CN113323423B - Brick laying method and brick laying device - Google Patents
Brick laying method and brick laying device Download PDFInfo
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- CN113323423B CN113323423B CN202110640061.4A CN202110640061A CN113323423B CN 113323423 B CN113323423 B CN 113323423B CN 202110640061 A CN202110640061 A CN 202110640061A CN 113323423 B CN113323423 B CN 113323423B
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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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Abstract
The embodiment of the application provides a brick laying method and a brick laying device, wherein the brick laying method is used for the brick laying device to execute brick laying operation, and the method comprises the following steps: the control module is preset with a brick laying sequence and used for controlling the brick laying robot to lay bricks in sequence, and the brick laying sequence defines the head and tail of each line of bricks; conveying the plastered brick to a position to be grabbed from the initial position, and enabling the horizontal plastering surface of the plastered brick to be arranged upwards and the horizontal non-plastering surface of the plastered brick to be arranged downwards; controlling the horizontal plastering surface and the horizontal non-plastering surface of the brick after plastering to turn over up and down; controlling the vertical plastering surface of the brick after plastering to be close to the end position relative to the vertical non-plastering surface; the fragment of brick after the control plastering removes, along the reverse movement of head and end direction in order to glue vertical plastering face and glue to vertical placing surface, moves down in order to glue horizontal plastering face and glue to horizontal placing surface. The brick laying method and the brick laying device have the advantages that the brick laying process is simple and easy to operate, manpower is saved, time consumption is short, and brick laying efficiency is improved.
Description
Technical Field
The application relates to the technical field of bricking, in particular to a bricking method and a bricking device.
Background
At present, in the field of building construction, wall building is construction operation with high labor intensity. Particularly, with the improvement of a building construction process, after a concrete frame is poured, larger building blocks are used for building walls to realize space isolation. Follow the continuous rising of building the in-process wall body of building by laying bricks or stones, need lift the scaffold with the building block, consequently the current mode of building a wall expends workman's physical power, influences the efficiency of building a wall, also faces the fragment of brick simultaneously and drops and injure by a crashing object great potential safety hazard. Facing the increase of manpower cost and the shortage of labor resources in the construction industry, a construction method capable of fully automatically delivering bricks and building walls is just a demand in the current times.
Disclosure of Invention
An object of the embodiment of the application is to provide a bricklaying method and bricklaying device for solve the problem that the existing walling mode consumes the physical power of workers and influences the walling efficiency.
The embodiment of the application provides a bricklaying method for bricklaying device carries out bricklaying operation in the environment, bricklaying device includes bricklaying robot and control the control module of bricklaying robot operation, the method includes:
the control module is preset with a brick laying sequence and used for controlling the brick laying robot to lay bricks in sequence, and the brick laying sequence defines the head and the tail of each row of bricks;
Conveying the glazed brick to a position to be grabbed from an initial position, wherein the horizontal plastering surface of the glazed brick is arranged upwards, and the horizontal non-plastering surface of the glazed brick is arranged downwards;
controlling the horizontal plastering surface and the horizontal non-plastering surface of the plastered brick to turn over up and down;
controlling the vertical plastering surfaces of the plastered bricks to be close to the end position relative to the vertical non-plastering surfaces;
and controlling the bricks after plastering to move, moving along the reverse direction of the head and tail directions to stick the vertical plastering surface to the vertical placing surface, and moving downwards to stick the horizontal plastering surface to the horizontal placing surface.
In the brick laying method, the control module of the brick laying device is used for controlling the brick laying robot of the brick laying device to carry out brick laying operation, firstly, the brick laying sequence is preset in the control module, so that the brick laying robot can operate in sequence every time, the plastered bricks are conveyed to the position to be grabbed, the horizontal plastering surfaces of the plastered bricks are arranged upwards in the conveying process, the adhesion between the horizontal plastering surfaces and the tracks for conveying the bricks can be avoided, when the plastered bricks reach the position to be grabbed, the brick laying robot controls the plastered bricks to turn over up and down, so that the horizontal plastering surfaces are downward, then, the plastered bricks begin to be transferred, the vertical plastering surfaces of the plastered bricks are close to the end position, namely close to the end position of the last laid bricks, and then the plastered bricks are controlled to move continuously, so that the vertical plastering surfaces are adhered to the vertical placing surfaces of the last laid bricks, make the horizontal plastering face place the face adhesion with the level of last piece of having laid bricks to accomplish the operation of laying bricks, a large amount of manpowers have been saved in simple easy operation of whole flow of laying bricks, weak point consuming time has promoted the efficiency of laying bricks, has promoted the efficiency of laying walls promptly.
In one embodiment, the overturning mechanism of the brick laying robot is controlled to grab and overturn the plastered bricks from the positions to be grabbed, so that the horizontal plastering surfaces and the horizontal non-plastering surfaces of the overturned bricks are overturned up and down.
In one embodiment, the brick laying mechanical arm of the brick laying robot is controlled to swing to the position above the vertical non-plastering surface along the first clock direction R, and the tangential direction of the swing of the free end of the brick laying mechanical arm at the last position is opposite to the first and last directions.
In one embodiment, after the brick laying mechanical arm picks up the brick which is plastered and turned over on the turning mechanism, the brick laying mechanical arm is controlled to swing in a second clock direction opposite to the first clock direction so as to turn the vertical plastering surface and the vertical non-plastering surface left and right, so that the vertical plastering surface is relatively close to and faces to the end position.
In one embodiment, the turnover mechanism is controlled to move until an in-place switch of the turnover mechanism is triggered by a vertical non-plastering surface of a plastered brick, and the turnover mechanism is confirmed to reach a preparation position before a position to be grabbed.
In one embodiment, two clamping plates for controlling the turnover mechanism are parallel to the other two vertical side surfaces, perpendicular to the vertical plastering surface, of the plastered brick, and the distance between the two clamping plates is larger than the distance between the two parallel vertical side surfaces of the clamping plates.
In one embodiment, the turnover mechanism is controlled to ascend until the bottom surface of the clamping plate is higher than the top surface of the plastered brick, and the turnover mechanism is controlled to translate until the clamping plate clamps the center of the plastered brick.
In one embodiment, the turnover mechanism is lowered, the two clamping plates are controlled to contract to abut against the two vertical side surfaces respectively, and then the turnover mechanism is controlled to rotate along the horizontal line as an axis, so that the two horizontal planes of the plastered brick are turned over by 180 degrees.
In one embodiment, the brick-laying mechanical arm is controlled to horizontally rotate the connected first arm, second arm and grabbing arm in sequence, so that the second arm rotates around the first arm to the position above the turnover mechanism along the first hour hand direction, the first arm is controlled to descend, the grabbing arm is controlled to grab the brick subjected to plastering on the turnover mechanism, the second arm is controlled to rotate around the first arm along the second hour hand direction by 180 degrees, the grabbing arm reaches the brick-laying position, and the vertical plastering surface is parallel to the last vertical placing surface and faces to the last vertical placing surface.
In one embodiment, the first arm is controlled to translate on the robot body of the brick laying robot along the direction from the last position to the first position until the vertical plastering surface is parallel to and partially abutted against the vertical placing surface at the last position, and then the first arm is controlled to descend on the robot body until the horizontal plastering surface of the plastered brick is abutted against the horizontal placing surface at the last position.
In one embodiment, the turnover mechanism is arranged on one side of a robot main body of the brick laying robot, which is far away from the initial position, a brick laying mechanical arm moves in a space on one side of the robot main body, which is far away from the initial position, and the direction from the initial position to the position to be grabbed is the same as the head-to-tail direction.
A brick laying device adopts the brick laying method of any one of the embodiments to execute brick laying operation in an environment, the brick laying device comprises a brick laying robot and a control module for controlling the brick laying robot to operate, the brick laying robot comprises a robot main body, a turnover mechanism and a brick laying mechanical arm, the turnover mechanism and the brick laying mechanical arm are arranged on the robot main body, and the control module is electrically connected with the turnover mechanism and the brick laying mechanical arm respectively.
The brick laying device executes brick laying operation in the environment by adopting the brick laying method, the brick laying device comprises a control module and a brick laying robot, the control module controls the brick laying robot of the brick laying device to perform brick laying operation, firstly, the brick laying sequence is preset in the control module, so that the brick laying robot can operate in sequence every time, the plastered bricks are conveyed to a position to be grabbed, the horizontal plastering surface of the plastered bricks is upwards arranged in the conveying process, the adhesion between the horizontal plastering surface and the track for conveying the bricks can be avoided, when the plastered bricks reach the position to be grabbed, the overturning mechanism of the brick laying robot controls the plastered bricks to overturn upwards and downwards, the horizontal plastering surface is downwards, then, a brick laying mechanical arm starts to transfer the plastered bricks, the vertical plastering surface of the plastered bricks is close to the last position, namely close to the last position of the built bricks, then the fragment of brick continuation motion of brick-laying mechanical arm control plastering for vertical plaster face and the vertical surface adhesion of placing of the last fragment of brick of having laid, make horizontal plaster face and the horizontal surface adhesion of placing of the last fragment of brick of having laid, thereby accomplish the operation of laying bricks, the simple easy operation of whole brick-laying flow has saved a large amount of manpowers, and weak point consuming time has promoted the efficiency of laying bricks, has promoted the efficiency of laying walls promptly.
In one embodiment, the brick laying device further comprises a conveying rail, the conveying rail is provided with a starting position for starting brick laying and a position to be grabbed for the grabbed bricks, the robot main body is arranged adjacent to the position to be grabbed, the turnover mechanism is arranged on one side of the robot main body, which is far away from the starting position, a brick laying mechanical arm moves in the space of one side of the robot main body, which is far away from the starting position, and the direction from the starting position to the position to be grabbed is the same as the head-end direction.
In one embodiment, the turnover mechanism comprises an installation part, a rotation part, a connection plate and two parallel clamping plates arranged on the connection plate, wherein the installation part is arranged on the robot body in a lifting mode, the rotation part is perpendicular to the initial position to the axis of the direction of the position to be grabbed, the installation part is connected in a rotating mode, the connection plate is connected with the rotation part, and the distance between the two clamping plates is adjustable.
In one embodiment, the brick laying mechanical arm comprises a first arm, a second arm and a grabbing arm which are sequentially and horizontally connected in a rotating mode, one end, far away from the second arm, of the first arm is connected with the robot main body through a base, and the grabbing arm is used for grabbing bricks which are plastered and turned over.
In one embodiment, the brick laying apparatus further comprises a plastering brick feeding mechanism disposed adjacent to the initial position.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a brick laying method provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a brick laying device provided in an embodiment of the present application;
Fig. 3 is a schematic view of another angle of the brick laying apparatus shown in fig. 2;
fig. 4 is a schematic structural view of a brick laying apparatus according to another embodiment of the present application;
fig. 5 is a partial structural schematic view of the brick laying device provided in the embodiment of the present application.
Description of the drawings the reference numbers indicate:
the bricks 20 after plastering; a horizontal plastering surface 21; a horizontal non-plastering surface 22; a vertical plastering surface 23; a vertical non-plastering surface 24; the vertical placement surface S1; a horizontal placement surface S2; a first clock direction R; a brick laying device 10; a brick laying robot 100; a robot main body 110; a turnover mechanism 120; a mounting portion 121; a rotating portion 122; a connecting plate 123; a clamp plate 124; a brick-laying robot arm 130; a first arm 131; a second arm 132; a gripper arm 133; a base 134; a conveying rail 200; an initial position 210; a position to be grasped 220; the plastering brick feeding mechanism 300.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
In one embodiment, a method of laying bricks for a brick laying apparatus for performing a brick laying operation in an environment, the brick laying apparatus comprising a brick laying robot and a control module for controlling the operation of the brick laying robot, the method comprising: the control module is preset with a brick laying sequence and used for controlling the brick laying robot to lay bricks in sequence, and the brick laying sequence defines the head and the tail of each row of bricks; conveying the glazed brick from an initial position to a position to be grabbed, and enabling the horizontal glazed surface of the glazed brick to be arranged upwards and the horizontal non-glazed surface of the glazed brick to be arranged downwards; controlling the horizontal plastering surface and the horizontal non-plastering surface of the plastered brick to turn over up and down; controlling the vertical plastering surface of the plastered brick to be close to the final position relative to the vertical non-plastering surface; and controlling the bricks after plastering to move, moving along the reverse direction of the head and tail directions to stick the vertical plastering surface to the vertical placing surface, and moving downwards to stick the horizontal plastering surface to the horizontal placing surface.
As shown in fig. 1 and 2, a method of laying bricks for a brick laying apparatus for performing a brick laying operation in an environment, the brick laying apparatus comprising a brick laying robot 100 and a control module for controlling the operation of the brick laying robot 100, the method comprising:
the M1 and the control module are preset with a brick laying sequence for controlling the brick laying robot 100 to lay bricks in sequence, and the brick laying sequence defines the head and the tail of each row of bricks. The brick laying robot 100 sequentially lays bricks according to the brick laying sequence, so that the brick laying robot 100 can lay a plurality of rows of bricks until a wall body is formed.
M2, conveying the plastered brick 20 from the initial position 210 to the position to be grabbed 220, and enabling the horizontal plastering surface 21 of the plastered brick 20 to face upwards and the horizontal non-plastering surface 22 of the plastered brick 20 to face downwards. Through carrying the fragment of brick 20 of plastering to wait to snatch position 220, at the in-process of carrying for the horizontal plaster face 21 of the fragment of brick 20 of plastering sets up upwards, can avoid horizontal plaster face 21 and the device adhesion of carrying the fragment of brick like this. In one embodiment, the brick laying device 10 comprises a conveying track 200, which is a device for conveying bricks, the conveying track 200 has an initial position 210 and a position to be grabbed 220, and the bricks 20 to be plastered are conveyed from the initial position 210 to the position to be grabbed 220 through the conveying track 200, wherein the horizontal plastering surface 21 of the plastered bricks 20 is arranged upward, and the horizontal non-plastering surface 22 is arranged downward, i.e. the horizontal non-plastering surface 22 is in contact with the conveying track 200, so that the horizontal plastering surface 21 is prevented from being stuck to the conveying track 200 when facing downward and polluting the conveying track 200. The brick conveying track 200 described herein is set in one of the following modes: a belt conveying mechanism, a roller conveying mechanism, or a multi-clamp flow conveying line and the like.
M3, controlling the horizontal plastering surface 21 and the horizontal non-plastering surface 22 of the plastered brick 20 to turn up and down. When the grouted brick 20 reaches the position to be grabbed 220, the brick laying robot 100 controls the grouted brick 20 to turn over up and down, so that the horizontal grouting surface 21 faces downward. Therefore, the bricks can be conveniently grabbed and transferred later, and can be directly placed on the horizontal placing surface S2 in a downward posture of the horizontal plastering surface 21. In one embodiment, the turning mechanism 120 of the brick laying robot 100 is controlled to grasp and turn the grouted brick 20 from the position to be grasped 220, so that the horizontal plastering surface 21 and the horizontal non-plastering surface 22 of the turned grouted brick 20 are turned upside down, which facilitates turning the grouted brick 20 to turn the horizontal plastering surface 21 downward. In one embodiment, the turnover mechanism 120 is controlled to move downwards to grab the plastered brick 20 at the position to be grabbed 220, and then the turnover mechanism 120 is controlled to turn over the plastered brick 20. In one embodiment, after the turnover mechanism 120 grabs the grouted bricks 20, the turnover mechanism 120 is controlled to ascend for a certain distance and turn over the grouted bricks 20, so as to avoid interference between the turnover mechanism 120 or the bricks and the conveying track 200 when the bricks are turned over. In one embodiment, the turning mechanism 120 is controlled to move until the in-place switch of the turning mechanism 120 is triggered by the vertical non-plastering surface 24 of the plastered brick 20, and it is determined that the turning mechanism 120 reaches the preparation position before the position to be grabbed 220, in this embodiment, the in-place switch is triggered after the plastered brick 20 reaches the position to be grabbed 220, so that the in-place switch is triggered by the vertical non-plastering surface 24 of the plastered brick 20, and it can be determined whether the turning mechanism 120 reaches the preparation position, and then the turning mechanism 120 can be controlled to move until the turning mechanism 120 reaches the position to be grabbed 220. In one embodiment, two clamping plates 124 of the control turning mechanism 120 are parallel to the other two vertical sides of the bricks 20 after plastering, which are perpendicular to the vertical plastering surface 23, and the distance between the two clamping plates 124 is greater than the distance between the two vertical sides parallel to the clamping plates 124, in this embodiment, the turning mechanism 120 is provided with two clamping plates 124, and clamps the plastered bricks 20 by the two clamping plates 124, wherein the two clamping plates 124 are controlled to be parallel to the two vertical sides of the plastered bricks 20, which are adjacent and perpendicular to the vertical plastering surface 23, so that the two clamping plates 124 clamp the two vertical sides of the plastered bricks 20 without plastering, thereby preventing the adhesion of the mortar to the clamping plates 124 and facilitating the subsequent transfer of the plastered bricks 20. In one embodiment, the turning mechanism 120 is controlled to ascend until the bottom surface of the clamping plate 124 is higher than the top surface of the glazed brick 20, and the turning mechanism 120 is controlled to translate until the clamping plate 124 clamps the center of the glazed brick 20, so that the clamping plate 124 reaches above the glazed brick 20, and the position of the clamping plate 124 is conveniently adjusted so that the clamping plate 124 is located right above the glazed brick 20, thereby ensuring that the turning mechanism 120 translates until the clamping plate 124 clamps the center of the glazed brick 20, and further ensuring that the turning mechanism 120 stably grabs the glazed brick 20 and stably turns. In one embodiment, the turnover mechanism 120 is lowered, the two clamping plates 124 are controlled to contract to abut against the two vertical side surfaces respectively, and then the turnover mechanism 120 is controlled to rotate along the horizontal line as an axis, so that the two horizontal surfaces of the plastered brick 20 are turned over by 180 degrees, which facilitates the turnover mechanism 120 to turn over the vertical plastering surface 23 of the plastered brick 20 from upward to downward.
M4, controlling the vertical plastering surface 23 of the plastered brick 20 to approach the final position relative to the vertical non-plastering surface 24. Namely, the vertical plastering surface 23 of the plastered brick 20 is controlled to face and be close to the last position of the row of bricks being laid, namely, to face and be close to the last position of the last laid brick, and if the vertical non-plastering surface 24 faces to the last position, the brick is controlled to turn left and right to enable the vertical plastering surface 23 to face to the last position. In one embodiment, the brick laying mechanical arm 130 of the brick laying robot 100 is controlled to swing in the first clock direction R to above the horizontal non-plastering surface 22, the tangential direction of the swinging of the free end of the brick laying mechanical arm 130 at the last position is opposite to the first and last directions D, so that the brick laying mechanical arm 130 can reach above the plastered brick 20 grabbed by the turnover mechanism 120, namely, the horizontal non-plastering surface 22, and at the last moment of the process of reaching above the horizontal non-plastering surface 22, the free end of the mechanical arm moves in the direction opposite to the first and last directions D, so that the grabbing arm 131 of the brick laying mechanical arm 130 can reach just above the horizontal non-plastering surface 22. In one embodiment, after the bricks which are plastered and turned over on the turning mechanism 120 are picked up by the brick-laying mechanical arm 130, the brick-laying mechanical arm 130 is controlled to swing in a second clock direction opposite to the first clock direction R to turn the vertical plastering surface 23 and the vertical non-plastering surface 24 left and right, so that the vertical plastering surface 23 is relatively close to and faces the end position, and thus the brick-laying mechanical arm 130 can start swinging in the conveying direction of the plastered bricks 20 after grabbing the plastered bricks 20, i.e. the tangential direction of the swinging of the free end of the brick-laying mechanical arm 130 is the same as the first and last directions D, and then continues swinging in the second clock direction, so that the track of the plastered bricks 20 in the whole conveying and transferring process of the mechanical arm is a continuous track, so that the whole brick-laying process is smooth, the efficiency of brickwork is promoted. In one embodiment, when the vertical plastering surface 23 is close to and faces the final position after being turned, i.e. when the brick laying mechanical arm 130 swings to the final position in the second clock direction, the swinging tangential direction of the free end of the brick laying mechanical arm 130 is opposite to the first and last directions D. Since the vertical plastering surface 23 is already facing the final position at this time, the plastering of the brick 20 can be controlled to translate later. In one embodiment, the turning mechanism 120 is disposed on a side of the robot main body 110 of the brick laying robot 100 away from the initial position 210, the brick laying mechanical arm 130 moves in a space on the side of the robot main body 110 away from the initial position 210, and a direction from the initial position 210 to the position to be grabbed 220 is the same as a head-to-tail direction D, so that after the brick 20 to be plastered reaches the position to be grabbed 220 from the initial position 210, the turning mechanism 120 grabs and turns over the brick, and then the brick laying mechanical arm 130 grabs and transfers the brick in a direction away from the initial position 210, so that a track of the brick 20 to be plastered in the whole process of conveying and transferring the brick by the mechanical arm is a continuous track line, so that the whole brick laying process is smooth, and the brick laying efficiency is improved.
M5, and referring to fig. 3, the bricks 20 after plastering are controlled to move, move in the opposite direction of the head and tail direction D to stick the vertical plastering face 23 to the vertical placing face S1, and move downward to stick the horizontal plastering face 21 to the horizontal placing face S2. In this embodiment, the vertical placement surface S1 is the last vertical surface of the last brick, and the horizontal placement surface S2 is the last and upward horizontal surface of the last row of bricks. When the vertical plastering face 23 of the plastered brick 20 faces and is close to the tail, the control brick laying robot 100 drives the plastered brick 20 to continue moving, the plastered brick 20 is required to be driven to move along the direction opposite to the head and tail direction D at the moment until the vertical plastering face 23 is abutted against and adhered to the vertical placing face S1, and the plastering brick 20 is controlled to move downwards until the horizontal plastering face 21 is abutted against and adhered to the horizontal placing face S2. In one embodiment, the step of moving in the opposite direction of the head-to-tail direction D to stick the vertical plastering face 23 to the vertical placing face S1 is not later than the step of moving downward to stick the horizontal plastering face 21 to the horizontal placing face S2, so that the horizontal plastering face 21 can be stuck to the horizontal placing face S2 after the vertical plastering face 23 is stuck to the vertical placing face S1 or while the vertical plastering face 23 is stuck to the vertical placing face S1, the vertical plastering face S1 has less relative friction with the vertical placing face than the horizontal plastering face S2 has with the dropped mortar, and a better bricklaying effect can be ensured. In one embodiment, referring to fig. 5, the brick-laying mechanical arm 130 is controlled to horizontally rotate the connected first arm 131, second arm 132 and grabbing arm 133 in sequence, so that the second arm 132 rotates around the first arm 131 to the position above the turnover mechanism 120 along the first hour hand direction R, the first arm 131 is controlled to descend, the grabbing arm 133 is controlled to grab the brick 20 after plastering on the turnover mechanism 120, the second arm 132 is controlled to rotate around the first arm 131 along the second hour hand direction by 180 °, the grabbing arm 133 reaches a brick-laying position, and the vertical plastering surface 23 is parallel to the last vertical placing surface S1 and faces to the last vertical placing surface S1, so that the brick-laying mechanical arm 130 can grab, transfer and lay bricks 20 after plastering and perform brick-laying operation. In one embodiment, the first arm 131 is controlled to translate on the robot body 110 of the brick laying robot 100 along the direction from the last position to the first position until the vertical plastering surface 23 is parallel to and partially abutted against the last vertical placing surface S1, and then the first arm 131 is controlled to descend on the robot body 110 until the horizontal plastering surface 21 of the plastered brick 20 is abutted against the last horizontal placing surface S2, so that the step of moving in the reverse direction of the first-last direction D to stick the vertical plastering surface 23 to the vertical placing surface S1 is earlier than the step of moving downwards to stick the horizontal plastering surface 21 to the horizontal placing surface S2', and after the vertical plastering surface 23 is stuck to the vertical placing surface S1 or while the vertical plastering surface 23 is stuck to the vertical placing surface S1, the horizontal plastering surface 21 is stuck to the horizontal placing surface S2, and the vertical plastering surface is rubbed against the placing surface S1 compared with the horizontal plastering surface S2 Less slurry falls, and better brick laying effect can be ensured.
In the brick laying method, the control module of the brick laying device is used for controlling the brick laying robot 100 of the brick laying device to carry out brick laying operation, firstly, the brick laying sequence is preset in the control module, so that the brick laying robot 100 can operate in sequence every time, the brick 20 subjected to plastering is conveyed to the position 220 to be grabbed, the horizontal plastering surface 21 of the brick 20 subjected to plastering is arranged upwards in the conveying process, the adhesion between the horizontal plastering surface 21 and a track for conveying the brick can be avoided, when the brick 20 subjected to plastering reaches the position 220 to be grabbed, the brick laying robot 100 controls the brick 20 subjected to plastering to turn upwards and downwards so that the horizontal plastering surface 21 faces downwards, then the brick 20 subjected to plastering starts to transfer, the vertical plastering surface 23 of the brick 20 subjected to plastering is close to a tail position, namely close to the tail position of the last brick, and then the brick 20 subjected to plastering is controlled to continue to move, so that the vertical plastering surface 23 is adhered to the vertical placing surface S1 of the last brick, make horizontal plastering surface 21 and the horizontal of last brick block place a face S2 adhesion to accomplish the operation of laying bricks, whole brick flow is simple easy to operate, has saved a large amount of manpowers, and weak point consuming time has promoted the efficiency of laying bricks, has promoted the efficiency of laying walls promptly.
As shown in fig. 1, a brick laying device 10 for performing brick laying work in an environment by using the brick laying method according to any of the above embodiments includes a brick laying robot 100 and a control module for controlling the brick laying robot 100 to work, the brick laying robot 100 includes a robot main body 110, and a turnover mechanism 120 and a brick laying mechanical arm 130 which are disposed on the robot main body 110, and the control module is electrically connected to the turnover mechanism 120 and the brick laying mechanical arm 130, respectively.
The brick laying device executes brick laying operation in the environment by adopting the brick laying method, the brick laying device comprises a control module and a brick laying robot 100, the control module controls the brick laying robot 100 of the brick laying device to carry out brick laying operation, firstly, a brick laying sequence is preset in the control module, so that the brick laying robot 100 can operate in sequence every time, the brick 20 subjected to plastering is conveyed to the position 220 to be grabbed, in the conveying process, the horizontal plastering surface 21 of the brick 20 subjected to plastering is upwards arranged, so that the adhesion between the horizontal plastering surface 21 and the track for conveying the brick can be avoided, when the brick 20 subjected to plastering reaches the position 220 to be grabbed, the turnover mechanism 120 of the brick laying robot 100 controls the brick 20 subjected to plastering to overturn up and down, the horizontal plastering surface 21 is downwards, then the brick laying mechanical arm 130 starts to transfer the brick 20 subjected to plastering, so that the vertical plastering surface 23 of the brick 20 subjected to plastering is close to a tail position, the brick-laying mechanical arm 130 controls the plastered brick 20 to continue moving, the vertical plastered surface 23 is adhered to the vertical placing surface S1 of the last brick-laying block, the horizontal plastered surface 21 is adhered to the horizontal placing surface S2 of the last brick-laying block, the brick-laying operation is completed, the whole brick-laying process is simple and easy to operate, a large amount of manpower is saved, the time is short, the brick-laying efficiency is improved, and the wall-laying efficiency is improved.
In one embodiment, as shown in fig. 1 to 3, the brick laying device further comprises a conveying track 200, the conveying track 200 has an initial position 210 for starting placing bricks and a position 220 to be grabbed for grabbing the bricks, the robot main body 110 is arranged adjacent to the position 220 to be grabbed, the turnover mechanism 120 is arranged on one side of the robot main body 110, which is away from the initial position 210, the brick laying mechanical arm 130 moves in the space on the side of the robot main body 110, which is away from the initial position 210, and the direction from the initial position 210 to the position 220 to be grabbed is the same as the head-tail direction D. Can guarantee like this that the fragment of brick 20 of plastering arrives from initial position 210 and treats behind the grabbing position 220, tilting mechanism 120 snatchs and overturns, and then brickwork arm 130 snatchs and transports, and is the direction that deviates from initial position 210 transports, can guarantee like this that the fragment of brick 20 of plastering is a coherent trajectory in the whole process of carrying with being transported by the arm for the flow of whole brickwork is comparatively smooth, has promoted the efficiency of brickwork.
In one embodiment, as shown in fig. 5, the turnover mechanism 120 includes a mounting portion 121, a rotating portion 122, a connecting plate 123, and two parallel clamping plates 124 disposed on the connecting plate 123, the mounting portion 121 is disposed on the robot body 110 in a lifting manner, the rotating portion 122 is rotatably connected to the mounting portion 121 along an axis perpendicular to a direction from the initial position 210 to the position 220 to be grabbed, the connecting plate 123 is connected to the rotating portion 122, a distance between the two clamping plates 124 is adjustable, the turnover mechanism 120 can be lowered to grab the bricks 20 to be plastered by the lifting and lowering of the robot body 110 via the mounting portion 121, the two clamping plates 124 can be controlled to clamp the bricks 20 to be plastered by adjusting the distance between the two clamping plates 124 on the connecting plate 123, and the connecting plate 123, the two clamping plates 124, and the bricks 20 to be plastered can be driven to turn over by the rotating portion 122, the turnover mechanism 120 is convenient for turning over the vertical plastering surface 23 of the plastered brick 20 from top to bottom, and in the embodiment, the rotation axis of the mounting part 121 is horizontal.
In one embodiment, as shown in fig. 5, the brick laying robot arm 130 comprises a first arm 131, a second arm 132 and a grabbing arm 133 which are sequentially connected in a horizontal rotation manner, one end of the first arm 131, which is far away from the second arm 132, is connected with the robot main body 110 through a base 134, and the grabbing arm 133 is used for grabbing a brick which is plastered and turned over, so that the brick laying robot arm 130 can grab, transfer and lay the plastered brick 20 conveniently.
In one embodiment, as shown in fig. 4, the brick laying apparatus further comprises a plastering brick feeding mechanism 300, the plastering brick feeding mechanism 300 is disposed adjacent to the initial position 210, the plastering brick feeding mechanism 300 is used for plastering bricks, and then placing the plastered bricks 20 on the initial position 210 on the conveying track 200.
In all embodiments of the present application, the terms "large" and "small" are relatively speaking, and the terms "upper" and "lower" are relatively speaking, so that descriptions of these relative terms are not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the sequence numbers of the above-mentioned processes do not imply a necessary order of execution, and the order of execution of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (15)
1. A method of laying bricks for a brick laying apparatus to perform a brick laying operation in an environment, the brick laying apparatus comprising a brick laying robot and a control module to control the operation of the brick laying robot, the method comprising:
the control module is preset with a brick laying sequence and used for controlling the brick laying robot to lay bricks in sequence, and the brick laying sequence defines the head position and the tail position of each line of bricks;
conveying the glazed brick from an initial position to a position to be grabbed, and enabling the horizontal glazed surface of the glazed brick to be arranged upwards and the horizontal non-glazed surface of the glazed brick to be arranged downwards;
Controlling a turnover mechanism of the brick laying robot to grab and turn over the plastered bricks from the positions to be grabbed, so that the horizontal plastering surfaces and the horizontal non-plastering surfaces of the turned plastered bricks are turned over up and down;
controlling a brick laying mechanical arm to transfer the plastered brick so that a vertical plastering surface of the plastered brick is close to the end position relative to a vertical non-plastering surface;
the brick laying mechanical arm controls the bricks after plastering to continue moving, the bricks move along the reverse direction of the head and tail directions so as to stick the vertical plastering surface to the vertical placing surface, and the bricks move downwards so as to stick the horizontal plastering surface to the horizontal placing surface.
2. The method of laying bricks according to claim 1 wherein the brick laying robot is controlled to swing a brick laying robot arm in a first clock direction above the horizontal non-plastering surface, the tangential direction of the swing of the free end of the brick laying robot arm at the last position being opposite to the first and last directions.
3. The brick laying method according to claim 2, wherein after the brick is picked up by the brick laying mechanical arm after being plastered and turned over by the turning mechanism, the brick laying mechanical arm is controlled to swing in a second clockwise direction opposite to the first clockwise direction to turn the vertical plastering surface and the vertical non-plastering surface left and right so that the vertical plastering surfaces are relatively close to and face the end position.
4. The brick laying method according to claim 1, wherein the turnover mechanism is controlled to move until an in-position switch of the turnover mechanism is triggered by a vertical non-plastering surface of the plastered brick, so as to confirm that the turnover mechanism reaches a preparation position before a position to be grabbed.
5. The brick laying method according to claim 4, wherein two clamping plates of the control turnover mechanism are parallel to the other two vertical sides of the plastered brick, which are perpendicular to the vertical plastering surface, and the distance between the two clamping plates is larger than the distance between the two vertical sides parallel to the clamping plates.
6. The brick laying method according to claim 5, wherein the turnover mechanism is controlled to ascend until the bottom surface of the clamping plate is higher than the top surface of the plastered brick, and the turnover mechanism is controlled to translate until the clamping plate clamps the center of the plastered brick.
7. The brick laying method according to claim 6, wherein the turnover mechanism is lowered, the two clamping plates are controlled to contract to abut against the two vertical side surfaces respectively, and then the turnover mechanism is controlled to rotate along the horizontal line as an axis, so that the two horizontal planes of the plastered brick are turned over by 180 degrees.
8. The brick laying method according to claim 3, wherein the brick laying mechanical arm is controlled to horizontally rotate the connected first arm, second arm and grabbing arm in sequence, so that the second arm rotates around the first arm to the position above the turnover mechanism along the first clock direction, the first arm is controlled to descend, the grabbing arm is controlled to grab the grouted brick on the turnover mechanism, the second arm is controlled to rotate around the first arm along the second clock direction by 180 degrees, the grabbing arm reaches a brick laying position, and the vertical grouting surface is parallel to the final vertical placing surface and faces to the final vertical placing surface.
9. The brick laying method according to claim 8, wherein the first arm is controlled to translate on the robot body of the brick laying robot in a direction from the end position to the head position until the vertical plastering surface is parallel to and partially abutted against the vertical placing surface at the end position, and then the first arm is controlled to descend on the robot body until the horizontal plastering surface of the plastered brick is abutted against the horizontal placing surface at the end position.
10. A method according to claim 3, wherein the tilting mechanism is arranged on a side of a robot body of the brick laying robot which is remote from the initial position, and a mechanical arm of a brick laying robot moves spatially on the side of the robot body which is remote from the initial position, and the direction from the initial position to the position to be gripped is the same as the first and last directions.
11. A brick laying apparatus for performing brick laying work in an environment using the brick laying method according to any one of claims 1 to 10, the brick laying apparatus comprising a brick laying robot and a control module for controlling the operation of the brick laying robot, the brick laying robot comprising a robot main body, and a turnover mechanism and a brick laying mechanical arm provided on the robot main body, the control module being electrically connected to the turnover mechanism and the brick laying mechanical arm, respectively.
12. The brick laying device according to claim 11, wherein the brick laying device performs brick laying work in an environment by using the brick laying method according to claim 10, the brick laying device further comprises a conveying rail, the conveying rail is provided with an initial position for starting placing a brick and a position to be grabbed for the brick to be grabbed, the robot main body is arranged adjacent to the position to be grabbed, the turnover mechanism is arranged on one side of the robot main body, which is far away from the initial position, a mechanical arm of the brick laying device moves in a space on one side of the robot main body, which is far away from the initial position, and the direction from the initial position to the position to be grabbed is the same as the head and tail directions.
13. The bricklaying device according to claim 11, wherein the bricklaying device adopts the bricklaying method of claim 8 to perform bricklaying work in an environment, the turnover mechanism comprises an installation part, a rotation part, a connecting plate and two parallel splints arranged on the connecting plate, the installation part is arranged on the robot body in a lifting manner, the rotation part is connected with the installation part in a rotating manner along an axis perpendicular to the direction from the initial position to the position to be grabbed, the connecting plate is connected with the rotation part, and the distance between the two splints is adjustable.
14. The brick laying apparatus according to claim 11 wherein the brick laying apparatus performs brick laying work in an environment using the brick laying method according to claim 9, the brick laying manipulator arm comprising a first arm, a second arm and a gripping arm which are horizontally and rotatably connected in sequence, wherein one end of the first arm remote from the second arm is connected to the robot body through a base, and the gripping arm is used for gripping a grouted and turned brick.
15. The brick laying apparatus according to claim 14 further comprising a plastering tile feeding mechanism disposed adjacent to the initial position.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110640061.4A CN113323423B (en) | 2021-06-08 | 2021-06-08 | Brick laying method and brick laying device |
| GB2300067.2A GB2621648A (en) | 2021-06-08 | 2022-06-08 | Bricklaying method, bricklaying apparatus, bricklaying device, and building system |
| PCT/CN2022/097524 WO2022257948A1 (en) | 2021-06-08 | 2022-06-08 | Bricklaying method, bricklaying apparatus, bricklaying device, and building system |
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| CN202110640061.4A CN113323423B (en) | 2021-06-08 | 2021-06-08 | Brick laying method and brick laying device |
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| CN113323423A CN113323423A (en) | 2021-08-31 |
| CN113323423B true CN113323423B (en) | 2022-06-28 |
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| WO2022257948A1 (en) * | 2021-06-08 | 2022-12-15 | 广东博智林机器人有限公司 | Bricklaying method, bricklaying apparatus, bricklaying device, and building system |
| CN114606979B (en) * | 2022-04-01 | 2024-03-22 | 利越集团有限公司 | Inspection shaft construction equipment that builds bricks |
| CN116696085A (en) * | 2022-04-27 | 2023-09-05 | 广东博智林机器人有限公司 | Tilting mechanism, brickwork robot and brickwork method |
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| JP2009521630A (en) * | 2005-12-30 | 2009-06-04 | ゴールドウィング ノミニーズ ピーティーワイ リミテッド | Automatic brick laying system for building buildings with multiple bricks |
| CN104141391B (en) * | 2013-12-03 | 2017-01-11 | 殷家土 | Wall building robot |
| CN107083845B (en) * | 2017-06-22 | 2019-06-04 | 厦门华蔚物联网科技有限公司 | A kind of automatic wall-building method and automatic wall-building system |
| CN206844687U (en) * | 2017-06-30 | 2018-01-05 | 重庆中渝固立智能科技有限公司 | A kind of automatic brick laying machine device people |
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