CN112343354A - Brick picking, placing and laying system and method - Google Patents
Brick picking, placing and laying system and method Download PDFInfo
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- CN112343354A CN112343354A CN202011276511.8A CN202011276511A CN112343354A CN 112343354 A CN112343354 A CN 112343354A CN 202011276511 A CN202011276511 A CN 202011276511A CN 112343354 A CN112343354 A CN 112343354A
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- circuit board
- brick
- control circuit
- main control
- mechanical arm
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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
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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
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- Studio Devices (AREA)
Abstract
The invention discloses a brick picking, placing and laying system and a method, wherein the brick picking, placing and laying system comprises a vacuum picking, placing system, a position identification system and an electric control system; the vacuum taking and placing system comprises a mechanical arm, a sucker, an air pipe, an electromagnetic valve and an air pump, wherein the sucker is arranged at the front end of the mechanical arm, a sensor is arranged on the sucker, the sucker is connected with the air pump through the air pipe, and the air pipe is provided with the electromagnetic valve; and controlling the motion of the mechanical arm through an algorithm. The invention has the technical effects and advantages that: the brick paving speed of the invention is faster than that of a person, and the brick paving is not influenced by severe weather, so that the construction efficiency is improved; according to the invention, the brick paving position is more accurate through the camera and the algorithm, and the construction quality is improved; the prior art uses non-renewable resources, but the invention uses renewable energy, is environment-friendly and reliable; the invention is convenient and fast to assemble.
Description
Technical Field
The invention relates to the technical field of construction in the building industry, in particular to a brick picking, placing and laying system and a brick picking, placing and laying method.
Background
Under the condition that the construction industry is mainly or manually constructed, the construction efficiency of the construction industry is difficult to improve, and the construction quality is difficult to guarantee. Moreover, the phenomena of labor shortage and new labor shortage gradually appear, and the technology of replacing manual work by machinery is in a trend through programs and intelligent algorithms.
Other related products on the market at present mainly adopt mechanical cooperation people as main parts, for example, the machines only have the carrying effect, and the specific positions need to be manually dragged and determined; or manually placing the bricks, and mechanically paving the bricks. The effect of saving human resources cannot be achieved, the construction cost is high, and the requirement on the proficiency of workers is high. The mechanical power is mainly diesel oil, which is not environment-friendly and the volume of the equipment is overlarge.
Disclosure of Invention
Aiming at the problem of proficiency of operators: according to the brick paving machine, the eyes of a person are replaced by the artificial intelligence algorithm and the camera, the paving position of a brick is calculated by the image read by the camera, and a command is sent to the mechanical arm for paving the brick, so that the paving precision can be improved, and the requirements of the proficiency and precision of an operator are lowered.
Aiming at the problem of environmental pollution: the power supply system of the invention depends on batteries, is environment-friendly and belongs to renewable energy sources.
Aiming at the problem of low efficiency: the invention realizes the labor saving, and at least one person can operate the equipment to finish the construction work.
Aiming at the problem of high cost: the invention reduces the construction cost by depending on the battery power supply and saving the manpower.
Aiming at the problem of overlarge volume: the invention has small volume, is flexible and light, and can be suitable for application scenes with a plurality of sizes.
The invention provides the following technical scheme:
a brick picking, placing and laying system comprises a vacuum picking, placing and laying system, a position identification system and an electric control system; the vacuum taking and placing system comprises a mechanical arm, a sucker, an air pipe, an electromagnetic valve and an air pump, wherein the sucker is arranged at the front end of the mechanical arm, a sensor is arranged on the sucker, the sucker is connected with the air pump through the air pipe, and the air pipe is provided with the electromagnetic valve;
the position recognition system comprises a camera device, and the camera device is arranged on the mechanical arm;
the electric control system comprises an electric control cabinet, a battery and a main control circuit board, wherein the battery and the main control circuit board are arranged in the electric control cabinet, the main control circuit board is respectively electrically connected with the sensor, the mechanical arm, the camera, the electromagnetic valve, the air pump and the battery, and the main control circuit board controls the whole action of equipment.
The mechanical arm adopts a multi-axis mechanical arm, mechanical arms with different axes can be selected according to different application scenes, and the motion of the mechanical arm is controlled through an algorithm.
The two ends of the electromagnetic valve are connected with the air pipe, and the on-off of the electromagnetic valve can be controlled through the main control circuit board.
The air pump is connected with the air pipe, is mainly used for controlling the vacuum degree in the air pipe, and can control the start and stop of the air pump through a program.
The camera device can take pictures or make a video recording, and feeds back related images to the main control circuit board, and the main control circuit board sends commands to all parts of each system after calculation.
A brick picking and placing and laying method comprises the following steps,
step 1: the camera device photographs the upper part of the paving area and sends area data to the main control circuit board, and the main control circuit board identifies the position of the brick to be paved through the photograph;
step 2: the mechanical arm moves to the position above the adjacent brick pile, and the camera device takes a picture;
and step 3: the shot data are sent to a main control circuit board, and the main control circuit board judges the sequence of brick grabbing according to pictures and sends a mechanical arm moving command;
and 4, step 4: the mechanical arm moves to the position above the first brick, so that the sucker is close to the brick, the sensor is touched after the sucker is in place, and the sensor sends an in-place signal to the main control circuit board;
and 5: the main control circuit board sends a command to the electromagnetic valve and the air pump to be communicated;
step 6: the electromagnetic valve controls the air pump to start to pump vacuum, and the suction disc is firmly attached to the brick through the air pipe;
and 7: the main control circuit board sends a command to enable the mechanical arm to grab a brick to move to a planned brick paving area;
and 8: after placing the bricks in the designated area, the mechanical arm sends an in-place signal to the main control circuit board;
and step 9: the main control circuit board sends a command to the electromagnetic valve to disconnect the electromagnetic valve, and the air pump loses power along with the disconnection of the electromagnetic valve;
step 10: and the main control circuit board sends a command to enable the mechanical arm to move above the brick pile, and the steps 1-10 are repeated.
The invention has the technical effects and advantages that:
1. the intelligent mechanical brick paving system is adopted, brick paving speed is higher than that of manual brick paving, the influence of severe weather is avoided, and construction efficiency is improved;
2. according to the invention, the brick paving position is more accurate through the camera and the algorithm, and the construction quality is improved;
3. the prior art uses non-renewable resources, but the invention uses renewable energy, is environment-friendly and reliable;
4. the invention is convenient and fast to assemble.
Drawings
FIG. 1 is a schematic structural view of the present invention as a whole;
FIG. 2 is a schematic view of a brick picking, placing and laying step of the present invention;
fig. 3 is a schematic view of the working state of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The brick picking, placing and laying system shown in fig. 1 comprises a vacuum picking, placing system, a position identification system and an electric control system; the vacuum pick-and-place system comprises a mechanical arm (1), a sucker (2), an air pipe (3), an electromagnetic valve (5) and an air pump (6), wherein the sucker (2) is arranged at the front end of the mechanical arm, a sensor (10) is arranged on the sucker (2), the sucker (2) is connected with the air pump (6) through the air pipe (3), and the air pipe (3) is connected with the electromagnetic valve (5);
preferably, the position recognition system comprises a camera device (4), and the camera device (4) is arranged at the front end of the mechanical arm (1);
preferably, the electric control system comprises an electric control cabinet (7), a battery (9) and a main control circuit board (8) which are arranged in the electric control cabinet (7), the main control circuit board (8) is electrically connected with the sensor (10), the mechanical arm (1), the camera (4), the electromagnetic valve (5), the air pump (6) and the battery (9) respectively, and the main control circuit board (8) controls the whole action of equipment.
Preferably, the mechanical arm (1) adopts a multi-axis mechanical arm, mechanical arms with different axes can be selected according to different application scenes, and the motion of the mechanical arm is controlled through an algorithm.
Preferably, both ends of the electromagnetic valve (5) are connected with the air pipe (3), and the on-off of the electromagnetic valve (5) can be controlled through the main control circuit board (8).
Preferably, the air pump (6) is connected with the air pipe (3), is mainly used for controlling the vacuum degree in the air pipe (3), and can control the start and stop of the air pump (6) through a program.
Preferably, the camera device (4) can take pictures or make a video recording, and feeds back related images to the main control circuit board (8), and the main control circuit board (8) sends commands to all parts of each system after calculation.
A method for picking, placing and laying bricks as shown in fig. 2 and 3 comprises the following steps,
step 1: the camera device (4) photographs the upper part of the paving area and sends area data to the main control circuit board (8), and the main control circuit board (8) identifies the position of a brick to be paved through the photograph;
step 2: the mechanical arm (1) moves to the position above the adjacent brick pile, and the camera device (4) takes a picture;
and step 3: the photographing data are sent to a main control circuit board (8), and the main control circuit board (8) judges the sequence of brick grabbing according to the photos and sends the sequence to a mechanical arm (1) to move;
and 4, step 4: the mechanical arm (1) moves to the position above the first brick, so that the sucker (2) is close to the brick, the sensor (10) is touched after the sucker is in place, and the sensor (10) sends an in-place signal to the main control circuit board;
and 5: the main control circuit board (8) sends a command to the electromagnetic valve (5) and the air pump (6) to be communicated;
step 6: the electromagnetic valve (5) controls the air pump (6) to start to pump vacuum, and the suction disc (2) is firmly attached to the brick through the air pipe (3);
and 7: the main control circuit board (8) sends a command to enable the mechanical arm (1) to grab a brick to move to a planned brick paving area;
and 8: after placing bricks in a designated area, the mechanical arm (1) sends in-place signals to the main control circuit board (8);
and step 9: the main control circuit board (8) sends a command to the electromagnetic valve (5) to disconnect the electromagnetic valve, and the air pump (6) loses power along with the disconnection of the electromagnetic valve (5);
step 10: and (3) sending a command by the main control circuit board (8) to enable the mechanical arm (1) to move above the brick pile, and repeating the steps 1-10.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (6)
1. The utility model provides a fragment of brick is got and is put laying system which characterized in that: the device comprises a vacuum pick-and-place system, a position identification system and an electric control system; the vacuum pick-and-place system comprises a mechanical arm (1), a sucker (2), an air pipe (3), an electromagnetic valve (5) and an air pump (6), wherein the sucker (2) is arranged at the front end of the mechanical arm, a sensor (10) is arranged on the sucker (2), the sucker (2) is connected with the air pump (6) through the air pipe (3), and the air pipe (3) is connected with the electromagnetic valve (5);
the position recognition system comprises a camera device (4), wherein the camera device (4) is installed on the mechanical arm (1);
the electric control system comprises an electric control cabinet (7), a battery (9) and a main control circuit board (8), wherein the battery (9) and the main control circuit board (8) are arranged in the electric control cabinet (7), the main control circuit board (8) is electrically connected with a sensor (10), the mechanical arm (1), the camera device (4), the electromagnetic valve (5), the air pump (6) and the battery (9) respectively, and the main control circuit board (8) controls the whole action of equipment.
2. A brick picking and laying system according to claim 1, wherein: the mechanical arm (1) adopts a multi-shaft mechanical arm, mechanical arms with different shaft numbers can be selected according to different application scenes, and the motion of the mechanical arm is controlled through an algorithm.
3. A brick picking and laying system according to claim 1, wherein: both ends of the electromagnetic valve (5) are connected with the air pipe (3), and the on-off of the electromagnetic valve (5) can be controlled through the main control circuit board (8).
4. A brick picking and laying system according to claim 1, wherein: the air pump (6) is connected with the air pipe (3), is mainly used for controlling the vacuum degree in the air pipe (3), and can control the start and stop of the air pump (6) through a program.
5. A brick picking and laying system according to claim 1, wherein: the camera device (4) can take pictures or make a video recording, and feeds back related images to the main control circuit board (8), and the main control circuit board (8) sends commands to all parts of each system after calculation.
6. A brick picking and placing and laying method is characterized by comprising the following steps,
step 1: the camera device (4) photographs the upper part of the paving area and sends area data to the main control circuit board (8), and the main control circuit board (8) identifies the position of a brick to be paved through the photograph;
step 2: the mechanical arm (1) moves to the position above the adjacent brick pile, and the camera device (4) takes a picture;
and step 3: the photographing data are sent to a main control circuit board (8), and the main control circuit board (8) judges the sequence of brick grabbing according to the photos and sends the sequence to a mechanical arm (1) to move;
and 4, step 4: the mechanical arm (1) moves to the position above the first brick, so that the sucker (2) is close to the brick, the sensor (10) is touched after the sucker is in place, and the sensor (10) sends an in-place signal to the main control circuit board;
and 5: the main control circuit board (8) sends a command to the electromagnetic valve (5) and the air pump (6) to be communicated;
step 6: the electromagnetic valve (5) controls the air pump (6) to start to pump vacuum, and the suction disc (2) is firmly attached to the brick through the air pipe (3);
and 7: the main control circuit board (8) sends a command to enable the mechanical arm (1) to grab a brick to move to a planned brick paving area;
and 8: after placing bricks in a designated area, the mechanical arm (1) sends in-place signals to the main control circuit board (8);
and step 9: the main control circuit board (8) sends a command to the electromagnetic valve (5) to disconnect the electromagnetic valve, and the air pump (6) loses power along with the disconnection of the electromagnetic valve (5);
step 10: and (3) sending a command by the main control circuit board (8) to enable the mechanical arm (1) to move above the brick pile, and repeating the steps 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011276511.8A CN112343354A (en) | 2020-11-16 | 2020-11-16 | Brick picking, placing and laying system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011276511.8A CN112343354A (en) | 2020-11-16 | 2020-11-16 | Brick picking, placing and laying system and method |
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| Publication Number | Publication Date |
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| CN112343354A true CN112343354A (en) | 2021-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011276511.8A Pending CN112343354A (en) | 2020-11-16 | 2020-11-16 | Brick picking, placing and laying system and method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012021732A1 (en) * | 2010-08-12 | 2012-02-16 | Scott Lawrence Peters | Brick laying system |
| CN207071937U (en) * | 2017-05-10 | 2018-03-06 | 新昌县鸿裕工业产品设计有限公司 | A kind of new brick-clamping mechanical hand |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
| CN110219446A (en) * | 2019-05-16 | 2019-09-10 | 广东博智林机器人有限公司 | Automatic tile work method |
| CN110306771A (en) * | 2019-07-25 | 2019-10-08 | 广东博智林机器人有限公司 | The method of automatic floor tile and tile work robot device |
-
2020
- 2020-11-16 CN CN202011276511.8A patent/CN112343354A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012021732A1 (en) * | 2010-08-12 | 2012-02-16 | Scott Lawrence Peters | Brick laying system |
| CN207071937U (en) * | 2017-05-10 | 2018-03-06 | 新昌县鸿裕工业产品设计有限公司 | A kind of new brick-clamping mechanical hand |
| CN109227565A (en) * | 2018-10-23 | 2019-01-18 | 广东博智林机器人有限公司 | A kind of both arms ground tile paving robot system having all-around mobile function |
| CN110219446A (en) * | 2019-05-16 | 2019-09-10 | 广东博智林机器人有限公司 | Automatic tile work method |
| CN110306771A (en) * | 2019-07-25 | 2019-10-08 | 广东博智林机器人有限公司 | The method of automatic floor tile and tile work robot device |
Non-Patent Citations (1)
| Title |
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Application publication date: 20210209 |
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| RJ01 | Rejection of invention patent application after publication |