CN112324169A - Masonry machine - Google Patents
Masonry machine Download PDFInfo
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- CN112324169A CN112324169A CN202011240496.1A CN202011240496A CN112324169A CN 112324169 A CN112324169 A CN 112324169A CN 202011240496 A CN202011240496 A CN 202011240496A CN 112324169 A CN112324169 A CN 112324169A
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- masonry
- substrate
- base material
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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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- Civil Engineering (AREA)
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- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a masonry machine, which screens masonry base materials through a feeding system and sends the masonry base materials into a feeding system, the feeding system sends the masonry base materials into a blanking construction system for cement mortar pouring, and the masonry base materials are sent into a construction surface through the blanking construction system after being poured and tamped.
Description
Technical Field
The invention belongs to the field of engineering machinery, and particularly relates to a masonry machine.
Background
With the development of national economy and the progress of science and technology, the living standard of people is continuously improved. Social resource allocation is also gradually trending towards intelligent and pluripotent development. The use of machines to assist or even replace labor has become the ultimate goal of social development. In the modern civil engineering industry, semi-automatic, full-automatic and intelligent modern mechanical equipment is in endless, and makes a vital contribution to the modern construction of China. The engineering machinery in China has a very optimistic result after long-term development. Along with the development of high and new technologies, the technical level of engineering machinery is continuously improved. "mechatronic engineering machinery", "intelligent engineering machinery" and "green development engineering machinery" are development trends of new generations of engineering machinery. Systematization, integration and multiple purposes and the like all lead the industry to have higher development. However, the introduction of engineering machinery in China is the main cause, so that the technical updating in China is slow and the competitiveness is poor. And the required manual labor of the engineering machinery is large at present, the informatization and electronization investment is low, so that the engineering machinery has single function and low resource integration degree.
Disclosure of Invention
The invention aims to overcome the defects and provide a masonry machine which can be used for building buildings and engineering facilities which take stones, bricks and the like as building raw materials. The machine has the advantages of high automation degree, cost saving, less manpower allocation and the like.
In order to achieve the purpose, the invention comprises a feeding system, an auxiliary construction system and a blanking construction system;
the feeding system comprises a masonry substrate screening device, a masonry substrate feeding device and a first masonry substrate pushing device, wherein the masonry substrate screening device is used for screening masonry substrates meeting requirements and sending the masonry substrates to the masonry substrate feeding device, and the feeding device sends the masonry substrates to the first masonry substrate pushing device;
the feeding system comprises an X-direction feeding device and a Y-direction feeding device, one end of the Y-direction feeding device is connected with the first building base material pushing device, the other end of the Y-direction feeding device is connected with the X-direction feeding device, and the X-direction feeding device is connected with the blanking construction system;
the blanking construction system comprises a masonry base material clamping device and a blanking mechanism, the masonry base material clamping device is connected with the X-direction feeding device, and the masonry base material clamping device can move between the auxiliary construction system and a construction surface;
the auxiliary construction system comprises a vibration tamping device and a cement mortar conveying device, wherein the cement mortar conveying device is used for pouring the masonry base material on the masonry base material clamping device, and the vibration tamping device is used for tamping the poured masonry base material.
The masonry substrate screening device comprises a masonry substrate screening mechanism, a masonry substrate detection device and a masonry substrate facing adjustment mechanism, the masonry substrate screening mechanism is connected with the masonry substrate detection device and the masonry substrate facing adjustment mechanism, the masonry substrate detection device is used for detecting whether a masonry substrate is in place, and the masonry substrate facing adjustment mechanism is used for processing the facing of the masonry substrate;
the masonry substrate feeding device comprises a masonry substrate feeding mechanism, wherein a telescopic conveyor belt is arranged on the masonry substrate feeding mechanism and connected with a first masonry substrate pushing device, and the first masonry substrate pushing device is connected with a feeding system.
The X-direction feeding device comprises an X-direction feeding conveying belt, a first masonry substrate in-place detection device and a second masonry substrate pushing device are arranged on the X-direction feeding conveying belt, and a second masonry substrate in-place detection device and a third masonry substrate pushing device are arranged on the Y-direction feeding device.
The feeding system, the auxiliary construction system and the blanking construction system are all connected with the data processing center.
The feeding system, the auxiliary construction system and the blanking construction system are all fixed on the machine body support.
A robot driving control room is arranged on the machine body support, a central swing mechanism is arranged at the bottom of the machine body support, a robot walking support is arranged below the central swing mechanism, a walking chassis is arranged below the robot walking support, and a crawler frame is arranged on the walking chassis.
And a robot auxiliary system is arranged in the machine body support and comprises a balance mechanism, and the balance mechanism is connected with a balance mechanism adjusting device.
Compared with the prior art, the device screens the masonry base materials through the feeding system, feeds the masonry base materials into the blanking construction system for cement mortar pouring, and feeds the masonry base materials into the construction surface through the blanking construction system after pouring and tamping.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a Y-direction feeding device according to the present invention;
FIG. 3 is a schematic structural diagram of a blanking construction system according to the present invention;
FIG. 4 is a schematic structural view of a masonry substrate clamping device according to the present invention;
fig. 5 is a schematic structural diagram of a cab according to the present invention.
The system comprises a 1-masonry substrate screening mechanism, a 2-masonry substrate screening detection device, a 3-masonry substrate masonry surface adjusting mechanism, a 4-masonry substrate detection device, a 5-masonry substrate feeding mechanism, a 6-telescopic conveyor belt, a 7-feeding system, an 8-masonry substrate screening device, a 9-masonry substrate feeding device, a 10-first masonry substrate pushing device, a 11-first masonry substrate pushing detection device, a 12-first masonry substrate pushing mechanism, a 13-machine body support, a 14-robot driving control room, a 15-driving platform, a 16-data processing center, a 17-robot auxiliary system, an 18-balancing mechanism, a 19-balancing mechanism adjusting device, a 20-robot working support, a 21-working platform, a control system, a computer, 22-a working platform lifting system, 23-a platform working supporting system, 24-a working platform auxiliary system, 25-a robot walking frame, 26-a walking chassis, 27-a track frame, 28-a walking mechanism, 29-a chassis, 30-a central slewing mechanism, 31-a blanking construction system, 32-a masonry substrate blanking construction device, 33-a blanking in-place detection device, 34-a blanking mechanism, 35-a masonry substrate clamping device, 36-a blanking positioning detection device, 37-a masonry substrate laying surface angle adjusting mechanism, 38-a masonry substrate laying surface adjusting mechanism, 39-a clamping mechanism, 40-a masonry substrate clamping detection device, 41-an auxiliary construction system, 42-a vibration tamping device, 43-a vibration mechanism, 44-a vibration in-place detection device, a vibration in-position detection device, a vibration in-place detection device, a vibration in, 45-cement mortar conveying device, 46-cement mortar conveying mechanism, 47-cement mortar pouring in-place detection device, 48-cement mortar floating mechanism, 49-cement mortar floating detection device, 50-feeding system, 51-X direction feeding device, 52-first masonry base material in-place detection device, 53-second masonry base material pushing device and 54-second material pushing in-place detection device, 55-second masonry substrate material pushing mechanism, 56-X direction feeding conveyor belt, 57-Y direction feeding device, 58-second masonry substrate material in-place detection device, 59-third masonry substrate material pushing device, 60-third material pushing in-place detection device, 61-third masonry substrate material pushing mechanism, 62-Y direction feeding conveyor belt and 63-masonry substrate material.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the present invention includes a feeding system 7, a feeding system 50, an auxiliary construction system 41 and a blanking construction system 31;
the feeding system 7 comprises a masonry substrate screening device 8, a masonry substrate feeding device 9 and a first masonry substrate pushing device 10, wherein the masonry substrate screening device 8 is used for screening masonry substrates meeting requirements and sending the masonry substrates to the masonry substrate feeding device 9, and the feeding device 9 sends the masonry substrates to the first masonry substrate pushing device 10;
the feeding system 50 comprises an X-direction feeding device 51 and a Y-direction feeding device 57, one end of the Y-direction feeding device 57 is connected with the first masonry substrate material pushing device 10, the other end of the Y-direction feeding device 57 is connected with the X-direction feeding device 51, and the X-direction feeding device 51 is connected with the blanking construction system 31;
the blanking construction system 31 comprises a masonry base material clamping device 35 and a blanking mechanism 34, the masonry base material clamping device 35 is connected with an X-direction feeding device 51, and the masonry base material clamping device 35 can move between the auxiliary construction system 41 and a construction surface;
the auxiliary construction system 41 comprises a vibration tamping device 42 and a cement mortar conveying device 45, wherein the cement mortar conveying device 45 is used for pouring the masonry base materials on the masonry base material clamping device 35, and the vibration tamping device 42 is used for tamping the poured masonry base materials.
The masonry substrate screening device 8 comprises a masonry substrate screening mechanism 1, a masonry substrate detection device 4 and a masonry substrate masonry surface adjusting mechanism 3, the masonry substrate screening mechanism 1 is connected with the masonry substrate detection device 4 and the masonry substrate masonry surface adjusting mechanism 3, the masonry substrate detection device 4 is used for detecting whether a masonry substrate is in place, and the masonry substrate masonry surface adjusting mechanism 3 is used for processing a masonry surface of the masonry substrate;
masonry substrate feeding device 9 comprises a masonry substrate feeding mechanism 5, a telescopic conveyor belt 6 is arranged on the masonry substrate feeding mechanism 5, the telescopic conveyor belt 6 is connected with a first masonry substrate pushing device 10, and the first masonry substrate pushing device 10 is connected with a feeding system 50.
The X-direction feeding device 51 comprises an X-direction feeding conveyor belt 56, a first building base material in-place detection device 52 and a second building base material pushing device 53 are arranged on the X-direction feeding conveyor belt 56, and a second building base material in-place detection device 58 and a third building base material pushing device 61 are arranged on the Y-direction feeding device 57.
The feeding system 7, the feeding system 50, the auxiliary construction system 41 and the blanking construction system 31 are all connected with the data processing center 16.
The feeding system 7, the feeding system 50, the auxiliary construction system 41 and the blanking construction system 31 are all fixed on the machine body support 13.
The machine body support 13 is provided with a robot driving control room 14, the bottom of the machine body support 13 is provided with a central rotating mechanism 30, a robot walking support 25 is arranged below the central rotating mechanism 30, a walking chassis 26 is arranged below the robot walking support 25, and a crawler frame 27 is arranged on the walking chassis 26.
A robot auxiliary system 17 is arranged in the machine body support 13, the robot auxiliary system 17 comprises a balance mechanism 18, and the balance mechanism 18 is connected with a balance mechanism adjusting device 19.
Referring to fig. 1 and 2, the feeding system 7 includes a masonry substrate screening mechanism 1, a masonry substrate screening detection 2, a masonry substrate facing adjustment mechanism 3, a masonry substrate detection 4, a masonry substrate feeding mechanism 5, a telescopic conveyor belt 6, a masonry substrate screening device 8, a masonry substrate feeding device 9, a first masonry substrate pushing device 10, and a first masonry substrate pushing detection device 11. The feeding system has the function of screening and lifting the masonry base materials to the feeding system. The whole process automatically detects, identifies and adjusts the form of the masonry base material, and ensures that the construction requirements are met. The masonry base material screening mechanism 1 stores masonry base materials and screens the masonry base materials which accord with set parameters, 3D identification and detection are carried out through masonry base material screening detection 2, data are transmitted to the data processing center 16, and the data processing center 16 sends out commands when the masonry base material masonry surface adjusting mechanism 3 passes through the masonry base material masonry surface adjusting mechanism 3 so that the masonry base material masonry surface adjusting mechanism 3 works to reach the construction masonry surface meeting the requirements. The adjusted masonry base material 63 is lifted by the masonry base material screening device 8 to be sent to the telescopic conveyor 6. Wherein the masonry base material detection device 4 detects the masonry base material 63. The masonry base material feeding mechanism 5 works to feed the masonry base material 63 to the telescopic conveyor belt 6. The telescopic conveyor belt 6 can be used for conveying the masonry base material 63 to the first masonry base material pushing device 10 when working, and the first masonry base material pushing device 10 is used for conveying the masonry base material 63 to the feeding system 50 when working. After the masonry base material 63 is conveyed to the masonry base material detection device 4 by the telescopic conveyor belt 6, the masonry base material pushing mechanism 12 works to convey the masonry base material 63 to the feeding system 50.
Referring to fig. 2 and 3, the feed system 50 includes an X-feed 51 and a Y-feed 57. The X-direction feeding device 51 comprises a second masonry substrate in-place detection device 52, a second masonry substrate pushing device 53 and an X-direction feeding conveyor belt 56, and the second masonry substrate pushing device 55 comprises a second pushing in-place detection device 54 and a second masonry substrate pushing mechanism 55; the Y-direction feeding device 57 comprises a third masonry substrate in-place detection device 58, a third masonry substrate pushing device 59 and a Y-direction feeding conveyor belt 62, and the second masonry substrate pushing device 59 comprises a third pushing in-place detection device 60 and a third masonry substrate pushing mechanism 61.
When the first masonry substrate pushing mechanism 12 works, the masonry substrate 63 is sent to the X-direction feeding conveyor belt 56 on the X-direction feeding device 51. The X-direction feeding conveyor belt 56 works to convey the masonry base materials 63 to the second masonry base material in-place detection 52, the second masonry base material pushing device 53 works after the second masonry base material in-place detection 52 performs induction identification, the second masonry base material pushing mechanism 55 works in the forward direction to convey the masonry base materials 63 to the Y-direction feeding device 57, and the second masonry base material pushing mechanism 55 reversely returns to the initial position after the second masonry base material in-place detection 54 responds to detection identification. After the Y-direction feeding conveyor belt 62 of the Y-direction feeding device 57 detects and identifies the masonry base material 63, the masonry base material 63 is fed to the second masonry base material pushing device 59, and after the third masonry base material in-place detection 58 senses and identifies the masonry base material, the third masonry base material pushing mechanism 61 works in the forward direction to feed the masonry base material 63 to the clamping mechanism 39 of the masonry base material clamping device 35, and then after the third material in-place detection 60 of the second masonry base material pushing device 59 detects and identifies the third masonry base material pushing mechanism 61 works in the reverse direction to return to the initial position.
Referring to fig. 2 to 5, the blanking construction system 31 includes a masonry substrate blanking construction device 32 and a masonry substrate holding device 35. The masonry substrate blanking construction device 32 comprises a blanking in-place detection device 33 and a blanking mechanism 34, and the masonry substrate clamping device 35 comprises a blanking positioning detection device 36, a masonry substrate step angle adjusting mechanism 37, a masonry substrate step adjusting mechanism 38, a clamping mechanism 39 and masonry substrate clamping detection 40.
When the third masonry substrate pushing mechanism 61 sends the masonry substrate 63 to the clamping mechanism 39, the masonry substrate clamping detection 40 firstly detects and identifies the masonry substrate and feeds the masonry substrate back to the data processing center 16, then the clamping mechanism 39 works to clamp the masonry substrate, then the data processing center 16 sends a command to the masonry substrate masonry surface adjusting mechanism 38 and the masonry substrate masonry surface angle adjusting mechanism 37, and the masonry substrate masonry surface adjusting mechanism 38 and the masonry substrate masonry surface angle adjusting mechanism 37 work simultaneously to achieve a proper construction masonry surface and construction angle. The blanking mechanism 34 works to send the masonry base material clamping device 35 to a construction site, meanwhile, the blanking in-place detection device 33 detects and identifies the construction site and transmits the construction site to the data processing center 16, the data processing center 16 sends a command to the clamping mechanism 39 of the masonry base material clamping device 35 to work to place the masonry base material 63 on the construction site after processing, and finally, the blanking mechanism 34 lifts the masonry base material clamping device 35 to an initial position to complete blanking construction.
The auxiliary construction system 41 includes a vibration tamping device 42 and a cement mortar conveying device 45. Wherein the vibration tamping device 42 comprises a vibration mechanism 43 and a vibration in-place detection device 44; the cement mortar conveying device 45 comprises a cement mortar conveying mechanism 46, a cement mortar pouring-in-place detection 47, a cement mortar troweling mechanism 48 and a cement mortar troweling detection 49.
When the clamping mechanism 39 is operated to maintain the clamped state, the cement mortar transfer mechanism 46 transfers the cement mortar to the construction site. Whether cement is poured in place is detected in all directions by cement mortar pouring in-place detection 47 and data is transmitted to the data processing center 16. The data processing center 16 then issues real-time commands to the cement mortar troweling mechanism 48 to trowel the cement. The cement mortar floating detection 49 collects data in real time and feeds the data back to the data processing center 16, and the data processing center 16 controls the cement mortar floating mechanism 48 to work until the work reaches the blanking construction standard.
After the blanking construction system 31 finishes placing the masonry base material 63, the vibration tamping device 42 starts to work. Data is collected by the vibration in-position detection device 44 and transmitted to the data processing center 16. And 16, the data processing center sends a command in real time to control the vibration mechanism 43 to work until the vibration requirement is met.
The body frame 13 comprises a robot cab 14, a robot assistance system 17, a robot work frame 20 and a robot walking frame 25. Wherein the robot cab 14 includes a cab 15 and a data processing center 16; the robot auxiliary system 17 comprises a balance mechanism 18 and a balance mechanism adjusting device 19, and the robot working support 20 comprises a working platform 21, a working platform lifting system 22, a platform working supporting system 23 and a working platform auxiliary system 24; the robot walking frame 25 comprises a walking chassis 26 and a central slewing mechanism 30, and the walking chassis 26 comprises a crawler frame 27, a walking mechanism 28 and a chassis 29.
(1) The frame 25 for robot walking completes the normal moving and backing functions of the equipment and the switching of the working platform. The walking chassis 26 ensures normal travel and retreat of the equipment and the chassis 29 ensures stability of the equipment. The central swing mechanism 30 may rotate the work platform 21 360 degrees about the work platform hoist system 22 to switch the position of the work platform 21.
(2) The working platform 21 in the robot working support 20 is provided with a telescopic conveyor belt 6, a feeding system 50, a blanking construction system 31 and an auxiliary construction system 41. The platform work support system 23 is opened when the equipment is constructed and assists in supporting the work platform 21 to ensure construction safety and stability of the work platform 21. The work platform auxiliary system 24 is primarily some auxiliary device on the equipment (e.g., searchlight, warning device, tool box, etc.). The working platform lifting system 22 ensures that the working platform 21 can be lifted and lowered to adapt to different construction heights.
(3) The robot assistance system 17 comprises a balancing mechanism 18 and a balancing mechanism adjusting device 19. The balancing mechanism 18 is a weight counterbalance mounted on the opposite side of the work platform 21. The balance mechanism adjusting device 19 can enable the balance mechanism 18 to move within a certain distance to achieve different moments to achieve the effect of balancing the working platform 21.
(4) The robot cab 14 includes a cab 15 and a data processing center 16. The driver's cab 15 is a driver's console, and the data processing center 16 processes the sensor data and the detector data and issues different execution commands.
When in use, enough masonry base materials 63 are poured into the masonry base material screening mechanism 1. And starting the equipment, screening the masonry base materials meeting the requirements by the masonry base material screening mechanism 1, detecting and identifying the masonry base materials through the masonry base material screening detection 2, and transmitting the data to the data processing center 16. The data processing center 16 sends out a command, and the masonry base material masonry surface adjusting mechanism 3 works to enable the masonry base material 63 to reach a masonry surface suitable for construction. After the masonry base material detection device 4 detects the masonry base material, the masonry base material feeding device 9 is started to lift the masonry base material 63 to the telescopic conveyor belt 6. After the masonry base material detection 4 detects the masonry base material, the data processing center 16 sends a command to start the telescopic conveyor belt 6. The flexible conveyor belt 6 enables the masonry base material 63 to reach the first masonry base material pushing device 10, and after the first masonry base material pushing detection device 11 receives the masonry base material 63, the first masonry base material pushing mechanism 12 pushes the masonry base material 63 to the feeding system 50. The Y-direction feed conveyor 62 of the Y-direction feed device 57 operates. After the third masonry substrate in-place detection 58 detects the masonry substrate 63, the third masonry substrate pushing mechanism 61 of the third masonry substrate pushing device 59 works to push the masonry substrate 63 to the X-direction feeding device 51. After the X-direction feeding conveyor belt 56 of the X-direction feeding device 51 works to send the masonry base material 63 to the detection and identification position of the second masonry base material in-place detection 52, the second masonry base material pushing mechanism 55 pushes the masonry base material 63 to the masonry base material clamping device 35 of the blanking construction system 31. The clamping mechanism 39 works positively to clamp the masonry base material 63, the cement mortar conveying mechanism 46 of the cement mortar conveying device 45 works, the cement mortar pouring in-place detection 47 is fed back to the data processing center 16 in real time, and the data processing center 16 controls the cement mortar conveying mechanism 46 to work in real time until the cement quantity meets the building standard, and then the cement mortar trowelling mechanism 48 works until the cement mortar trowelling detection 49 detects that the building standard is met. The blanking mechanism 34 works to send the masonry base material clamping device 35 to the construction surface, and the data processing center 16 sends a command to enable the clamping mechanism 39 to work reversely to place the masonry base material 63 on the construction surface after the blanking in-place detection 33 detects and identifies. And the vibration mechanism 43 works, and the vibration in-place detection 44 detects that the single building base material 63 is constructed after the detection is qualified. And the construction requirement of each layer is finished by analogy.
Claims (7)
1. A masonry machine is characterized by comprising a feeding system (7), a feeding system (50), an auxiliary construction system (41) and a blanking construction system (31);
the feeding system (7) comprises a masonry substrate screening device (8), a masonry substrate feeding device (9) and a first masonry substrate pushing device (10), wherein the masonry substrate screening device (8) is used for screening masonry substrates meeting requirements and sending the masonry substrates to the masonry substrate feeding device (9), and the feeding device (9) sends the masonry substrates to the first masonry substrate pushing device (10);
the feeding system (50) comprises an X-direction feeding device (51) and a Y-direction feeding device (57), one end of the Y-direction feeding device (57) is connected with the first masonry base material pushing device (10), the other end of the Y-direction feeding device is connected with the X-direction feeding device (51), and the X-direction feeding device (51) is connected with the blanking construction system (31);
the blanking construction system (31) comprises a masonry base material clamping device (35) and a blanking mechanism (34), the masonry base material clamping device (35) is connected with the X-direction feeding device (51), and the masonry base material clamping device (35) can move between the auxiliary construction system (41) and a construction surface;
the auxiliary construction system (41) comprises a vibration tamping device (42) and a cement mortar conveying device (45), wherein the cement mortar conveying device (45) is used for pouring the masonry base material on the masonry base material clamping device (35), and the vibration tamping device (42) is used for tamping the poured masonry base material.
2. The masonry machine according to claim 1, characterized in that the masonry substrate screening device (8) comprises a masonry substrate screening mechanism (1), a masonry substrate detection device (4) and a masonry substrate facing adjustment mechanism (3), the masonry substrate screening mechanism (1) is connected with the masonry substrate detection device (4) and the masonry substrate facing adjustment mechanism (3), the masonry substrate detection device (4) is used for detecting whether the masonry substrate is in place, and the masonry substrate facing adjustment mechanism (3) is used for processing the facing of the masonry substrate;
the masonry base material feeding device (9) comprises a masonry base material feeding mechanism (5), a telescopic conveyor belt (6) is arranged on the masonry base material feeding mechanism (5), the telescopic conveyor belt (6) is connected with a first masonry base material pushing device (10), and the first masonry base material pushing device (10) is connected with a feeding system (50).
3. The masonry machine according to claim 1, characterized in that the X-direction feeding device (51) comprises an X-direction feeding conveyor belt (56), a first masonry substrate in-place detection device (52) and a second masonry substrate pushing device (53) are arranged on the X-direction feeding conveyor belt (56), and a second masonry substrate in-place detection device (58) and a third masonry substrate pushing device (61) are arranged on the Y-direction feeding device (57).
4. A masonry machine according to claim 1, characterized in that the feeding system (7), the feeding system (50), the auxiliary construction system (41) and the blanking construction system (31) are connected to a data processing centre (16).
5. A masonry machine according to claim 1, characterized in that the feeding system (7), the feeding system (50), the auxiliary construction system (41) and the blanking construction system (31) are fixed to the machine body support (13).
6. A masonry machine according to claim 5, characterized in that the machine body support (13) is provided with a robot cab (14), the bottom of the machine body support (13) is provided with a central swing mechanism (30), a robot walking support (25) is arranged under the central swing mechanism (30), a walking chassis (26) is arranged under the robot walking support (25), and the walking chassis (26) is provided with a crawler frame (27).
7. A masonry machine according to claim 5, characterized in that a robot auxiliary system (17) is arranged in the machine body support (13), the robot auxiliary system (17) comprising a balancing mechanism (18), the balancing mechanism (18) being connected to a balancing mechanism adjusting device (19).
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| CN202011240496.1A CN112324169A (en) | 2020-11-09 | 2020-11-09 | Masonry machine |
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| CN202011240496.1A CN112324169A (en) | 2020-11-09 | 2020-11-09 | Masonry machine |
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| CN208137467U (en) * | 2018-05-03 | 2018-11-23 | 苗健 | A kind of masonry robot |
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| US20200173186A1 (en) * | 2018-12-04 | 2020-06-04 | The Chinese University Of Hong Kong | System and method for constructing a brick structure with a cable-driven robot |
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