CN114482583A - Bricklaying equipment - Google Patents

Abstract

The application provides a bricklaying equipment belongs to construction machinery technical field. The bricklaying equipment comprises a first robot and a second robot which are arranged along the front-back direction. The first robot comprises a first movable chassis and a brick feeding manipulator, and the brick feeding manipulator is used for grabbing bricks and transferring the bricks to the second robot. The second robot includes that the second removes chassis, plummer and brick-laying manipulator, and the plummer sets up in the second removes the chassis, and the plummer is used for accepting the fragment of brick that supplies the brick-laying manipulator to snatch, and brick-laying manipulator is used for transferring the fragment of brick that is located on the plummer to the position of piling up. The top of plummer has rotatory manipulator, and rotatory manipulator is used for picking up the fragment of brick and the upset fragment of brick that is located on the plummer to the upside upset of messenger's fragment of brick is to the downside, and the manipulator of building bricks is used for picking up the fragment of brick after rotatory manipulator upset and transfers the fragment of brick to the position of piling up. The bricklaying equipment with the structure improves the problem of poor bricklaying rhythm and improves the bricklaying construction efficiency.

Description

Brick laying equipment

The application is a divisional application based on the invention with the application number of 202110730651.6, the application date of 2021, 06 and 28, and the invention name of 'one brick laying device'.

Technical Field

The application relates to the technical field of construction machinery, in particular to bricklaying equipment.

Background

In carrying out the work progress to the building, after concrete frame pouring is accomplished, the non-bearing wall of building adopts the manual work to build the wall or the automatic operation method of building the wall of equipment of building bricks automation usually, but, accomplish this process through the manual work and have the technical level to require highly, construction quality is unstable, has the construction risk, and intensity of labour is big, the inefficiency scheduling problem, there is the low scheduling problem of efficiency of construction through current equipment of building bricks to lead to construction cycle longer, and improved construction cost.

Disclosure of Invention

The embodiment of the application provides bricklaying equipment to improve the lower and not good problem of the beat of bricklaying of the lower and bricklaying of efficiency of construction of current bricklaying equipment.

In a first aspect, an embodiment of the present application provides brick laying equipment, where the brick laying equipment is configured to lay a plurality of bricks into a wall, each brick correspondingly forms a laying position on the wall, and the brick laying equipment includes a first robot and a second robot that are arranged at intervals in a front-back direction; the first robot comprises a first moving chassis and a brick supply manipulator, the brick supply manipulator is arranged on the first moving chassis, and the brick supply manipulator is used for grabbing bricks and transferring the bricks to the second robot; the second robot comprises a second moving chassis, a bearing platform and a brick laying manipulator, the bearing platform is arranged on the second moving chassis and used for bearing the bricks grabbed by the brick laying manipulator, and the brick laying manipulator is used for transferring the bricks on the bearing platform to the stacking position; the brick laying manipulator is used for picking up the bricks turned over by the rotary manipulator and transferring the bricks to the stacking position.

In the technical scheme, the brick laying equipment is provided with the second robot and the first robot which are arranged at intervals along the front-back direction, the second robot is provided with the brick laying manipulator and the bearing platform which are sequentially arranged along the front-back direction, and the bearing platform is close to the first robot in the front-back direction compared with the brick laying manipulator, so that on one hand, bricks can be moved forwards to the bearing platform along the front-back direction through the brick laying manipulator, the brick laying manipulator can transfer the bricks on the bearing platform to the stacking position, the stacking of a wall body is realized, the linear transportation of the bricks along the front-back direction is realized through the brick laying equipment with the structure, the brick laying time on the wall of the bricks is favorably saved, the phenomenon of mutual interference of the equipment in the transportation process can be effectively avoided, and on the other hand, the bearing platform is arranged between the brick laying manipulator and the brick laying manipulator, the buffer memory function between manipulator and the brick-laying manipulator is supplied in order to realize to be favorable to optimizing the work beat of equipment of laying bricks, reduce the latency of manipulator or the manipulator of supplying bricks, and then improved the efficiency of construction, shortened the construction cycle of wall body, and be favorable to reducing construction cost. In addition, set up rotary manipulator through the top at the plummer, so that place the fragment of brick on the plummer and overturn through rotary manipulator, make the upside upset of fragment of brick to the downside, thereby be convenient for lay brick manipulator and grab directly place in the pile position of wall body behind the fragment of brick after rotary manipulator overturns, and then need not to lay brick manipulator and overturn the fragment of brick at the in-process of laying brick, and the plastering that is convenient for lay brick manipulator and avoids the fragment of brick snatchs the fragment of brick, the second robot that adopts this kind of structure is favorable to improving the efficiency of laying brick of wall body.

In addition, the bricklaying equipment that this application embodiment provided still has following additional technical characterstic:

in some embodiments, the first robot further comprises a plastering mechanism; the plastering mechanism is arranged on the first movable chassis, the plastering mechanism is used for plastering mortar on the bricks, and the brick supply manipulator is used for grabbing the bricks plastered by the plastering mechanism and transferring the bricks to the bearing platform.

In some embodiments, the first robot further comprises a placing table and a transfer robot; the placing table is arranged on the first moving chassis and used for placing the bricks, the transfer manipulator is used for grabbing the bricks on the placing table and transferring the bricks to the plastering mechanism, and the plastering mechanism is arranged on one side, close to the second robot, of the placing table in the front-back direction; the first robot further comprises a vertical part, the vertical part is positioned on one side of the plastering mechanism and the placing table in the left-right direction, the lower side of the vertical part is mounted on the first moving chassis, the upper side of the vertical part is provided with a first guide rail extending along the front-back direction, and the position of the first guide rail in the up-down direction is higher than that of the plastering mechanism; the transfer robot is slidably engaged with the first guide rail, whereby the transfer robot can reciprocate in the front-rear direction with respect to the first guide rail.

In the technical scheme, a vertical part is installed on the first moving chassis, the vertical part is arranged on the left side and the right side of the plastering mechanism and the placing platform, the position of the upper side of the vertical part in the up-down direction is higher than the first guide rail of the plastering mechanism, and the first guide rail extends along the front-back direction, so that the transferring manipulator can reciprocate in the front-back direction in a sliding fit mode with the first guide rail, bricks on the placing platform are transferred to the plastering mechanism, the phenomenon of interference between the transferring manipulator and the plastering mechanism can be avoided through the structure, the motion track of the transferring manipulator is favorably optimized, and the transfer stroke of the bricks transferred to the plastering mechanism from the placing platform is shortened.

In some embodiments, the transfer robot comprises a first cross arm, a first vertical arm, and a first gripper; one end of the first cross arm in the left-right direction is in sliding fit with the first guide rail, the moving track of the first cross arm relative to the vertical part along the front-back direction forms a moving plane, and the moving plane is positioned above the plastering mechanism; the first vertical arm is movably connected to the first cross arm in the up-down direction, the first gripper is mounted on the first vertical arm, and the first gripper is used for gripping bricks.

Among the above-mentioned technical scheme, the transfer manipulator is provided with first xarm, first perpendicular arm and install the first gripping apparatus on first perpendicular arm, through the one end with first xarm and first guide rail sliding fit, and with first perpendicular arm along the movably connection in first xarm of upper and lower direction, in order to realize that first gripping apparatus can move up in upper and lower direction and front and back side, thereby can snatch the fragment of brick that is located and places the bench, and transfer the fragment of brick to the mechanism of plastering a mortar and carry out the plastering a mortar, this kind of simple structure, the realization of being convenient for.

In some embodiments, a first sliding groove extending in the front-rear direction is fixed to one side of the vertical part close to the plastering mechanism in the left-right direction; the brick feeding manipulator is provided with a guide part which is in sliding fit with the first sliding groove, so that the brick feeding manipulator can reciprocate relative to the first sliding groove along the front-back direction.

In the technical scheme, the first sliding groove is formed in one side of the vertical part in the left-right direction, so that the guiding part of the brick feeding manipulator is in sliding fit with the first sliding groove to enable the brick feeding manipulator to reciprocate in the front-back direction.

In some embodiments, the brick feeding robot comprises a second cross arm, a second vertical arm, and a second gripper; the second cross arm is provided with the guide part and extends along the front-back direction, the upper edge of the second cross arm is lower than the first guide rail, and the lower edge of the second cross arm is higher than the plastering mechanism; the second vertical arm is movably connected to one end, close to the plummer, of the second cross arm in the front-back direction along the up-down direction; the second gripping apparatus is mounted on the second vertical arm and is used for gripping the brick.

In the technical scheme, the brick supplying manipulator is provided with a second cross arm, a second vertical arm and a second gripping apparatus arranged on the second vertical arm, the second cross arm is in sliding fit with the first sliding groove and extends along the front-back direction, the upper edge of the second cross arm in the up-down direction is set to be lower than the first guide rail, and the lower edge of the second cross arm is set to be higher than the plastering mechanism, so that the second cross arm can avoid the moving track and the plastering mechanism of the transferring manipulator, and the phenomenon of interference between the brick supplying manipulator and the transferring manipulator and the plastering mechanism in the operation process is prevented. Wherein, the second erects the arm and follows the movably connection in second xarm of upper and lower direction to realize that the second gripping apparatus can move in upper and lower direction and preceding rear direction, thereby can snatch the fragment of brick on the plastering mechanism, and transfer the fragment of brick to the plummer on, simple structure is convenient for realize.

In some embodiments, the transfer robot comprises a first base and a first gripper; the first gripping device comprises a first clamping part and a second clamping part, the first clamping part is fixedly connected to the first base part, the second clamping part is movably connected to the first base part along the left-right direction, and the first clamping part and the second clamping part are used for clamping the brick in a matched mode; the first clamping part is provided with a clamping surface, and the clamping surface is used for abutting against the end surface of the brick, so that the end surface of the brick is positioned on the same vertical plane in the process that the brick is transferred from the placing table to the plastering mechanism.

In above-mentioned technical scheme, first gripping apparatus is provided with the first clamping part of fixed setting and follows the mobilizable second clamping part of left right direction, and the relative first basal portion of second clamping part moves along left right direction and can realize being close to each other or keeping away from of second clamping part and first clamping part to the realization is to the clamping function of fragment of brick, simple structure, and reliable and stable. In addition, because first clamping part fixed connection is in first basal portion, first clamping part has the clamping face that supplies the terminal surface of fragment of brick to support to lean on, this clamping face is the stationary plane, so that the fragment of brick is in same vertical plane all the time from placing the platform removal to the in-process of plastering mechanism along the fore-and-aft direction, thereby make a terminal surface of fragment of brick keep unchangeable in the ascending position of left right side, so that the fragment of brick has a reference surface, be favorable to plastering mechanism to fix a position the fragment of brick, and then need not to carry out centre gripping and location to two terminal surfaces of fragment of brick when plastering mechanism carries out the plastering to the fragment of brick, so that plastering mechanism carries out the plastering to two terminal surfaces of fragment of brick.

In some embodiments, the brick feeding robot includes a second base and a second gripper; the second gripping apparatus comprises a third clamping portion and a fourth clamping portion, the third clamping portion and the fourth clamping portion are used for being matched with bricks after plastering, the third clamping portion and the fourth clamping portion are movably connected to the second base portion in the front-back direction, so that the third clamping portion and the fourth clamping portion can be close to or far away from a first vertical central plane in the front-back direction, and the first vertical central plane extends in the left-right direction.

In above-mentioned technical scheme, the second gripping apparatus is provided with third clamping part and fourth clamping part, and third clamping part and fourth clamping part are all movably connected in the second basal portion to make third clamping part and fourth clamping part can be close to each other or keep away from to first vertical central plane in the front and back direction, thereby realize the centre gripping to the fragment of brick, simple structure, the operation of being convenient for. In addition, the moving direction of third clamping part and fourth clamping part all sets up to following the fore-and-aft direction to make third clamping part and fourth clamping part be used for cooperating the centre gripping fragment of brick both sides in fore-and-aft direction, in order to avoid the plastering face of fragment of brick, and then can prevent to cause the not good phenomenon of the plastering quality of plastering face.

In some embodiments, the plastering mechanism includes a gripper table; the clamp table comprises a third base, a fifth clamping part and a sixth clamping part, the fifth clamping part and the sixth clamping part are used for clamping the bricks in a matched mode, and the fifth clamping part and the sixth clamping part are movably arranged on the third base along the front-back direction so that the fifth clamping part and the sixth clamping part can be close to or far away from a second vertical central plane in the front-back direction; when the brick feeding manipulator grabs the bricks on the clamp table, the first vertical center plane and the second vertical center plane are coplanar.

In above-mentioned technical scheme, be provided with the anchor clamps platform that is used for the centre gripping fragment of brick on the mechanism of plastering to the mechanism of plastering is to the fragment of brick on the anchor clamps platform is plastered, prevents that the phenomenon of fragment of brick drunkenness from appearing in the in-process of plastering from influencing the plastering quality of fragment of brick. In addition, when the brick supplying manipulator grabs the bricks after being plastered on the clamp platform, the second vertical central plane, which is close to or far away from each other in the front-back direction, of the fifth clamping part and the sixth clamping part of the clamp platform for clamping the bricks and the first vertical central plane of the transfer manipulator are coplanar, so that the third clamping part and the fourth clamping part of the transfer manipulator can be prevented from causing transverse shearing force in the front-back direction to the clamp platform when being matched with the bricks to clamp, and the service life of the brick supplying manipulator and the clamp platform can be prolonged by adopting the design structure.

In some embodiments, the plastering mechanism comprises a clamp table, an actuator and a plastering head; the clamp table is arranged on the first movable chassis and used for placing and clamping the bricks; the plastering head is installed on the first movable chassis through the actuating mechanism, the plastering head is provided with an initial position and an end position in the left-right direction, the brick is located between the initial position and the end position in the left-right direction, the actuating mechanism is used for driving the plastering head to move between the initial position and the end position, and the actuating mechanism is further used for driving the plastering head to rotate around an axis extending along the front-back direction, so that a plastering end of the plastering head can abut against the upper surface of the brick located on the clamp table and two end faces of the brick in the left-right direction.

In above-mentioned technical scheme, the plastering head passes through actuating mechanism to be connected in first removal chassis, can drive the plastering head through actuating mechanism and remove on the left and right sides direction, and can also drive the plastering head around the axis rotation of arranging along the fore-and-aft direction to make the plastering end of plastering head remove the in-process that arrives the terminal position from initial position at the plastering head and can support by in the upper surface of fragment of brick and two terminal surfaces of fragment of brick on the left and right sides direction, thereby realize plastering the upper surface and two terminal surfaces of fragment of brick.

In some embodiments, the first robot further comprises a placing table and a transfer robot; the placing table is arranged on the first moving chassis and used for placing the bricks, the transfer manipulator is used for grabbing the bricks on the placing table and transferring the bricks to the plastering mechanism, and the plastering mechanism is arranged on one side, close to the second robot, of the placing table in the front-back direction; the first robot further comprises a vertical part, the vertical part is positioned on one side of the plastering mechanism and the placing table in the left-right direction, the lower side of the vertical part is mounted on the first moving chassis, and the transfer manipulator and the brick supply manipulator are both mounted on the upper side of the vertical part; the vertical part is provided with an accommodating space, the accommodating space is positioned between the upper side of the vertical part and the lower side of the vertical part, the accommodating space is used for accommodating the plastering head positioned at the initial position and a mortar containing barrel, and the mortar containing barrel is used for providing slurry for the plastering head.

In above-mentioned technical scheme, through setting up accommodation space between the upside of vertical portion and the downside of vertical portion to the appearance thick liquid bucket that will provide thick liquids for the plastering head is placed in accommodation space, thereby can effectively utilize first robot's space, and then has optimized first robot's occupation of land space. In addition, this accommodation space can also hold the head of plastering that is located initial position for the head of plastering can hide in the accommodation space at the in-process that first robot moved of first removal chassis drive, and on the one hand plays the guard action to the head of plastering, and on the other hand can avoid the head of plastering to stretch out in first removal chassis in the left and right directions, thereby is favorable to the removal of first robot.

In some embodiments, the jig table is movably disposed on the first moving chassis in an up-down direction; the plastering mechanism further comprises a lifting assembly, the lifting assembly is installed on the first moving chassis, the clamp table is connected to the lifting assembly, and the lifting assembly is used for driving the clamp table to move up and down relative to the first moving chassis.

In above-mentioned technical scheme, through with the anchor clamps platform along the movably setting in first removal chassis of upper and lower direction and connect the anchor clamps platform in lifting unit to make lifting unit can drive the anchor clamps platform and remove along upper and lower direction, thereby drive the fragment of brick on the anchor clamps platform and remove along upper and lower direction, so that cooperate the plastering head to carry out the plastering to two terminal surfaces of fragment of brick on the left and right sides orientation. In addition, the anchor clamps platform that adopts this kind of structure can follow upper and lower direction rebound, can accept the fragment of brick that waits to plaster that the transfer manipulator snatched on the one hand, and on the other hand can also dock the fragment of brick after the plaster with supplying brick manipulator to can reduce the movement track who transfers the manipulator and supply brick manipulator, and then can reduce the transport time of fragment of brick, be favorable to optimizing the beat of laying bricks, with the efficiency of construction that improves the laying bricks.

In some embodiments, the rotary robot includes a mount, a turret, and a third gripper; the bearing table is provided with a rack, and the mounting seat is movably connected to the rack along the up-down direction; the rotating seat is rotatably connected to the mounting seat, and the rotating axis of the rotating seat extends along the left-right direction; the third gripping apparatus is mounted on the rotating seat and used for gripping the bricks.

Among the above-mentioned technical scheme, through following the upper and lower direction movably connecting in the frame with the mount pad to make the third snatch can follow the upper and lower direction and remove the fragment of brick on the plummer and snatch, rotationally connect in the mount pad through rotating the seat, rotate around the axis that extends along left right direction with the realization third gripping apparatus, thereby drive the fragment of brick and overturn, overturn to realize the plastering face from upside upset to downside, this kind of simple structure, and reliable and stable.

In some embodiments, the second robot further comprises a body; the main body is arranged on the second movable chassis and is positioned on one side, far away from the plastering mechanism, of the bearing platform in the front-back direction, and the brick laying manipulator is arranged on one side, far away from the bearing platform, of the main body in the front-back direction; the main body is movably arranged on the second moving chassis along the left-right direction, the main body is provided with a grabbing position, and when the main body is located at the grabbing position, the left side of the bearing table is farther away from the left side of the main body than the right side of the bearing table; the brick laying manipulator is used for swinging from the left side of the main body when the main body is located at the grabbing position so as to pick up bricks on the bearing platform.

In the above technical scheme, the mechanical hand of laying bricks is installed in the main part, the main part is located between mechanical hand of laying bricks and the plummer in the front and back direction, through with the main part along the movably setting in the second of left and right sides direction on the chassis that moves, and when the main part removed to snatch the position along left and right sides direction, the left side of plummer was farther away from the left side of main part than the right side of plummer, in order to realize the dodging of main part to the plummer, thereby be convenient for set up in the main part in the front and back direction one side the mechanical hand of laying bricks swing the main part from the left side of main part to the main part in the front and back direction opposite side, in order to snatch the fragment of brick on the plummer.

In some embodiments, the body comprises a lifting socket and a first drive; the first driving piece is arranged on the lifting seat and used for driving the lifting seat to move in the vertical direction relative to the second movable chassis; the manipulator of laying bricks has the base, the base install in the lift seat, the base with first driving piece sets up along left right direction interval, the base compare in first driving piece is in be close to in the left and right direction the left side of main part.

In the technical scheme, the main part is provided with lift seat and first driving piece, first driving piece is used for driving the relative second of lift seat to remove the chassis and removes along upper and lower direction, install on the lift seat through the base with the manipulator of laying bricks, so that drive the manipulator of laying bricks through the lift seat and remove along upper and lower direction, thereby can lay bricks to the wall body of co-altitude not, and set up base and first driving piece on the lift seat along left right direction interval, so that the lift seat can drive the manipulator of laying bricks and remove to lower position along upper and lower direction, in order to lay bricks to the root to the wall body. In addition, the base sets up and more is close to in the left side of main part in the left and right sides orientation in comparison in first driving piece to the fragment of brick on the plummer is snatched in the left side swing of the manipulator of laying bricks of being convenient for from the main part, is favorable to optimizing the movement track of the manipulator of laying bricks of bricks.

In some embodiments, the second moving chassis is provided with a first sensor and a second sensor on a side away from the first robot in the front-rear direction; the first sensor and the second sensor are arranged at intervals in the left-right direction, the first sensor is used for acquiring first distance information between the second moving chassis and the wall body, the second sensor is used for acquiring second distance information between the second moving chassis and the wall body, and the second moving chassis is used for responding to the first distance information and the second distance information so as to adjust the distance between the second moving chassis and the wall body and the posture of the second moving chassis relative to the wall body.

In the technical scheme, the first sensor and the second sensor are arranged on the second moving chassis on one side in the front-back direction and are arranged at intervals in the left-right direction, so that first distance information and second distance information between the second moving chassis and the wall body are acquired through the first sensor and the second sensor respectively, the distance between the second moving chassis and the wall body can be adjusted through the first distance information and the second distance information on the one hand, and the parallelism between the second moving chassis and the wall body can be adjusted on the other hand, so that the posture of the second moving chassis relative to the wall body is adjusted, and the second moving chassis is aligned with the wall body.

In some embodiments, the second moving chassis is provided with two support assemblies; the two supporting assemblies are respectively connected to two ends of the second movable chassis in the front-rear direction and are used for supporting the second movable chassis in a matched mode.

In the technical scheme, the two supporting assemblies are arranged at the two ends of the second moving chassis in the front-back direction respectively, so that the two supporting assemblies can be matched with the second moving chassis to support, the second moving chassis is prevented from moving, the stability of the second robot during brick laying operation can be improved, and the brick laying precision and the brick laying quality of the second robot are improved.

In some embodiments, the support assembly includes a moving plate and a plurality of support feet; the moving plate is movably connected to the second moving chassis along the up-down direction; in the up-down direction, the supporting legs are connected to the lower side of the moving plate, and the supporting legs are arranged at intervals in the left-right direction.

In the above technical scheme, the supporting component is provided with a movable plate and a plurality of supporting legs, the supporting legs are connected to the lower side of the movable plate in the up-down direction, and the movable plate is movably connected to the second moving chassis in the up-down direction, so that the movable plate can move in the up-down direction relative to the second moving chassis when the brick laying position is movably arranged on the second moving chassis, the supporting legs are supported on the ground, and then the second moving chassis is supported, and the second moving chassis is prevented from moving.

Drawings

In order 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 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 for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of a brick laying apparatus provided in an embodiment of the present application;

fig. 2 is a schematic structural view of the brick laying apparatus shown in fig. 1 (when a transfer robot transfers bricks to a plastering mechanism);

FIG. 3 is a schematic view of the first robot shown in FIG. 1;

fig. 4 is an exploded view of the structure of the first robot shown in fig. 3;

fig. 5 is an exploded view of the structure of a transfer robot of the first robot shown in fig. 3;

FIG. 6 is a schematic view of the connection of the upright of the first robot shown in FIG. 3 to the first mobile chassis of the first robot;

fig. 7 is an exploded view of the structure of a brick feeding robot of the first robot shown in fig. 3;

FIG. 8 is a schematic structural view of a plastering mechanism of the first robot shown in FIG. 3;

fig. 9 is a schematic structural view of the second robot shown in fig. 1;

fig. 10 is a schematic structural view of a rotary manipulator of the second robot shown in fig. 9;

fig. 11 is a schematic structural view of a main body of the second robot shown in fig. 9;

fig. 12 is an exploded view of the structure of a second moving chassis of the second robot shown in fig. 9;

fig. 13 is a schematic structural view of the support assembly shown in fig. 12.

Icon: 100-brick laying equipment; 10-a first robot; 11-a first mobile chassis; 12-placing the table; 13-a transfer robot; 131-a first gripper; 1311-first clamp; 1312-a second clip; 1313-a first substrate; 1314-a second driving member; 132-a first cross arm; 133-a first vertical arm; 1331-a second guide rail; 134-a third drive member; 14-a plastering mechanism; 141-a fixed seat; 142-a jig table; 1421-third base; 1422-fifth grip; 1423-sixth clamp; 143-an actuator; 144-a plastering head; 145-a lifting assembly; 15-brick feeding manipulator; 151-second gripper; 1511-third grip; 1512-a fourth clamp; 1513-a second substrate; 1514-fourth drive; 152-a second cross arm; 1521-third guide rail; 153-a second vertical arm; 1531-a fourth guide; 154-fifth driving member; 16-a vertical part; 161-a first guide rail; 162-a first runner; 163-an accommodation space; 20-a second robot; 21-a second mobile chassis; 211-a sixth guide rail; 212-a support assembly; 2121-moving the plate; 2122-supporting feet; 2123-eighth rail; 213-a first sensor; 214-a second sensor; 22-a carrier table; 221-a frame; 2211-fifth guide; 23-a brick-laying manipulator; 231-a base; 24-a rotary manipulator; 241-a mounting seat; 242-a rotating seat; 243-a third gripper; 2431-a third substrate; 2432-a seventh grip; 2433-eighth grip; 2434-eighth driver; 244-a sixth drive member; 245-a seventh driving member; 25-a body; 251-a lifting seat; 252 — a first drive member; 253-a lifting mechanism; 2531-executive seat; 2532-seventh rail; 30-pulp containing barrel; x-front-back direction; y-left and right direction; z-up-down direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could 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 given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is conventionally understood by those skilled in the art, is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Examples

The embodiment of the application provides a bricklaying equipment, and its efficiency of construction that can improve current bricklaying equipment is lower, and the not good scheduling problem of bricklaying beat, and the concrete structure of equipment of following combining the attached drawing to bricklaying explains in detail.

The brick laying equipment is used for laying a plurality of bricks into a wall body, and each brick correspondingly forms a laying position on the wall body.

Referring to fig. 1 and 2, the brick laying apparatus 100 includes a first robot 10 and a second robot 20 arranged at an interval in a front-rear direction X. The first robot 10 includes a first moving chassis 11, a placing table 12, a transfer robot 13, a plastering mechanism 14, and a brick feeding robot 15. The placing table 12 is disposed on the first moving chassis 11, the placing table 12 is used for placing bricks, and a plurality of bricks are stacked on the placing table 12 along the up-down direction Z. The transfer manipulator 13 is used for grabbing the bricks on the placing table 12 and transferring the bricks to the plastering mechanism 14, the plastering mechanism 14 is arranged on the first moving chassis 11 and is located on one side of the placing table 12 close to the second robot 20 in the front-back direction X, and the plastering mechanism 14 is used for plastering mortar on the bricks. The brick feeding manipulator 15 is used for grabbing the bricks after being plastered by the plastering mechanism 14 and transferring the bricks to the second robot 20. The second robot 20 includes a second movable chassis 21, a bearing platform 22 and a brick laying manipulator 23, the bearing platform 22 is disposed on the second movable chassis 21 and located on one side of the plastering mechanism 14 away from the placing platform 12 in the front-rear direction X, the bearing platform 22 is used for receiving bricks to be grabbed by the brick laying manipulator 15, and the brick laying manipulator 23 is used for transferring the bricks located on the bearing platform 22 to a stacking position.

The brick laying apparatus 100 is provided with a first robot 10 and a second robot 20 arranged at an interval in the front-rear direction X, the first robot 10 having a plastering mechanism 14 and a placing table 12 arranged in this order in the front-rear direction X, and the plastering mechanism 14 being closer to the second robot 20 in the front-rear direction X than the placing table 12, the second robot 20 having a brick laying manipulator 23 and a carrying table 22 arranged in this order in the front-rear direction X, and the carrying table 22 being closer to the plastering mechanism 14 in the front-rear direction X than the brick laying manipulator 23, so that a brick placed on the placing table 12 can be moved forward in the front-rear direction X to the plastering mechanism 14 by the transfer manipulator 13, and a brick plastered by the plastering mechanism 14 can be moved forward in the front-rear direction X to the carrying table 22 by the brick feeding manipulator 15, so that the brick laying manipulator 23 can transfer the brick placed on the carrying table 22 to the stacking position, realize the heap of wall body, and then realized through the equipment of laying bricks 100 of this kind of structure that the fragment of brick carries out the straight line transport along fore-and-aft direction X, be favorable to saving the time of laying bricks of fragment of brick upper wall, and can effectively avoid appearing the phenomenon of equipment mutual interference at the in-process of fragment of brick transport. In addition, the brick laying equipment 100 with the structure is provided with the brick supplying manipulator 15 and the bearing platform 22 between the plastering mechanism 14 and the brick laying manipulator 23, so that the buffer function between the plastering mechanism 14 and the brick laying manipulator 23 is realized, the workpiece placing position of the transfer manipulator 13 and the workpiece taking position of the brick laying manipulator 23 are prevented from being arranged on the plastering mechanism 14, the working cycle of the brick laying equipment 100 is favorably optimized, the waiting time of the brick laying manipulator 23 or the plastering mechanism 14 is shortened, the construction efficiency is improved, the construction period of a wall body is shortened, and the construction cost is favorably reduced.

Wherein, first removal chassis 11 and second remove chassis 21 and all have automatic navigation, and first robot 10 and second robot 20 can the automatically move to appointed position of laying bricks through first removal chassis 11 and second removal chassis 21 respectively to in order to carry out the work of laying bricks. Illustratively, the first mobile chassis 11 and the second mobile chassis 21 are both AGV carts (Automated Guided vehicles).

Further, as shown in fig. 3 and 4, the first robot 10 further includes a vertical part 16. The vertical portion 16 is located on one side of the plastering mechanism 14 and the placing table 12 in the left-right direction Y, the lower side of the vertical portion 16 is attached to the first moving chassis 11, the upper side of the vertical portion 16 has a first guide rail 161 extending in the front-rear direction X, and the position of the first guide rail 161 in the up-down direction Z is higher than the plastering mechanism 14. The transfer robot 13 is slidably engaged with the first rail 161, whereby the transfer robot 13 can reciprocate in the front-rear direction X with respect to the first rail 161.

The vertical part 16 is installed on the first moving chassis 11, the vertical part 16 is installed on one side of the plastering mechanism 14 and the placing table 12 in the left-right direction Y, the position of the upper side of the vertical part 16 in the vertical direction Z is higher than the first guide rail 161 of the plastering mechanism 14, and the first guide rail 161 extends in the front-back direction X, so that the transfer manipulator 13 can reciprocate in the front-back direction X by sliding fit of the transfer manipulator 13 and the first guide rail 161, bricks on the placing table 12 are transferred to the plastering mechanism 14, and the interference phenomenon between the transfer manipulator 13 and the plastering mechanism 14 can be avoided by the structure, and the moving track of the transfer manipulator 13 is optimized, so that the transfer stroke of the bricks from the placing table 12 to the plastering mechanism 14 is shortened.

Illustratively, the number of the first guide rails 161 is two, and the two first guide rails 161 are arranged at intervals in the left-right direction Y on the upper side of the standing part 16. In other embodiments, the number of the first guide rails 161 may be other, for example, one, three, four, etc. first guide rails 161.

The transfer robot 13 is slidably engaged with the first guide rail 161, and the vertical portion 16 is mounted with a first driving mechanism connected to the transfer robot 13 to drive the transfer robot 13 to move on the first guide rail 161 in the front-back direction X.

Illustratively, the first driving mechanism is a motor, a screw rod and a screw rod sleeve, the motor is mounted on the vertical part 16, the screw rod is connected to an output shaft of the motor, the screw rod extends along the front-back direction X, the motor is used for driving the screw rod to axially rotate, the screw rod sleeve is arranged on the outer side of the screw rod and connected to the transfer manipulator 13, so that the transfer manipulator 13 can be driven to reciprocate along the front-back direction X on the first guide rail 161 through forward rotation and reverse rotation of the motor. Of course, the structure of the first driving mechanism is not limited to this, and the first driving mechanism may also be another structure, for example, the first driving mechanism is an electric push rod, the electric push rod is installed on the upper side of the vertical part 16, and the output end of the electric push rod is connected to the transfer robot 13 to drive the transfer robot 13 to reciprocate on the first guide rail 161 along the front-back direction X.

In the present embodiment, as shown in fig. 4 and 5 in conjunction, the transfer robot 13 includes a first base and a first gripper 131. The first gripper 131 is used to grip a brick, the first gripper 131 includes a first clamping portion 1311 and a second clamping portion 1312, the first clamping portion 1311 is fixedly connected to the first base, the second clamping portion 1312 is movably connected to the first base in the left-right direction Y, and the first clamping portion 1311 and the second clamping portion 1312 are used to cooperatively grip a brick. The first clamping portion 1311 has a clamping surface for the end face of the brick to abut against, so that the end face of the brick is in the same vertical plane in the process of transferring the brick from the placing table 12 to the plastering mechanism 14.

The first gripper 131 is provided with a first clamping part 1311 fixedly arranged and a second clamping part 1312 movable along the left-right direction Y, and the second clamping part 1312 can move relative to the first base part along the left-right direction Y to enable the second clamping part 1312 and the first clamping part 1311 to approach or separate from each other, so that a brick clamping function is achieved, and the brick clamping device is simple in structure, stable and reliable. In addition, because first clamping part 1311 fixed connection is in first base, first clamping part 1311 has the clamping face that supplies the terminal surface of fragment of brick to lean on, this clamping face is the stationary plane, so that the fragment of brick is in same vertical plane all the time along fore-and-aft direction X from placing the platform 12 removal to plastering mechanism 14, thereby make the position of a terminal surface of fragment of brick on left and right directions Y remain unchanged, so that the fragment of brick has a reference surface, be favorable to plastering mechanism 14 to fix a position the fragment of brick, and then need not to carry out centre gripping and location to two terminal surfaces of fragment of brick when plastering mechanism 14 carries out the plastering to the fragment of brick, so that plastering mechanism 14 carries out the plastering to two terminal surfaces of fragment of brick.

The first gripper 131 further includes a first substrate 1313 and a second driving member 1314, the first substrate 1313 is connected to the first base, the first clamping portion 1311 is fixedly connected to the first substrate 1313, the second clamping portion 1312 is movably connected to the first substrate 1313 along the left-right direction Y, and the second driving member 1314 is configured to drive the second clamping portion 1312 to move along the left-right direction Y relative to the first clamping portion 1311 so as to cooperate with clamping the brick.

Illustratively, the second driving member 1314 is a motor, a rack and a gear, the motor is mounted on the first substrate 1313, the gear is connected to an output shaft of the motor, the motor is used for driving the gear to rotate, the rack is connected to the second clamping portion 1312 and is engaged with the gear, so that the motor drives the second clamping portion 1312 to move along the left-right direction Y relative to the first clamping portion 1311. In other embodiments, the second driving member 1314 may also be an air cylinder, the cylinder body of the air cylinder is mounted on the first substrate 1313, and the output end of the air cylinder is connected to the second clamping portion 1312 to drive the second clamping portion 1312 to move along the left-right direction Y.

Further, as shown with continued reference to fig. 4 and 5, the first base includes a first cross arm 132 and a first vertical arm 133. One end of the first arm 132 in the left-right direction Y is slidably fitted to the first rail 161 and connected to a first drive mechanism provided on the upright portion 16, and the first arm 132 forms a movement plane with respect to the movement locus of the upright portion 16 in the front-rear direction X, and the movement plane is located above the plastering mechanism 14. The first vertical arm 133 is connected to the first cross arm 132 movably in the vertical direction Z, and the first board 1313 is connected to the lower side of the first vertical arm 133 in the vertical direction Z. One end of the first cross arm 132 is in sliding fit with the first guide rail 161, and the first vertical arm 133 is movably connected to the first cross arm 132 along the vertical direction Z, so that the first gripper 131 can move in the vertical direction Z and the front-back direction X, and can grip bricks on the placing table 12 and transfer the bricks to the plastering mechanism 14 for plastering.

The first vertical arm 133 is provided with a second guide 1331 slidably engaged with the first cross arm 132, so that the first vertical arm 133 is movably connected to the first cross arm 132 along the up-down direction Z. The first base portion further includes a third driving member 134, and the third driving member 134 is used for driving the first vertical arm 133 to move in the up-down direction Z relative to the first horizontal arm 132.

Illustratively, the third driving member 134 is a motor, a gear and a rack, the motor is mounted at one end of the first cross arm 132 far away from the standing part 16 in the left-right direction Y, the gear is connected to an output shaft of the motor, the rack is connected to the first vertical arm 133 and extends in the up-down direction Z, and the gear is engaged with the rack to drive the first vertical arm 133 to move in the up-down direction Z relative to the first cross arm 132 through the motor. In other embodiments, the third driving member 134 may have other structures, for example, the third driving member 134 may be one of an air cylinder or an electric push rod.

In the present embodiment, as shown in fig. 1 and 6, a first chute 162 extending in the front-rear direction X is fixed to the upright portion 16 on a side close to the plastering mechanism 14 in the left-right direction Y. The brick feeding robot 15 has a guide portion that is slidably engaged with the first chute 162, whereby the brick feeding robot 15 can reciprocate in the front-rear direction X with respect to the first chute 162. By providing the first chute 162 on one side of the vertical section 16 in the left-right direction Y, the guide portion of the brick feeding manipulator 15 is slidably engaged with the first chute 162, so that the brick feeding manipulator 15 can reciprocate in the front-rear direction X, and with this configuration, the first chute 162 and the first guide rail 161 are prevented from being provided at the same position of the vertical section 16, so that the brick feeding manipulator 15 and the transfer manipulator 13 can be prevented from interfering with each other when moving in the front-rear direction, and the space can be effectively utilized.

The vertical section 16 is further provided with a second driving mechanism connected to the brick feeding robot 15, and the second driving mechanism is configured to drive the brick feeding robot 15 to reciprocate in the front-rear direction X in the first chute 162. Optionally, a sliding block is fixedly connected to the vertical portion 16, and a sliding slot on the sliding block is the first sliding slot 162.

Illustratively, the second driving mechanism is a motor, a gear and a rack, the motor is mounted on the vertical part 16, the gear is connected to an output shaft of the motor, the rack is connected to the brick feeding manipulator 15 and extends along the front-back direction X, and the rack is engaged with the gear, so that the motor can drive the brick feeding manipulator 15 to reciprocate along the front-back direction X by forward rotation and reverse rotation. In other embodiments, the second driving mechanism may also be a pneumatic cylinder or an electric push rod.

Further, as shown in fig. 6 and 7 in conjunction, the brick feeding robot 15 includes a second base and a second gripper 151. The second gripper 151 is used for gripping bricks, the second gripper 151 includes a third clamping portion 1511 and a fourth clamping portion 1512, the third clamping portion 1511 and the fourth clamping portion 1512 are used for cooperatively clamping the bricks after plastering, and the third clamping portion 1511 and the fourth clamping portion 1512 are movably connected to the second base portion along the front-back direction X, so that the third clamping portion 1511 and the fourth clamping portion 1512 can approach or separate from each other in the front-back direction X to the first vertical central plane, and the first vertical central plane extends along the left-right direction Y.

The second gripper 151 is provided with a third clamping portion 1511 and a fourth clamping portion 1512, and the third clamping portion 1511 and the fourth clamping portion 1512 are both movably connected to the second base, so that the third clamping portion 1511 and the fourth clamping portion 1512 can be close to or away from each other in the front-back direction X toward the first vertical central plane, thereby clamping bricks is realized, the structure is simple, and the operation is convenient. In addition, the moving directions of the third clamping portion 1511 and the fourth clamping portion 1512 are set to be along the front-back direction X, so that the third clamping portion 1511 and the fourth clamping portion 1512 are used for matching with two sides of a clamping brick in the front-back direction X to avoid the plastering surface of the brick, and the phenomenon that the plastering quality of the plastering surface is poor can be prevented.

The second gripper 151 further includes a second base plate 1513 and a fourth driving element 1514, the second base plate 1513 is connected to the second base, the third clamping portion 1511 and the fourth clamping portion 1512 are both movably connected to the second base plate 1513 along the front-back direction X, and the fourth driving element 1514 is configured to drive the third clamping portion 1511 and the fourth clamping portion 1512 to move toward or away from each other along the front-back direction X, so as to cooperate with clamping of a brick.

Illustratively, the fourth driving member 1514 is a motor, a rack, and two gears, the motor is mounted on the second substrate 1513, the gear is connected to an output shaft of the motor, the motor is used for driving the gear to rotate, the two racks are respectively connected to the third clamping portion 1511 and the fourth clamping portion 1512, the two racks are oppositely arranged along the left-right direction Y and extend along the front-back direction X, and the gear is located between the two racks and engaged with the two racks, so as to drive the third clamping portion 1511 and the fourth clamping portion 1512 to approach or move away from each other along the front-back direction X through the motor. In other embodiments, the fourth driving element 1514 may have another structure, for example, the fourth driving element 1514 is a bidirectional cylinder, a cylinder body of the bidirectional cylinder is fixed to the second substrate 1513, and two output ends of the bidirectional cylinder are respectively connected to the third clamping portion 1511 and the fourth clamping portion 1512, so that the third clamping portion 1511 and the fourth clamping portion 1512 can be driven to approach or move away from each other along the front-back direction X.

Further, the second base includes a second cross arm 152 and a second vertical arm 153. The second arm 152 has a guide portion, and the second arm 152 extends in the front-rear direction X, and an upper edge of the second arm 152 is lower than the first rail 161 and a lower edge of the second arm 152 is higher than the plastering mechanism 14. The second vertical arm 153 is connected to one end of the second arm 152 near the stage 22 in the front-rear direction X movably in the vertical direction Z, and the second base plate 1513 is connected to the lower side of the second vertical arm 153 in the vertical direction Z. The second cross arm 152 is slidably engaged with the first sliding groove 162 and extends along the front-rear direction X, and the upper edge of the second cross arm 152 in the up-down direction Z is set to be lower than the first guide rail 161, and the lower edge is set to be higher than the plastering mechanism 14, so that the second cross arm 152 can avoid the moving track of the transfer manipulator 13 and the plastering mechanism 14, and the brick feeding manipulator 15 is prevented from interfering with the transfer manipulator 13 and the plastering mechanism 14 in the process of operation. The second vertical arm 153 is movably connected to the second cross arm 152 along the vertical direction Z, and the second base plate 1513 of the second gripper 151 is connected to the second vertical arm 153, so that the second gripper 151 can move in the vertical direction Z and the front-back direction X, and can grip bricks on the plastering mechanism 14 and transfer the bricks to the bearing table 22 of the second robot 20.

The guide portion provided on the second crossbar 152 is a third guide rail 1521 fixed to the second crossbar 152, the third guide rail 1521 is in sliding fit with the first sliding groove 162, and the third guide rail 1521 and the second crossbar 152 both extend in the front-rear direction X.

Optionally, the second vertical arm 153 is provided with a fourth guide rail 1531 slidably engaged with the second cross arm 152, so that the second vertical arm 153 is movably connected to the second cross arm 152 in the up-down direction Z. The second base further includes a fifth driver 154, and the fifth driver 154 is configured to drive the second vertical arm 153 to move in the up-down direction Z relative to the second cross arm 152.

Illustratively, the fifth driving member 154 is a motor mounted at one end of the second horizontal arm 152 in the front-rear direction X, a gear mounted on an output shaft of the motor, and a rack connected to the second vertical arm 153 and extending in the up-down direction Z, the rack engaging with the gear to drive the second vertical arm 153 to move in the up-down direction Z relative to the second horizontal arm 152 by the motor. In other embodiments, the fifth driver 154 may have other structures, for example, the fifth driver 154 is one of an air cylinder or an electric push rod.

In this embodiment, as shown in fig. 3, 4 and 8, the plastering mechanism 14 includes a fixing base 141, a clamp table 142, an actuator 143 and a plastering head 144. The fixing base 141 is fixedly arranged on the first movable chassis 11, the fixture table 142 is arranged on the fixing base 141, and the fixture table 142 is used for placing and clamping bricks. The plastering head 144 is mounted on the fixed seat 141 through an actuator 143, the plastering head 144 has an initial position and an end position in the left-right direction Y, the brick is located between the initial position and the end position in the left-right direction Y, the actuator 143 is used for driving the plastering head 144 to move between the initial position and the end position, and the actuator 143 is further used for driving the plastering head 144 to rotate around an axis extending along the front-back direction X, so that the plastering end of the plastering head 144 can abut against the upper surface of the brick located on the clamp table 142 and two end faces of the brick in the left-right direction Y.

The clamp table 142 used for clamping bricks is arranged on the plastering mechanism 14, so that the plastering mechanism 14 can plaster the bricks on the clamp table 142, and the plastering quality of the bricks is prevented from being influenced by the phenomenon of movement of the bricks in the plastering process. In addition, the plastering head 144 is connected to the fixing seat 141 through the actuator 143, the plastering head 144 can be driven to move in the left-right direction Y through the actuator 143, and the plastering head 144 can also be driven to rotate around the axis arranged in the front-back direction X, so that the plastering end of the plastering head 144 can abut against the upper surface of the brick and two end surfaces of the brick in the left-right direction Y in the process that the plastering head 144 moves from the initial position to the final position, and plastering is performed on the upper surface and the two end surfaces of the brick.

The fixture table 142 includes a third base 1421, a fifth clamping portion 1422, and a sixth clamping portion 1423, the third base 1421 is disposed on the fixing base 141, the fifth clamping portion 1422 and the sixth clamping portion 1423 are used for clamping a brick in a matching manner, and the fifth clamping portion 1422 and the sixth clamping portion 1423 are movably disposed on the third base 1421 along the front-back direction X, so that the fifth clamping portion 1422 and the sixth clamping portion 1423 can be close to or away from the second vertical central plane in the front-back direction X. The first vertical center plane is coplanar with the second vertical center plane when the brick feeding robot 15 grabs a brick located on the jig table 142.

When the brick supplying manipulator 15 grabs the bricks plastered on the clamp table 142, the second vertical central plane, which is close to or far away from each other in the front-rear direction X, of the fifth clamping part 1422 and the sixth clamping part 1423 of the clamp table 142 for clamping the bricks, is coplanar with the first vertical central plane of the transfer manipulator 13, so that the third clamping part 1511 and the fourth clamping part 1512 of the transfer manipulator 13 can be prevented from causing a transverse shearing force in the front-rear direction X to the clamp table 142 when being matched to clamp the bricks, and further, the service lives of the brick supplying manipulator 15 and the clamp table 142 can be prolonged by adopting the design structure.

Illustratively, a bidirectional cylinder is disposed on the third base 1421, a cylinder body of the bidirectional cylinder is fixed on the third base 1421, and two output ends of the bidirectional cylinder are respectively connected to the fifth clamping portion 1422 and the sixth clamping portion 1423, so that the fifth clamping portion 1422 and the sixth clamping portion 1423 can be driven to approach or separate from each other along the front-back direction X. In other embodiments, the fixture table 142 may also have other structures, for example, a motor, a rack, and two gears are disposed on the third base 1421, the motor is mounted on the third base 1421, the gears are connected to an output end of the motor, the motor is configured to drive the gears to rotate, the two racks are respectively connected to the fifth clamping portion 1422 and the sixth clamping portion 1423, the two racks are oppositely disposed along the left-right direction Y and extend along the front-back direction X, and the gear is located between the two racks and engaged with the two racks to drive the fifth clamping portion 1422 and the sixth clamping portion 1423 to approach or separate from each other along the front-back direction X through the motor.

Optionally, the plastering mechanism 14 may further include a lifting assembly 145, and the lifting assembly 145 is mounted on the fixing base 141. The third base 1421 of the clamp table 142 is movably disposed on the fixing base 141 along the vertical direction Z, the third base 1421 of the clamp table 142 is connected to the lifting assembly 145, and the lifting assembly 145 is configured to drive the clamp table 142 to move along the vertical direction Z relative to the first moving chassis 11.

Through with third basal portion 1421 along the movably setting in first removal chassis 11 of upper and lower direction Z and connect third basal portion 1421 in lifting unit 145 to make lifting unit 145 can drive anchor clamps platform 142 along upper and lower direction Z removal, thereby drive the fragment of brick on the anchor clamps platform 142 along upper and lower direction Z removal, so that cooperate plastering head 144 to carry out the plastering to two terminal surfaces of fragment of brick on left and right directions Y. In addition, the clamp table 142 adopting the structure can move upwards along the vertical direction Z, on one hand, bricks to be subjected to plastering and grabbed by the transfer manipulator 13 can be received, on the other hand, bricks subjected to plastering can also be butted with the brick supply manipulator 15, so that the movement tracks of the transfer manipulator 13 and the brick supply manipulator 15 can be reduced, the carrying time of the bricks can be reduced, the optimization of the brick laying rhythm is facilitated, and the brick laying construction efficiency is improved.

That is to say, the actuator 143 can first drive the plastering head 144 to move from the initial position to the center along the left-right direction Y to make the plastering end of the plastering head 144 abut against one end surface of the brick in the left-right direction Y, then drive the brick to descend along the up-down direction Z through the clamp table 142 to plaster the end surface, then continuously drive the plastering head 144 to abut against the upper surface of the brick and move along the left-right direction Y to the end point through the actuator 143 to plaster the upper surface of the brick, when the plastering head 144 moves to the other end surface of the brick in the left-right direction Y, drive the plastering head 144 to rotate around the axis extending along the front-back direction X through the actuator 143 to make the plastering end of the plastering head 144 abut against the other end surface of the brick in the left-right direction Y, and finally drive the brick to ascend along the up-down direction Z through the clamp table 142 to plaster the end surface, and then the plastering of the upper surface of the brick and two end surfaces of the brick in the left-right direction Y is realized. The specific structure of the actuator 143 can be found in the related art, and is not described herein.

Illustratively, the lifting assembly 145 is a motor, a synchronous wheel and a synchronous belt, the motor is mounted on the fixing base 141, the synchronous wheel is connected to an output end of the motor, the synchronous belt extends in the up-down direction Z and is connected to the third base 1421, and the synchronous wheel is engaged with the synchronous belt, so that the clamp table 142 can be driven to lift in the up-down direction Z by forward rotation and reverse rotation of the motor. Of course, the structure of the lifting assembly 145 is not limited thereto, and in other embodiments, the lifting assembly 145 may also be a motor, a gear and a rack, the motor is mounted on the fixing base 141, the gear is connected to an output end of the motor, the rack extends along the up-down direction Z and is connected to the clamp table 142, and the rack is engaged with the gear to drive the clamp table 142 to move in the up-down direction Z.

Further, as shown in fig. 3 and 4 in conjunction, the lower side of the vertical section 16 is mounted to the first moving chassis 11, and the transfer robot 13 and the brick supply robot 15 are both mounted to the upper side of the vertical section 16. The vertical part 16 has an accommodating space 163, the accommodating space 163 is located between the upper side of the vertical part 16 and the lower side of the vertical part 16, the accommodating space 163 is used for accommodating the plastering head 144 and the mortar containing barrel 30 which are located at the initial position, and the mortar containing barrel 30 is used for providing the plastering head 144 with the mortar.

By arranging the accommodating space 163 between the upper side of the vertical part 16 and the lower side of the vertical part 16, the slurry containing barrel 30 for providing slurry for the slurry applying head 144 is placed in the accommodating space 163, so that the space of the first robot 10 can be effectively utilized, and the occupied space of the first robot 10 is optimized. In addition, the accommodating space 163 can also accommodate the plastering head 144 at the initial position, so that the plastering head 144 can be hidden in the accommodating space 163 in the process that the first mobile chassis 11 drives the first robot 10 to move, on one hand, the plastering head 144 is protected, on the other hand, the plastering head 144 can be prevented from extending out of the first mobile chassis 11 in the left-right direction Y, and therefore, the movement of the first robot 10 is facilitated.

In this embodiment, as shown in fig. 1 and 9, a rotary robot 24 is disposed above the carrier 22. The rotary manipulator 24 is used for picking up the bricks on the bearing platform 22 and turning the bricks so that the plastering surfaces of the bricks are turned from the upper side to the lower side, and the brick laying manipulator 23 is used for picking up the bricks turned over by the rotary manipulator 24 and transferring the bricks to a stacking position.

Set up rotatory manipulator 24 through the top at plummer 22, so that the fragment of brick placed on plummer 22 can overturn through rotatory manipulator 24, make the plastering face of fragment of brick overturn to the downside from the upside, thereby be convenient for lay brick manipulator 23 snatch directly place in the heap position of wall body behind the fragment of brick after the upset of rotatory manipulator 24, and then need not to lay brick manipulator 23 and overturn the fragment of brick at the in-process of laying brick, and be convenient for lay brick manipulator 23 and avoid the plastering of fragment of brick and snatch the fragment of brick, the second robot 20 of adoption this kind of structure is favorable to improving the efficiency of laying brick of wall body.

Wherein, the brick laying equipment 100 is provided with a control module which is used for controlling the actions of the transfer manipulator 13 and the brick supply manipulator 15. After the overturning manipulator grabs the bricks on the bearing platform 22 and overturns the bricks, the brick supplying manipulator 15 can transfer the bricks after plastering on the plastering mechanism 14 to the bearing platform 22. When the brick supplying manipulator 15 transfers the bricks after plastering from the plastering mechanism 14 to the bearing table 22 along the front-back direction X, the transferring manipulator 13 can transfer the bricks on the placing table 12 to the plastering mechanism 14 along the front-back direction X, so that the brick laying rhythm of the brick laying equipment 100 can be optimized by controlling the action flows of the transferring manipulator 13 and the brick supplying manipulator 15 through the control module, and the construction efficiency is improved.

Further, as shown in fig. 9 and 10, the rotary robot 24 includes a mounting base 241, a rotating base 242, and a third gripper 243. The holder 22 is provided with a frame 221, and the mount 241 is connected to the frame 221 so as to be movable in the vertical direction Z. The rotating base 242 is rotatably coupled to the mounting base 241, and a rotation axis of the rotating base 242 extends in the left-right direction Y. A third gripper 243 is mounted to the rotatable base 242, the third gripper 243 being for gripping a brick. Through with mount pad 241 along the movably connection in frame 221 of upper and lower direction Z to make the third snatch can follow upper and lower direction Z and remove to snatch the fragment of brick on the plummer 22, rotationally connect in mount pad 241 through will rotating seat 242, rotate around the axis that extends along left and right direction Y with the realization third gripping apparatus 243, thereby drive the fragment of brick and overturn, overturn from upside upset to downside with the realization plastering face.

The rack 221 is provided with a fifth guide rail 2211 slidably engaged with the mounting base 241, so that the mounting base 241 is movably disposed on the fifth guide rail 2211 along the up-down direction Z. The rotary robot 24 further includes a sixth driving element 244 and a seventh driving element 245, the sixth driving element 244 is mounted on the frame 221, the sixth driving element 244 is used for driving the mounting base 241 to move in the up-down direction Z relative to the frame 221, the seventh driving element 245 is mounted on the rotary base 242, and the seventh driving element 245 is used for driving the rotary base 242 to rotate relative to the mounting base 241.

Illustratively, the sixth driving element 244 is a motor, a screw rod and a screw rod sleeve, the motor is mounted on the frame 221, the screw rod is connected to an output shaft of the motor, the screw rod extends along the up-down direction Z, the motor is used for driving the screw rod to axially rotate, the screw rod sleeve is disposed on the outer side of the screw rod and connected to the mounting base 241, so that the mounting base 241 can be driven by the motor to move along the up-down direction Z on the fifth guide rail 2211. Of course, the structure of the sixth driving element 244 is not limited to this, and the sixth driving element 244 may also be an air cylinder, the cylinder body of the air cylinder is mounted on the frame 221, and the output end of the air cylinder is connected to the mounting base 241 to drive the mounting base 241 to move on the fifth guide rail 2211 along the up-down direction Z.

Illustratively, the seventh driving member 245 is a motor, the motor is fixedly connected to the rotating seat, and an output shaft of the motor is connected to the mounting base 241, so as to drive the rotating base 242 to rotate relative to the mounting base 241. In other embodiments, the seventh driver 245 may also be a hydraulic motor or the like.

Further, the third gripper 243 includes a third base plate 2431, a seventh clamping portion 2432, an eighth clamping portion 2433 and an eighth driving member 2434, the third base plate 2431 is connected to the rotating base 242, the seventh clamping portion 2432 is fixedly connected to the third base plate 2431, the eighth clamping portion 2433 is movably connected to the third base plate 2431 along the front-back direction X, and the eighth driving member 2434 is configured to drive the eighth clamping portion 2433 to move along the front-back direction X relative to the seventh clamping portion 2432 so as to cooperate with clamping a brick located on the carrying platform 22.

Illustratively, the eighth driving member 2434 is a motor mounted on the third base plate 2431, a gear mounted on an output shaft of the motor, and a rack connected to the eighth clamping portion 2433 and extending in the front-rear direction X, the rack engaging with the gear to drive the eighth clamping portion 2433 to move in the front-rear direction X relative to the third base plate 2431 by the motor. In other embodiments, the eighth driving member 2434 can have other structures, for example, the eighth driving member 2434 can be one of a cylinder or an electric push rod.

In this embodiment, as shown in fig. 9, the second robot 20 further includes a main body 25. The main body 25 is mounted on the second movable chassis 21 on a side of the platform 22 away from the plastering mechanism 14 in the front-rear direction X, and the brick laying manipulator 23 is mounted on a side of the main body 25 away from the platform 22 in the front-rear direction X. The main body 25 is movably disposed on the second moving chassis 21 along the left-right direction Y, and the main body 25 has a grasping position where the left side of the platform 22 is farther from the left side of the main body 25 than the right side of the platform 22 when the main body 25 is located at the grasping position. The brick laying robot 23 is adapted to swing from the left side of the main body 25 when the main body 25 is in the gripping position to pick up a brick on the carrier 22.

The brick laying manipulator 23 is mounted on the main body 25, the main body 25 is located between the brick laying manipulator 23 and the bearing platform 22 in the front-back direction X, the main body 25 is movably arranged on the second moving chassis 21 along the left-right direction Y, and when the main body 25 moves to the grabbing position along the left-right direction Y, the left side of the bearing platform 22 is farther away from the left side of the main body 25 than the right side of the bearing platform 22, so as to avoid the bearing platform 22 by the main body 25, and therefore, the brick laying manipulator 23 arranged on one side of the main body 25 in the front-back direction X swings from the left side of the main body 25 to the other side of the main body 25 in the front-back direction X to grab a brick on the bearing platform 22.

Wherein, brick laying manipulator 23 is four-axis arm, and the end of four-axis arm is installed and is used for the clamping jaw of centre gripping fragment of brick to carry the brick laying position to the wall body from rotatory manipulator 24, realize the operation of laying bricks. The specific structure of the brick laying manipulator 23 can be found in the related art, and is not described in detail herein.

Optionally, the second moving chassis 21 is provided with a sixth guide rail 211 extending along the left-right direction Y, and the main body 25 is slidably engaged with the sixth guide rail 211 to realize that the main body 25 is movably connected to the second moving chassis 21 along the left-right direction Y. The second moving chassis 21 is provided with a third driving mechanism for driving the main body 25 to move in the left-right direction Y relative to the second moving chassis 21.

Illustratively, the number of the sixth guide rails 211 is two, and the two sixth guide rails 211 are disposed on the second moving chassis 21 at intervals in the front-rear direction X.

Illustratively, the third driving mechanism is a motor mounted to the second moving chassis 21, a gear mounted to an output shaft of the motor, and a rack connected to the main body 25 and extending in the left-right direction Y, the rack engaging with the gear so that the main body 25 can be driven to move in the left-right direction Y by the motor. In other embodiments, the third driving mechanism may also be an electric push rod or the like.

Further, as shown in fig. 9 and 11, the main body 25 includes a lifting seat 251 and a first driving member 252. The first driving member 252 is installed on the lifting seat 251, and the first driving member 252 is used for driving the lifting seat 251 to move along the up-down direction Z relative to the second moving chassis 21. The brick laying manipulator 23 has a base 231, the base 231 is mounted on the lifting seat 251, the base 231 and the first driving member 252 are arranged at intervals along the left-right direction Y, and the base 231 is closer to the left side of the main body 25 in the left-right direction Y than the first driving member 252.

The main part 25 is provided with lift seat 251 and first driving piece 252, first driving piece 252 is used for driving lift seat 251 to remove along upper and lower direction Z relative second removal chassis 21, base 231 through the manipulator 23 of building bricks is installed on lift seat 251, so that it removes along upper and lower direction Z to drive the manipulator 23 of building bricks through lift seat 251, thereby can build bricks to the wall body of co-altitude not, and set up base 231 and first driving piece 252 on lift seat 251 along left and right direction Y interval, so that the lift seat 251 can drive the manipulator 23 of building bricks and remove to lower position along upper and lower direction Z, in order to build bricks to the root of wall body. In addition, base 231 sets up and more be close to the left side in main part 25 on left right direction Y than first driving piece 252 to be convenient for brick laying manipulator 23 snatchs the fragment of brick on plummer 22 from the left side swing of main part 25, be favorable to optimizing brick laying manipulator 23's movement track.

Optionally, the main body 25 may further include a lifting mechanism 253, the lifting mechanism 253 is a multi-stage lifting mechanism 253, the lifting mechanism 253 has an execution seat 2531, and the lifting mechanism 253 can drive the execution seat 2531 to lift in an upper direction. The lifting seat 251 is movably connected to the actuating seat 2531 along the up-down direction Z, and the first driving member 252 is used for driving the lifting seat 251 to move along the up direction relative to the actuating seat 2531. The specific structure of the lifting mechanism 253 can be found in the related art, and is not described in detail herein.

The actuating base 2531 is provided with a seventh guide rail 2532 extending along the up-down direction Z, the lifting base 251 is slidably engaged with the seventh guide rail 2532 to enable the lifting base 251 to be movably connected to the actuating base 2531 along the up-down direction Z, and the first driving member 252 is used for driving the lifting base 251 to move on the seventh guide rail 2532 along the up-down direction Z.

Illustratively, the first drive member 252 is a motor, gear and rack. The motor is mounted on the lifting base 251, the base 231 of the brick laying manipulator 23 and the motor are arranged at an interval in the left-right direction Y, and the base 231 is closer to the left side of the lifting mechanism 253 than the motor in the left-right direction Y. The gear is connected to an output shaft of the motor, the rack is installed on the actuating seat 2531 of the lifting mechanism 253 and extends along the vertical direction Z, and the rack is engaged with the gear to drive the lifting seat 251 to move along the vertical direction Z on the seventh guide rail 2532 through the motor. In other embodiments, the first driving member 252 may have other structures, for example, the first driving member 252 may be one of an air cylinder or an electric push rod.

Illustratively, the number of the seventh guide rails 2532 is two, and the two seventh guide rails 2532 are arranged on the actuating seat 2531 at intervals in the left-right direction Y. In other embodiments, the seventh guide 2532 can be one, three, four, etc.

In this embodiment, as shown in fig. 12 and 13, two support assemblies 212 are disposed on the second moving chassis 21. The two support assemblies 212 are respectively connected to two ends of the second moving chassis 21 in the front-rear direction X, and the two support assemblies 212 are used for cooperatively supporting the second moving chassis 21. Through remove chassis 21 at the second and set up a supporting component 212 respectively at the both ends on the front and back direction X to make two supporting components 212 can cooperate and remove chassis 21 to the second and support, remove chassis 21 with the prevention second, thereby can improve the stability of second robot 20 when carrying out the operation of laying bricks, be favorable to improving the precision of laying bricks and the quality of laying bricks of second robot 20.

Support assembly 212 includes a moving plate 2121, a fourth driving mechanism, and a plurality of support feet 2122. The moving plate 2121 is movably connected to the second moving chassis 21 in the up-down direction Z, and the fourth driving mechanism is configured to drive the moving plate 2121 to move in the up-down direction Z relative to the second moving chassis 21. A plurality of support legs 2122 are connected to a lower side of the moving plate 2121 in the up-down direction Z, and the plurality of support legs 2122 are arranged at intervals in the left-right direction Y.

The plurality of support legs 2122 are connected to a lower side of the moving plate 2121 in the up-down direction Z, and the moving plate 2121 is movably connected to the second moving chassis 21 along the up-down direction Z, so that the moving plate 2121 can move in the up-down direction Z relative to the second moving chassis 21 when the second moving chassis 21 is at a position to be bricked, so that the support legs 2122 are supported on the ground, and the automatic second moving chassis 21 is supported to prevent the second moving chassis 21 from moving.

Support feet 2122 can be two, three, four, five, etc. As shown in fig. 12 and 13, two support legs 2122 are provided, and the two support legs 2122 are provided at an interval in the left-right direction Y on the lower side of the moving plate 2121.

Alternatively, the moving plate 2121 is provided with two eighth guide rails 2123 extending in the up-down direction Z, the two eighth guide rails 2123 are arranged at intervals in the left-right direction Y, and the eighth guide rails 2123 are slidably engaged with the second moving chassis 21 to realize that the moving plate 2121 is movably connected to the second moving chassis 21 in the up-down direction Z.

Illustratively, the fourth driving mechanism is a motor, a gear and a rack, the motor is mounted on the second moving chassis 21, the gear is connected to an output shaft of the motor, the rack is mounted on the moving plate 2121 and extends in the up-down direction Z, and the rack is engaged with the gear, so as to drive the moving plate 2121 to move in the up-down direction Z relative to the second moving chassis 21. In other embodiments, the fourth driving mechanism may also be an electric push rod.

It should be noted that, in other embodiments, the supporting assembly 212 may also have other structures, for example, the supporting assembly 212 includes a plurality of adjustable bolts, the plurality of adjustable bolts are disposed at intervals at the bottom of the second moving chassis 21 along the left-right direction Y, and the second moving chassis 21 can be supported on the ground by manually adjusting the screwing depth of the adjustable bolts.

Further, as shown in fig. 1, 12, and 13 in conjunction, the second moving chassis 21 is provided with a first sensor 213 and a second sensor 214 on the side away from the first robot 10 in the front-rear direction X. The first sensor 213 and the second sensor 214 are arranged at intervals along the left-right direction Y, the first sensor 213 is used for acquiring first distance information between the second moving chassis 21 and the wall, the second sensor 214 is used for acquiring second distance information between the second moving chassis 21 and the wall, and the second moving chassis 21 is used for responding to the first distance information and the second distance information to adjust the distance between the second moving chassis 21 and the wall and the posture of the second moving chassis 21 relative to the wall.

By providing the first sensor 213 and the second sensor 214 on one side of the second moving chassis 21 in the front-rear direction X, and arranging the first sensor 213 and the second sensor 214 at intervals in the left-right direction Y, the first distance information and the second distance information between the second moving chassis 21 and the wall are respectively acquired by the first sensor 213 and the second sensor 214, so that the second moving chassis 21 can adjust the distance between the second moving chassis 21 and the wall on the one hand, and can also adjust the parallelism between the second moving chassis 21 and the wall on the other hand, so as to adjust the posture of the second moving chassis 21 relative to the wall, and align the second moving chassis 21 with the wall.

The first sensor 213 and the second sensor 214 are both mounted on the moving plate 2121 on the side of the second moving chassis 21 away from the first robot 10 in the front-rear direction X.

Illustratively, the first sensor 213 and the second sensor 214 are both infrared ranging sensors. In other embodiments, the first sensor 213 and the second sensor 214 may also be a laser ranging sensor or an ultrasonic ranging sensor.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (18)

1. The utility model provides a equipment of laying bricks, equipment of laying bricks is used for piling a plurality of fragment of brick into the wall body, each the fragment of brick in correspond on the wall body and form a heap of step position, a serial communication port, equipment of laying bricks includes first robot and the second robot that sets up along the fore-and-aft direction interval:

the first robot comprises a first moving chassis and a brick supply manipulator, the brick supply manipulator is arranged on the first moving chassis, and the brick supply manipulator is used for grabbing bricks and transferring the bricks to the second robot;

the second robot comprises a second moving chassis, a bearing platform and a brick laying manipulator, the bearing platform is arranged on the second moving chassis, the bearing platform is used for bearing the bricks grabbed by the brick laying manipulator, and the brick laying manipulator is used for transferring the bricks on the bearing platform to the stacking position;

the brick laying manipulator is used for picking up the bricks turned over by the rotary manipulator and transferring the bricks to the stacking position.

2. The brick laying apparatus of claim 1 wherein the first robot further comprises a plastering mechanism;

the plastering mechanism is arranged on the first movable chassis, the plastering mechanism is used for plastering mortar on the bricks, and the brick supply manipulator is used for grabbing the bricks plastered by the plastering mechanism and transferring the bricks to the bearing platform.

3. The brick laying apparatus according to claim 2 wherein the first robot further comprises a placing table and a transfer robot;

the placing table is arranged on the first moving chassis and used for placing the bricks, the transfer manipulator is used for grabbing the bricks on the placing table and transferring the bricks to the plastering mechanism, and the plastering mechanism is arranged on one side, close to the second robot, of the placing table in the front-back direction;

the first robot further comprises a vertical part, the vertical part is positioned on one side of the plastering mechanism and the placing table in the left-right direction, the lower side of the vertical part is mounted on the first moving chassis, the upper side of the vertical part is provided with a first guide rail extending along the front-back direction, and the position of the first guide rail in the up-down direction is higher than that of the plastering mechanism;

the transfer robot is slidably engaged with the first guide rail, whereby the transfer robot can reciprocate in the front-rear direction with respect to the first guide rail.

4. The brick laying apparatus according to claim 3 wherein the transfer robot comprises a first cross arm, a first vertical arm, and a first gripper;

one end of the first cross arm in the left-right direction is in sliding fit with the first guide rail, the moving track of the first cross arm relative to the vertical part along the front-back direction forms a moving plane, and the moving plane is positioned above the plastering mechanism;

the first vertical arm is movably connected to the first cross arm in the up-down direction, the first gripper is mounted on the first vertical arm, and the first gripper is used for gripping bricks.

5. The brick laying apparatus according to claim 3, wherein a first chute extending in the front-rear direction is fixed to the vertical portion on a side thereof in the left-right direction close to the plastering mechanism;

the brick feeding manipulator is provided with a guide part which is in sliding fit with the first sliding groove, so that the brick feeding manipulator can reciprocate relative to the first sliding groove along the front-back direction.

6. The brick laying apparatus according to claim 5 wherein the brick feeding manipulator comprises a second cross arm, a second vertical arm and a second gripper;

the second cross arm is provided with the guide part and extends along the front-back direction, the upper edge of the second cross arm is lower than the first guide rail, and the lower edge of the second cross arm is higher than the plastering mechanism;

the second vertical arm is movably connected to one end, close to the plummer, of the second cross arm in the front-back direction along the up-down direction;

the second gripping apparatus is mounted on the second vertical arm and is used for gripping the brick.

7. The brick laying apparatus according to claim 3 wherein the transfer robot comprises a first base and a first gripper;

the first gripping device comprises a first clamping part and a second clamping part, the first clamping part is fixedly connected to the first base part, the second clamping part is movably connected to the first base part along the left-right direction, and the first clamping part and the second clamping part are used for clamping the brick in a matched mode;

the first clamping part is provided with a clamping surface, and the clamping surface is used for abutting against the end surface of the brick, so that the end surface of the brick is positioned on the same vertical plane in the process that the brick is transferred from the placing table to the plastering mechanism.

8. The brick laying apparatus according to claim 2 wherein the brick feeding manipulator comprises a second base and a second gripper;

the second gripping apparatus comprises a third clamping portion and a fourth clamping portion, the third clamping portion and the fourth clamping portion are used for being matched with bricks after plastering, the third clamping portion and the fourth clamping portion are movably connected to the second base portion in the front-back direction, so that the third clamping portion and the fourth clamping portion can be close to or far away from a first vertical central plane in the front-back direction, and the first vertical central plane extends in the left-right direction.

9. The brick laying apparatus according to claim 8 wherein the plastering mechanism comprises a jig table;

the fixture table comprises a third base, a fifth clamping part and a sixth clamping part, the fifth clamping part and the sixth clamping part are used for clamping the bricks in a matched mode, and the fifth clamping part and the sixth clamping part are movably arranged on the third base along the front-back direction so that the fifth clamping part and the sixth clamping part can be close to or far away from a second vertical central plane in the front-back direction;

when the brick feeding manipulator grabs the bricks on the clamp table, the first vertical center plane and the second vertical center plane are coplanar.

10. The brick laying apparatus according to claim 2 wherein the plastering mechanism comprises a clamp stand, an actuator and a plastering head;

the clamp table is arranged on the first movable chassis and used for placing and clamping the bricks;

the plastering head is installed on the first movable chassis through the actuating mechanism, the plastering head is provided with an initial position and an end position in the left-right direction, the brick is located between the initial position and the end position in the left-right direction, the actuating mechanism is used for driving the plastering head to move between the initial position and the end position, and the actuating mechanism is further used for driving the plastering head to rotate around an axis extending along the front-back direction, so that a plastering end of the plastering head can abut against the upper surface of the brick located on the clamp table and two end faces of the brick in the left-right direction.

11. The brick laying apparatus according to claim 10 wherein the first robot further comprises a placing table and a transfer robot;

the placing table is arranged on the first moving chassis and used for placing the bricks, the transfer manipulator is used for grabbing the bricks on the placing table and transferring the bricks to the plastering mechanism, and the plastering mechanism is arranged on one side, close to the second robot, of the placing table in the front-back direction;

the first robot further comprises a vertical part, the vertical part is positioned on one side of the plastering mechanism and the placing table in the left-right direction, the lower side of the vertical part is mounted on the first moving chassis, and the transfer manipulator and the brick supply manipulator are both mounted on the upper side of the vertical part;

the vertical part is provided with an accommodating space, the accommodating space is positioned between the upper side of the vertical part and the lower side of the vertical part, the accommodating space is used for accommodating the plastering head positioned at the initial position and a mortar containing barrel, and the mortar containing barrel is used for providing slurry for the plastering head.

12. The brick laying apparatus according to claim 10, wherein the jig table is movably provided to the first moving chassis in an up-down direction;

the plastering mechanism further comprises a lifting assembly, the lifting assembly is installed on the first moving chassis, the clamp table is connected to the lifting assembly, and the lifting assembly is used for driving the clamp table to move up and down relative to the first moving chassis.

13. The brick laying apparatus according to claim 1 wherein the rotary manipulator comprises a mounting base, a swivel base and a third gripper;

the bearing table is provided with a rack, and the mounting seat is movably connected to the rack along the up-down direction;

the rotating seat is rotatably connected to the mounting seat, and the rotating axis of the rotating seat extends along the left-right direction;

the third gripping apparatus is mounted on the rotating seat and used for gripping the bricks.

14. The brick laying apparatus according to claim 2 wherein the second robot further comprises a main body;

the main body is arranged on the second movable chassis and is positioned on one side, far away from the plastering mechanism, of the bearing platform in the front-back direction, and the brick laying manipulator is arranged on one side, far away from the bearing platform, of the main body in the front-back direction;

the main body is movably arranged on the second moving chassis along the left-right direction, the main body is provided with a grabbing position, and when the main body is located at the grabbing position, the left side of the bearing table is farther away from the left side of the main body than the right side of the bearing table;

the brick laying manipulator is used for swinging from the left side of the main body when the main body is located at the grabbing position so as to pick up bricks on the bearing platform.

15. The brick laying apparatus according to claim 14 wherein the body comprises a lifting socket and a first drive member;

the first driving piece is arranged on the lifting seat and used for driving the lifting seat to move in the vertical direction relative to the second movable chassis;

the manipulator of laying bricks has the base, the base install in the lift seat, the base with first driving piece sets up along left right direction interval, the base compare in first driving piece is in be close to in the left and right direction the left side of main part.

16. The brick laying apparatus according to claim 1, wherein the second moving chassis is provided with a first sensor and a second sensor on a side away from the first robot in the front-rear direction;

the first sensor and the second sensor are arranged at intervals in the left-right direction, the first sensor is used for acquiring first distance information between the second moving chassis and the wall body, the second sensor is used for acquiring second distance information between the second moving chassis and the wall body, and the second moving chassis is used for responding to the first distance information and the second distance information so as to adjust the distance between the second moving chassis and the wall body and the posture of the second moving chassis relative to the wall body.

17. The brick laying apparatus according to claim 1 wherein the second moving chassis is provided with two support assemblies;

the two supporting assemblies are respectively connected to two ends of the second movable chassis in the front-rear direction and are used for supporting the second movable chassis in a matched mode.

18. The brick laying apparatus according to claim 17 wherein the support assembly comprises a moving plate and a plurality of support feet;

the moving plate is movably connected to the second moving chassis along the up-down direction;

in the up-down direction, the supporting legs are connected to the lower side of the moving plate, and the supporting legs are arranged at intervals in the left-right direction.

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