting mechanism 6, wherein the brick cutting mechanism 6 is arranged on the movable chassis 1; the brick cutting mechanism 6 comprises a cutting bracket and a cutting assembly, wherein the cutting assembly comprises a saw blade and a motor; specifically, the cutting support is arranged on the movable chassis 1, and the cutting assembly is arranged on the cutting support. When the bricks are cut, firstly, the gripper assembly 21 grips the bricks on the brick feeding mechanism 4 and sends the bricks to the brick cutting assembly; then, the motor of the cutting assembly drives the saw blade to rotate, and the gripper assembly 21 drives the bricks to move so that the bricks are cut by the saw blade. As an embodiment of the invention, the brick cutting mechanism 6 can also be provided with a plane rotating device, and the cutting support is arranged on the plane rotating device and is driven by the plane rotating device to perform multi-angle and diversified brick cutting operation, so as to meet different masonry requirements.
The brick laying robot provided by the embodiment of the invention further comprises a control mechanism 3 arranged on the movable chassis 1, wherein the control mechanism 3 is respectively in signal connection with the movable chassis 1, the robot body, the gripper mechanism, the displacement detection device 23, the brick feeding mechanism 4, the mortar feeding mechanism 5, the brick cutting mechanism 6 and the like, and has the functions of information receiving, information processing and information transmission. The control mechanism 3 can realize the moving and positioning functions of the predetermined track under the control of the preset motion instruction by acquiring the position information of the position feedback camera 22, and adjust indexes such as speed, acceleration and the like according to the relevant motion instruction.
The control mechanism 3 can control the brick feeding mechanism 4, the mortar feeding mechanism 5 and the brick cutting mechanism 6 to coordinate and cooperate to perform brick transmission, mortar coating, cutting operation and the like according to preset working instructions, parameter data and the like, and transmits instructions to the robot body, so that the robot body drives the gripper mechanism to grip bricks, places the bricks at an appointed position and drives the gripper mechanism to press the bricks; the displacement detection device 23 acquires the pressing data and transmits the pressing data to the control mechanism 3, and the control mechanism 3 judges the relevant information of the building height according to the pressing data, for example, judges the difference between the actual building height of the brick and the height of the theoretical model, so as to adjust the building work instruction and the parameter data in real time and adjust the building height. The main parameter information of the machine is preset by the control mechanism 3, and the machine gripper mechanism 2 is controlled to build a customized nonstandard-texture parameterized brick wall by combining the position feedback device and the displacement detection device 23, so that the building intelligence and diversity can be realized.
Example two:
based on the brick laying robot described in the first embodiment, the invention provides a using method of the brick laying robot, which specifically comprises the following steps:
step 101, moving the movable chassis 1 to a working position, leveling and supporting, and preparing for working;
102, acquiring position information through a position feedback camera 22, transmitting the position information to a control mechanism 3, and calculating the position of the brick laying robot;
103, transmitting commands and motion data to each mechanism according to preset program information of the control mechanism 3;
104, the brick feeding mechanism 4 acquires commands and data and transmits bricks;
105, the mortar feeding mechanism 5 obtains commands and data, and mortar smearing operation is carried out on the transmission bricks;
106, the brick cutting mechanism 6 obtains commands and data, and performs cutting operation on the smeared bricks;
107, the robot body acquires commands and data, drives a gripper mechanism to grab the cut bricks, and places the bricks at a preset position;
step 108, the robot body drives the gripper mechanism to press down the placed bricks to a preset pressing position;
step 109, the displacement detecting device 23 obtains the amount of depression displacement and transmits the data to the control mechanism 3.
In the embodiment of the present invention, based on the above steps, the control mechanism 3 determines the relevant information of the building height according to the obtained pressing data, for example, determines the difference between the actual height of the brick building and the height of the theoretical model, so as to adjust the building work instruction and the parameter data in real time, and adjust the building height. The parameterized brick wall shown in fig. 5 can be obtained by the method, and the finished product effect is good.
The brick wall building method provided by the invention adopts the brick building robot, and the control mechanism 3 coordinately controls the mechanisms, so that the streamlined operation and the intellectualization of the brick building process can be realized, and the building efficiency is improved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A brick laying robot is characterized by comprising a moving chassis, a machine gripper mechanism and a displacement detection device;
the robot gripper mechanism comprises a six-degree-of-freedom robot body with one end mounted on the moving chassis and a gripper mechanism connected with the other end of the robot body, and the gripper mechanism can be driven by the robot body to perform brick picking and placing operation;
the gripper mechanism comprises a mounting seat connected with the robot body and a gripper assembly arranged on the mounting seat and capable of moving relative to the mounting seat;
the displacement detection device is arranged on the gripper mechanism and used for detecting and acquiring the displacement distance of the gripper assembly.
2. The brick laying robot according to claim 1, wherein the gripper assembly is connected with the mounting seat through a connecting shaft rod, and the displacement monitoring device comprises a distance sensor and a spring;
the spring is sleeved on the connecting shaft rod, one side of the spring abuts against one end of the connecting shaft rod, the other side of the spring abuts against the mounting seat, the spring is compressed when the connecting shaft rod and the gripper assembly move relative to the mounting seat, and the distance sensor is fixedly mounted on the mounting seat and used for detecting the compression amount of the spring.
3. The brick laying robot of claim 2 wherein the gripper mechanism further comprises a position feedback camera disposed on the gripper assembly for position location.
4. The brick laying robot according to claim 3, further comprising a brick feeding mechanism, the brick feeding mechanism comprising:
the brick storage mechanism is arranged on the movable chassis and used for storing and sorting bricks;
the conveying mechanism is arranged on the movable chassis and connected with the brick discharging mechanism and used for conveying the bricks in the brick storage mechanism.
5. The brick laying robot according to claim 4, further comprising a mortar feed mechanism, the mortar feed mechanism comprising:
the mortar storage mechanism is arranged on the movable chassis and used for storing mortar;
quantitative smearing mechanism, set up in on the removal chassis, and with mortar storage mechanism is connected, be used for with mortar ration in the mortar storage mechanism is smeared on the fragment of brick that transport mechanism conveys.
6. The brick laying robot according to claim 5, further comprising a brick cutting mechanism comprising a cutting bracket disposed on the moving chassis and a cutting assembly disposed on the cutting bracket for cutting a brick.
7. The brick laying robot of claim 6, wherein the brick cutting mechanism further comprises a two-dimensional sliding mechanism, the cutting carriage being disposed on the two-dimensional sliding mechanism.
8. The brick laying robot according to claim 7, further comprising a control mechanism arranged on the moving chassis, wherein the control mechanism is in signal connection with the moving chassis, the robot body, the gripper mechanism, the displacement detection device, the brick feeding mechanism, the mortar feeding mechanism and the brick cutting mechanism respectively.
9. The brick laying robot according to claim 1, wherein the moving chassis comprises a chassis frame, and chassis wheel sets, a chassis driving motor, a robot connecting chassis, a power supply and a chassis supporting mechanism which are arranged on the chassis frame;
the chassis driving motor is in driving connection with the chassis wheel set and is used for controlling the movable chassis to move by driving the chassis wheel set; a
The robot connecting chassis is used for connecting the robot gripper mechanism;
the chassis supporting mechanism is used for stably leveling and supporting the movable chassis;
the power supply is used for providing electric power for the chassis wheel set, the chassis driving motor, the robot connecting chassis, the chassis supporting mechanism and the machine gripper mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011039053.6A CN112302356A (en) | 2020-09-28 | 2020-09-28 | Brick laying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011039053.6A CN112302356A (en) | 2020-09-28 | 2020-09-28 | Brick laying robot |
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| CN112302356A true CN112302356A (en) | 2021-02-02 |
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| CN202011039053.6A Pending CN112302356A (en) | 2020-09-28 | 2020-09-28 | Brick laying robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115450447A (en) * | 2021-06-08 | 2022-12-09 | 广东博智林机器人有限公司 | Interaction system, brick laying device, brick laying manipulator and brick laying positioning method |
| CN117536462A (en) * | 2024-01-08 | 2024-02-09 | 山西冶金岩土工程勘察有限公司 | Wall building device and wall building method for automatic mortar pouring |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115450447A (en) * | 2021-06-08 | 2022-12-09 | 广东博智林机器人有限公司 | Interaction system, brick laying device, brick laying manipulator and brick laying positioning method |
| CN115450447B (en) * | 2021-06-08 | 2024-05-31 | 广东博智林机器人有限公司 | Interactive system, brickwork device, brickwork manipulator and brickwork positioning method |
| CN117536462A (en) * | 2024-01-08 | 2024-02-09 | 山西冶金岩土工程勘察有限公司 | Wall building device and wall building method for automatic mortar pouring |
| CN117536462B (en) * | 2024-01-08 | 2024-04-19 | 山西冶金岩土工程勘察有限公司 | Wall building device and wall building method for automatic mortar pouring |
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