CN116696008A - Brick paving robot - Google Patents

Abstract

The invention relates to the technical field of building equipment, in particular to a brick paving robot. The invention discloses a brick paving robot, which comprises: the device comprises a mechanical arm assembly, a movable chassis and a telescopic module, wherein the mechanical arm assembly is used for paving bricks, and the movable chassis comprises a mounting surface; the telescopic module is movably mounted on the movable chassis, and can drive the mechanical arm assembly to move relative to the mounting surface, so that at least part of the mechanical arm assembly can extend out or retract from the circumferential edge of the movable chassis. According to the brick paving robot, the mechanical arm assembly is driven to extend or retract through the telescopic module, so that the brick paving robot can extend through the telescopic module when the brick paving robot is in an area which cannot be covered by the paving mechanical arm, such as a corner position and a narrow position, and the mechanical arm assembly can cover a larger range, so that paving operation is completed.

Description

Brick paving robot

Technical Field

The invention relates to the technical field of building equipment, in particular to a brick paving robot.

Background

In the building tile paving industry, manual tile paving is mainly adopted, and a robot is rarely used for paving. The manual paving has the problems of low operation efficiency, high cost, unstable paving quality, high technical requirements on workers and the like.

When the existing brick paving robot performs tile paving operation, in the process of completing large-area tile paving operation, paving coverage cannot be completed for floor tiles at corner positions of a balcony, a bathroom, a multifunctional room, a kitchen and a room, and the coverage rate of the paving operation is low. In order to improve coverage rate, the size of a mechanical arm is increased, and the size of the mechanical arm is increased, so that the whole size of the brick paving robot is increased, the brick paving robot is difficult to move to corners and narrow positions for paving, and the whole size of the brick paving robot is increased to cause cost increase.

Disclosure of Invention

The invention provides a brick paving robot, which aims to solve the problem that the existing brick paving robot cannot pave the corner positions and the narrow positions.

The embodiment of the invention provides a brick paving robot, which comprises a mechanical arm assembly, the mechanical arm assembly comprises a mechanical arm base; a mobile chassis including a mounting surface; the telescopic module is movably arranged on the movable chassis and can drive the mechanical arm assembly to move relative to the mounting surface, so that at least part of the mechanical arm assembly can extend out or retract from the circumferential edge of the movable chassis; when the mechanical arm assembly is in a retracted state, the orthographic projection of the mechanical arm base on the plane where the mounting surface is located is positioned in the mounting surface, and the mechanical arm assembly can be used for paving bricks in a first paving range; when the mechanical arm assembly is in an extending state, the orthographic projection of the mechanical arm base on the plane where the mounting surface is located is at least partially located outside the mounting surface, and the mechanical arm assembly can be used for paving bricks in a second paving range; the furthest distance from the edge of the second paving range to the mobile chassis is greater than the furthest distance from the edge of the first paving range to the mobile chassis.

According to the brick paving robot disclosed by the embodiment of the invention, the mechanical arm assembly is arranged on the telescopic module, so that the telescopic module can drive the mechanical arm assembly to move relative to the mounting surface direction of the movable chassis, and further drive at least part of the mechanical arm assembly to extend or retract from the peripheral edge of the movable chassis, the mechanical arm assembly can be used for paving bricks in the first paving range in the retraction state of the mechanical arm assembly, the mechanical arm assembly can be used for paving bricks in the second paving range in the extension state of the mechanical arm assembly, and the farthest distance from the edge of the second paving range to the movable chassis is larger than the farthest distance from the edge of the first paving range to the movable chassis. Namely, under the condition that the movable chassis does not move, the second paving range which is farther than the first paving range can be paved by the mechanical arm assembly through the telescopic module, so that the mechanical arm assembly can conveniently stretch to the corner position and the narrow position to pave bricks. Through the technical scheme, the problem that the corner position and the narrow position cannot be covered by the paving work of the common brick paving robot can be solved, and the paving work coverage rate of the brick paving robot is improved.

According to the foregoing embodiment of the present invention, the brick laying robot further includes: the first detection module is used for acquiring information of a base surface to be paved, wherein the information of the base surface to be paved comprises a first paving position and a second paving position of the base surface to be paved, the first paving position is positioned in the first paving range, and the second paving position is positioned outside the first paving range and in the second paving range; the telescopic module is switched between a first state and a second state according to the information of the base surface to be paved, and the mechanical arm assembly can be paved at the first paving position when the mechanical arm assembly is in a retraction state in the first state; and when the telescopic module is in a second state, the mechanical arm assembly can be paved at the second paving position in the extending state.

In the above embodiment, the brick paving robot detects the information of the base surface to be paved through the first detection module, and then can divide the base surface to be paved into the first paving position and the second paving position according to the information of the base surface to be paved, wherein the first paving position is located in the first paving range, the second paving position is located outside the first paving range and in the second paving range, i.e. the mechanical arm assembly can pave the first paving position in the retraction state. When the second paving position needs to be paved, the telescopic module can drive the mechanical arm assembly to move relative to the mounting surface, at least part of the mechanical arm assembly can extend out of the circumferential edge of the movable chassis, the paving operation of the second paving position is completed, and the paving operation coverage rate of the brick paving robot is further improved.

According to any one of the foregoing embodiments of the present invention, the telescopic module includes a fixed component and a movable component, the movable component is capable of moving relative to the fixed component, the fixed component is fixedly connected to the mounting surface, the mechanical arm base is mounted on the movable component, and the movable component is capable of driving the mechanical arm base to extend or retract from a circumferential edge of the movable chassis.

In the above embodiment, through setting up the rectilinear motion that movable component moved realization flexible module for fixed subassembly, and then drive the arm base and stretch out or withdraw from the peripheral edge of moving the chassis, the cooperation of movable component and fixed subassembly makes this embodiment under the condition that does not increase the brick and spreads the whole structure volume of pasting the robot, improves the brick and spreads the robot and spreads the operation coverage rate, reduces the cost of generation, improves work efficiency.

According to any one of the foregoing embodiments of the present invention, the mounting surface includes a first edge and a second edge that intersect, and the telescopic module is capable of driving the arm base to move along a length direction of the first edge, so that the arm base can extend or retract from the second edge.

According to any of the preceding embodiments of the invention, the length of the first edge is greater than the length of the second edge.

In the above embodiment, the mounting surface comprises a first edge and a second edge which are intersected, the telescopic module can drive the mechanical arm base to move along the length direction of the first edge, the mechanical arm base can extend or retract from the second edge, the telescopic module is arranged at the first edge and the second edge which are intersected on the mounting surface, the mechanical arm assembly can be driven to move outside the movable chassis by the shortest movement path of the telescopic module, the working range of the mechanical arm assembly is further expanded from a first paving range to a second paving range, and paving operation is efficiently completed.

According to any of the preceding embodiments of the present invention, further comprising: the glue pumping module comprises a glue barrel mechanism for bearing glue, and the glue barrel mechanism is movably arranged on the movable chassis; the brick feeding module is arranged on the movable chassis and used for picking up bricks and overturning the bricks; the glue spreading module is arranged above the brick feeding module and communicated with the glue pumping module, and the glue spreading module is used for coating glue on bricks; the mechanical arm assembly is used for paving the bricks coated with the colloid on a basal plane to be paved.

In the above embodiment, the glue barrel mechanism is movably arranged on the movable chassis, so that glue can be conveniently added, the glue barrel can be conveniently cleaned, and the working efficiency is improved. Meanwhile, the gluing module is arranged above the upper brick module and is communicated with the glue pumping module, so that the overall size of the brick paving robot can be reduced, the structure of the brick paving robot is optimized, and the production and manufacturing cost is reduced.

According to any one of the foregoing embodiments of the present invention, the orthographic projection of the glue pumping module on the mounting surface, the orthographic projection of the brick feeding module on the mounting surface, and the orthographic projection of the glue spreading module on the mounting surface overlap each other, and the orthographic projection of the mechanical arm base on the plane of the mounting surface and the orthographic projection of the glue pumping module on the mounting surface do not overlap.

In the above embodiment, the orthographic projection of the glue pumping module on the mounting surface, the orthographic projection of the tile feeding module on the mounting surface and the orthographic projection of the glue coating module on the mounting surface are overlapped with each other, so that the tile feeding movement path of the tile feeding module is shortest in the vertical direction, and the tile feeding efficiency is improved. The orthographic projection of the mechanical arm base on the plane where the mounting surface is located is not overlapped with the orthographic projection of the pump glue module on the mounting surface, so that the interference of the pump glue module, the brick feeding module and the glue spreading module during operation of the mechanical arm assembly is avoided, and the brick paving robot is compact in structure, small in occupied space, high in stability, low in manufacturing cost and good in protection performance.

According to any one of the previous embodiments of the present invention, the brick feeding module comprises a lifting mechanism, a brick taking mechanism and a turnover mechanism, wherein the lifting mechanism comprises a track and a sliding block matched with the track, and the sliding block can ascend or descend relative to the track; the brick taking mechanism is used for picking up bricks from the brick rack; the turnover mechanism is connected with the brick taking mechanism, the turnover mechanism can drive the brick taking mechanism to turn over bricks, and the turnover mechanism is fixedly connected with the sliding block, so that the sliding block drives the turnover mechanism and the brick taking mechanism to ascend or descend.

In the above-mentioned embodiment, elevating system can drive and get brick mechanism and reciprocate between rubber coating module and brick frame, and when elevating system moved the settlement position, tilting mechanism can drive and get brick mechanism upset to make the rubber coating module can be to the fragment of brick coating colloid after the upset, rubber coating module and last brick module independently move, when rubber coating module coating colloid, go up the brick module and can continue to go up the brick, increase the work efficiency of going up brick, rubber coating.

According to any one of the foregoing embodiments of the present invention, the brick laying robot further includes a brick frame for carrying bricks, the brick frame is mounted on the moving chassis, the lifting mechanism is disposed on one side of the brick frame, and the lifting mechanism drives the brick taking mechanism to reciprocate between the glue spreading module and the brick frame.

In the above embodiment, the brick paving robot further includes a brick frame for carrying bricks, the brick frame is mounted on the movable chassis, the lifting mechanism is disposed on one side of the brick frame, and the lifting mechanism drives the brick taking mechanism to reciprocate between the glue spreading module and the brick frame. The brick paving robot of this embodiment sets up brick frame integration, makes brick frame, elevating system, get brick mechanism and tilting mechanism ingenious cooperation compact structure through reasonable spatial arrangement, reduces the whole size of brick paving robot, stores the brick simultaneously and makes things convenient for the brick to spread and paste the robot work, saves the brick and spreads the robot and get the brick time, improves and spreads and paste efficiency.

According to any one of the foregoing embodiments of the present invention, the glue spreading module includes a glue spreading port and a glue scraping head mechanism, the glue spreading port is in communication with the glue pumping module, the glue spreading port is capable of moving in a first direction to spread glue on the brick, the glue scraping head mechanism is capable of moving in a second direction to scrape glue on the brick, and the first direction intersects with the second direction.

In the above-mentioned embodiment, the rubber coating module includes cloth gum mouth and frictioning head mechanism, cloth gum mouth and pump glue module intercommunication, cloth gum mouth can be followed the first direction and remove in order to carry out cloth to the fragment of brick and glue, frictioning head mechanism can be followed the second direction and remove in order to scrape the fragment of brick and glue, first direction and second direction are alternately, when first direction is fragment of brick width direction, the second direction is fragment of brick length direction, make cloth gum mouth along fragment of brick width direction removal can glue to fragment of brick surface fast through this setting, then scrape the excessive colloid of gum head mechanism with fragment of brick surface and strike off, the excessive colloid overflows when avoiding the arm module to spread the subsides fragment of brick and influence the fragment of brick and spread subsides effect.

According to any of the preceding embodiments of the present invention, further comprising: the colloid recovery module comprises a colloid return channel and a colloid scraping mechanism, wherein the colloid return channel is communicated with the colloid barrel mechanism, the colloid scraping mechanism comprises a scraping plate and a reciprocating driving piece, the scraping plate is arranged in the colloid return channel and is abutted to at least part of the inner wall of the colloid return channel, the scraping plate is arranged on the reciprocating driving piece, and the reciprocating driving piece can drive the scraping plate to reciprocate.

In the above-mentioned embodiment, the fragment of brick is spread and is pasted robot and is retrieved the module through setting up the colloid, and the colloid is retrieved the module and is included back gluey passageway and frictioning mechanism, and back gluey passageway and gluey bucket mechanism intercommunication, frictioning mechanism include scraper blade and reciprocal driving piece, and the scraper blade sets up in back gluey passageway and with the at least partial inner wall butt of back gluey passageway, and the scraper blade is installed in reciprocal driving piece, and reciprocal driving piece can drive scraper blade reciprocating motion. According to the colloid recovery module, redundant colloid on the surface of the brick scraped by the gluing module can be recovered for reuse, and the brick paving cost is saved. Simultaneously can effectively solve the problem that the glue is not smooth because the glue is easily accumulated on the inner wall of the glue return channel in the process of the glue return to the glue barrel.

According to any of the preceding embodiments of the invention, the lifting mechanism comprises a lifting drive, the reciprocating drive being multiplexed as the lifting drive.

In the above embodiment, the lifting driving piece in the lifting mechanism of the brick feeding module is multiplexed into the reciprocating driving piece of the glue scraping mechanism in the glue recycling module, so that the brick feeding module and the glue recycling module are linked, a power system can be saved, the energy consumption of the brick paving robot can be reduced, the structure can be simplified, and the manufacturing cost of the brick paving robot can be reduced.

According to any of the foregoing embodiments of the invention, the robotic arm assembly comprises: the mechanical arm comprises a mechanical arm base and a movable end which can move relative to the mechanical arm base; and the paving mechanism is arranged at the movable end and is used for paving bricks.

In the above embodiment, the mechanical arm assembly includes: the mechanical arm comprises a mechanical arm base and a movable end which can move relative to the mechanical arm base; the paving mechanism is arranged at the movable end and is used for paving bricks. The movable end of the mechanical arm can drive the paving mechanism to move along the six degrees of freedom of the space so that the paving mechanism can pave bricks. The mechanical arm base is arranged on the telescopic module, and when the movable assembly of the telescopic module moves relative to the fixed assembly, the mechanical arm base can be driven to move, so that the space movement range of the movable end of the mechanical arm is enlarged, and the paving coverage rate of the paving mechanism is improved.

According to any one of the preceding embodiments of the present invention, the paving mechanism includes: the flange comprises a paving surface; the adsorption assemblies are arranged on the paving surface and are used for adsorbing bricks; and a plurality of pressing assemblies mounted to the paving surface, the pressing assemblies being used for pressing the bricks, wherein the mounting heights of the adsorption assemblies and the pressing assemblies relative to the paving surface, which are mounted in at least part of the flange plate, are adjustable.

In the above-mentioned embodiment, spread ring flange, a plurality of absorption subassembly and a plurality of subassembly of pressing in pasting the mechanism, can realize spreading the mechanism and paste not unidimensional fragment of brick, when pasting the mechanism and be used for spreading the fragment of brick of pasting the great size, lie in the most regional or whole absorption subassembly of ring flange, press the subassembly and all have higher mounting height for spread the great quantity absorption subassembly of pasting the mechanism and can adsorb the fragment of brick, satisfy the stable absorption demand to the great size fragment of brick, spread the great quantity of pressing the subassembly of pasting the mechanism and can press the fragment of brick and spread the subsides, satisfy the stable demand of pressing to the great size fragment of brick. When the paving mechanism is used for paving bricks with smaller sizes, the mounting heights of the adsorption assemblies and the pressing assemblies which are arranged in at least part of the areas of the flange plate are correspondingly adjusted, so that the adsorption assemblies and the pressing assemblies in the smaller part of the areas of the flange plate have relatively higher mounting heights, and the adsorption assemblies and the pressing assemblies in other areas have relatively lower mounting heights. At this time, the absorption subassembly of less partial area can adsorb the fragment of brick of less size, and the absorption subassembly in other areas can not influence the fragment of brick that has completed the shop because the installation height is lower. The pressing component in the smaller part area can press and lay bricks of smaller size, and the adsorption components in other areas cannot contact the bricks which are already laid because of lower installation height, so that the influence on the bricks which are already laid can be avoided. According to the paving mechanism provided by the embodiment of the invention, the mounting heights of the adsorption component and the pressing component are adjusted, so that the bad influence on the bricks which are paved can be reduced when the paving mechanism is compatible with paving bricks with different sizes, and good paving of the bricks with different sizes is realized.

According to any of the foregoing embodiments of the present invention, further comprising a second detection module mounted to the paving mechanism, the second detection module comprising: the camera light source component is used for detecting the information of the gap on the base surface to be paved; so that the mechanical arm assembly adjusts the brick joint size of bricks to be paved and bricks paved; the inclination angle sensor is used for acquiring inclination angle information of the brick blocks to be paved so that the mechanical arm assembly is suitable for adjusting brick paving angles according to the inclination angle information; the laser ranging sensor is used for detecting the height difference between the brick blocks to be paved and the paved bricks, so that the mechanical arm assembly adjusts the flatness of the brick blocks to be paved according to the height difference.

In the above embodiment, the brick paving robot lays bricks based on detection information of a camera light source assembly, an inclination sensor and a laser ranging sensor of the second detection module by arranging the second detection module at the paving mechanism, wherein the camera light source assembly is used for detecting information of a gap on a base surface to be paved; the mechanical arm assembly is used for adjusting the sizes of brick joints of bricks to be paved and bricks paved, so that the quality of the brick joints after paving is qualified; the inclination sensor is used for acquiring inclination information of the brick blocks to be paved, so that the mechanical arm assembly is suitable for adjusting brick paving angles according to the inclination information, and the angles of the bricks paved are controlled to be consistent; the laser ranging sensor is used for detecting the height difference between the brick blocks to be paved and the bricks paved, so that the mechanical arm assembly adjusts the flatness of the bricks to be paved according to the height difference, and the quality of the height difference of the adjacent bricks is ensured to be qualified.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a perspective view showing a contracted state of a robot arm of a brick laying robot according to an embodiment of the present invention;

fig. 2 is a perspective view showing an extended state of a robot arm of a brick laying robot according to an embodiment of the present invention;

fig. 3 is an exploded view of a brick laying robot according to an embodiment of the present invention;

fig. 4 is a schematic view of a first paving range and a second paving range of a brick paving robot according to one embodiment of the present invention;

FIG. 5 is a schematic diagram of a telescoping module in a first state according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a telescoping module in a second state according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a telescopic module according to an embodiment of the present invention;

FIG. 8 is a schematic view of a mobile chassis according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a glue module according to an embodiment of the invention;

FIG. 10 is a schematic view of the construction of an upper brick module according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a colloid recovery module according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a paving mechanism according to an embodiment of the present invention.

Reference numerals illustrate:

a 100-robotic arm assembly; 110-a mechanical arm; 111-a robotic arm base; 112-active end; 120-paving mechanism; 121-a flange plate; 122-an adsorption assembly; 123-a pressing assembly; 124-paving the surface; 125-a laser ranging sensor; 126-camera light source assembly; 127-tilt sensor; 128-solenoid valve; 200-moving the chassis; 210-a mounting surface; 211-a first edge; 212-a second edge; 220-a drive mechanism; 230-a travelling wheel mechanism; 240-lidar; 300-telescoping module; 310-an active component; 320-fixing the assembly; 321-a power mechanism; 322-gear; 400-a glue pumping module; 410-a glue barrel mechanism; 500-brick feeding modules; 510-lifting mechanism; 520-brick taking mechanism; 530-a turnover mechanism; 600-gluing module; 610-glue distributing port; 620-a doctor head mechanism; 630-a carrier; 700-brick rack; 800-colloid recovery module; 810-a glue return channel; 820-a scraping mechanism; 821-scraping plate; 822—a reciprocating drive; 900-a control module; r1-a first paving range; r2-a second paving range; s1, the farthest distance from the edge of the first paving range to the movable chassis; s2, the furthest distance from the edge of the second paving range to the movable chassis.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the technical solutions should be considered that the combination does not exist and is not within the scope of protection claimed by the present invention.

The invention provides a brick paving robot which comprises a mechanical arm assembly, wherein the mechanical arm assembly is used for paving brick blocks and comprises a mechanical arm base; a mobile chassis including a mounting surface; the telescopic module is movably arranged on the movable chassis and can drive the mechanical arm assembly to move relative to the mounting surface, so that at least part of the mechanical arm assembly can extend out or retract from the circumferential edge of the movable chassis; when the mechanical arm assembly is in a retracted state, the orthographic projection of the mechanical arm base on the plane where the mounting surface is located is positioned in the mounting surface, and the mechanical arm assembly can be used for paving bricks in a first paving range; when the mechanical arm assembly is in an extending state, the orthographic projection of the mechanical arm base on the plane where the mounting surface is located is at least partially located outside the mounting surface, and the mechanical arm assembly can be used for paving bricks in a second paving range; the furthest distance from the edge of the second paving range to the mobile chassis is greater than the furthest distance from the edge of the first paving range to the mobile chassis.

As shown in fig. 1-3, fig. 1 and 2 are perspective views of a brick paving robot according to an embodiment of the present invention in a retracted state and an extended state of the mechanical arm, respectively, and fig. 3 is an exploded schematic view of the brick paving robot according to an embodiment of the present invention. The brick paving robot of the embodiment of the invention comprises: the mechanical arm assembly 100, the mobile chassis 200 and the telescopic module 300, wherein the mechanical arm assembly 100 comprises a mechanical arm base 111, the mobile chassis 200 comprises a mounting surface 210, the telescopic module 300 movably mounts the mechanical arm assembly 100 on the mobile chassis 200, and the telescopic module 300 can drive the mechanical arm assembly 100 to move relative to the mounting surface 210, so that at least part of the mechanical arm assembly 100 can extend or retract from the circumferential edge of the mobile chassis 200, and further the coverage rate of brick paving of the mechanical arm assembly 100 is improved. It is understood that the movement direction and the movement manner of the mechanical arm assembly 100 driven by the telescopic module 300 relative to the mounting surface 210 are various, which is not illustrated herein. In the present embodiment, the telescopic module 300 can drive the mechanical arm assembly 100 to move along the direction parallel to the mounting surface 210, so that the mechanical arm assembly 100 moves smoothly.

In the normal operating state, as shown in fig. 4, the front projection of the robot arm assembly 100 on the plane of the mounting surface 210 is located in the mounting surface 210 in the retracted state, and the robot arm assembly 100 is capable of laying bricks within the first laying range R1. In fig. 4, the edge of the first lay-down range R1 is shown in broken lines. When the first laying range R1 cannot meet the laying requirement, the mechanical arm assembly 100 can move relative to the mounting surface 210 under the driving of the telescopic module 300, so that at least part of the mechanical arm assembly 100 can extend from the circumferential edge of the moving chassis 200. In the extended state of the robotic arm assembly 100, the orthographic projection of the robotic arm base 111 on the plane of the mounting surface 210 is at least partially located outside the mounting surface 210, and the robotic arm assembly 100 is capable of laying bricks within the second laying range R2. In fig. 4, the edge of the second lay-down range R2 is shown in solid lines. In the case where the moving chassis is not moving, the edge of the second tiling range R2 is farther than the first tiling range R1, as shown in fig. 4, the farthest distance S2 from the edge of the second tiling range to the moving chassis 200 is greater than the farthest distance S1 from the edge of the first tiling range R1 to the moving chassis 200, so that the brick tiling robot can tiling an edge angle position, a narrow position, without moving the moving chassis. When the brick laying robot is laying the base surface to be laid, when most of the base surface to be laid is located in the first laying range R1, the brick laying robot can complete the laying work in the first laying range R1, and when the corner position and the narrow position of the base surface to be laid are required, the moving chassis 200 of the brick laying robot cannot move continuously in the base surface to be laid due to the fact that concrete is not dry, and the like, at the moment, the moving chassis 200 can move to the outer side of the base surface to be laid, the telescopic module 300 drives the mechanical arm assembly 100 to move relative to the mounting surface 210, at least part of the mechanical arm assembly 100 can extend out of the circumferential edge of the moving chassis 200, and then the orthographic projection of the mechanical arm base 111 on the plane where the mounting surface 210 is located at least partially located outside the mounting surface 210, so that the mechanical arm assembly 100 can lay the second laying range R2, the furthest distance S2 from the edge of the second laying range R2 to the edge of the moving chassis 200 is larger than the furthest from the edge of the first laying range R1 to the corner position of the moving chassis 200, the whole laying work can be completed, and the whole laying work of the brick laying machine can be completed.

Further, referring to fig. 5-7, the telescopic module 300 includes a fixed component 320 and a movable component 310, the movable component 310 can move relative to the fixed component 320, the fixed component 320 is fixedly connected to the mounting surface 210, the mechanical arm base 111 is mounted on the movable component 310, and the movable component 310 can drive the mechanical arm base 111 to extend or retract from the circumferential edge of the mobile chassis 200. Specifically, the fixed assembly 320 includes a power mechanism 321 and a gear 322, the power mechanism 321 is connected with the gear 322 to drive the gear 322 to rotate around the axis thereof, the movable assembly 310 includes a mounting seat, one side of the mounting seat is used for mounting the mechanical arm base 111, the other side of the mounting seat includes a rack, the rack is matched with the gear 322, and the power mechanism 321 drives the rack to move by driving the gear 322 to rotate around the axis thereof, so that the mechanical arm assembly 100 moves linearly.

Still further, the mounting surface 210 includes a first edge 211 and a second edge 212 that intersect, and the telescopic module 300 can drive the robot arm base 111 to move along the length direction of the first edge 211, so that the robot arm base 111 can extend or retract from the second edge 212. That is, the rotation surface of the gear 322 is parallel to the first edge 211, the extending direction of the rack extends along the length direction of the first edge 211, and the power mechanism 321 drives the rack to move by driving the gear 322 to rotate around the self axis, so that the mechanical arm assembly 100 moves linearly along the length direction of the first edge 211. In some alternative embodiments, the length of first edge 211 is greater than the length of second edge 212. By way of example and not limitation, the mounting surface 210 is quadrilateral, the length of the first edge 211 is greater than the length of the second edge 212, and the robotic arm assembly 100 is positioned at the intersection of the first edge 211 and the second edge 212 such that the robotic arm assembly 100 is movable outside the second edge 212 along the length of the first edge 211. It is understood that the mounting surface 210 may have other shapes, such as a circular shape or an irregular shape, and modifications of the shape and structure of the mounting surface 210 are within the scope of the present application.

In some alternative embodiments, the brick paving robot further includes a first detection module, where the first detection module is configured to obtain information about a base surface to be paved, where the information about the base surface to be paved includes a first paving position and a second paving position of the base surface to be paved, where the first paving position is located within the first paving range R1, and the second paving position is located outside the first paving range R1 and within the second paving range R2. In this embodiment, the first paving position is a position in the base surface to be paved, which is located within the first paving range R1 of the mechanical arm assembly 100 on the allowable movement range of the brick paving robot; the second tiling position is a position in the base surface to be tiled that is located outside the first tiling range R1 and within the second tiling range R2 of the robotic arm assembly 100 over the allowable range of movement of the brick tiling robot. In one example, the first lay-on position is a position that can fall within the first lay-on range R1 of the robotic arm assembly 100 by movement of the brick lay-on robot, and the second lay-on position is a corner position that cannot be reached by the brick lay-on robot. The first detection module is not shown in the drawings of the specification. The telescoping module 300 switches between a first state and a second state based on the information of the base surface to be tiled.

When the telescopic module 300 is in the first state, and the mechanical arm assembly 100 is in the retracted state, the orthographic projection of the mechanical arm base 111 on the plane of the mounting surface 210 is located in the mounting surface 210, and the mechanical arm assembly 100 can be paved at a first paving position; in the second state of the telescopic module 300, in the extended state of the mechanical arm assembly 100, the orthographic projection of the mechanical arm base 111 on the plane where the mounting surface 210 is located is at least partially located outside the mounting surface 210, and the mechanical arm assembly 100 can be laid at the second laying position. That is, when the paving operation is performed, the telescopic module 300 is in the first state to enable the mechanical arm assembly 100 to complete the paving operation when the non-narrow corner position is paved, and when the narrow corner position is paved, the telescopic module 300 is switched from the first state to the second state, so that the mechanical arm assembly 100 completes the paving operation at the narrow corner position. When paving the base surface to be paved, when paving the first paving range R1 that the mechanical arm assembly 100 can cover in the normal state, the brick paving robot can perform the paving operation as shown in fig. 5, the telescopic module 300 is in the first state, when paving the range that the mechanical arm assembly 100 cannot cover in the normal state, such as the narrow position and the corner position, the telescopic module 300 is switched to the second state, so that the mechanical arm assembly 100 moves to the outside of the second edge 212 along the mounting surface 210, and the operation range of the mechanical arm 110 is increased so that the mechanical arm 110 can pave the second paving range R2, so that the paving mechanism 120 can cover a larger range, referring to fig. 6. By way of example and not limitation, the paving surface may be a balcony, the bricks may be tiles, and the telescoping module may telescope by more than 300mm, i.e., the difference between the edge of the second paving range R2 and the furthest distance S2 of the first paving range R1 to the moving chassis 200 is greater than 300mm from the edge of the second paving range R2 to the furthest distance S1 of the moving chassis 200. The last row or other corner positions of the balcony are paved. It will be appreciated that the base surface to be laid may also be a bathroom, a utility room, a kitchen or other area. As an example and not by way of limitation, the first detection module in this embodiment is detected by a detection device of a brick laying robot. The first detection module can also be an external measurement device and is in communication connection with the brick paving robot according to the embodiment of the application in a preset manner. The first detection module mounting mode, the detection principle and the structural improvement are all limited in the protection scope of the application.

Referring to fig. 8, the mobile chassis 200 includes a driving mechanism 220 and a traveling wheel mechanism 230, wherein the driving mechanism 220 is used for driving the traveling wheel mechanism 230 to travel, and the traveling wheel mechanism 230 is a mecanum wheel or a steering wheel, so as to realize the movement of the mobile chassis 200 in all directions of a horizontal plane. Still further, the laser radar 240 is further disposed on the mobile chassis 200, so as to realize complete machine positioning and obstacle avoidance of the brick paving robot, and complete machine navigation.

In other alternative embodiments, the brick laying robot further includes a glue pumping module 400, where the glue pumping module 400 includes a glue barrel mechanism 410 for carrying glue, and the glue pumping module 400 is capable of pumping the glue inside the glue barrel mechanism 410 to a set position. Preferably, the glue pumping module 400 pumps the glue inside the glue barrel mechanism 410 to a set position by a screw pump. The glue barrel mechanism 410 is movably disposed on the moving chassis 200, and the glue barrel mechanism 410 is movably disposed on the moving chassis 200 to facilitate glue adding and washing of the glue barrel, and in some preferred embodiments, a liquid level sensor is disposed in the glue barrel mechanism 410 for detecting the full-empty state of the glue barrel mechanism 410. When the amount of glue in the glue barrel mechanism 410 is insufficient, the glue barrel mechanism 410 can automatically move to the outside of the mobile chassis 200 to remind the glue adding. The glue barrel mechanism 410 can be connected with the mobile chassis 200 through a slide block guide rail, or a travelling wheel is arranged at the bottom of the glue barrel mechanism 410, when the liquid level sensor detects that the glue amount in the glue barrel mechanism 410 is insufficient, a signal is sent to a control system of the brick paving robot, and the control system controls the travelling wheel to travel so that the glue barrel mechanism 410 can automatically move to the outside of the mobile chassis 200. The connection between the glue barrel mechanism 410 and the mobile chassis 200 is not limited, and will not be described in detail herein.

In other alternative embodiments, the brick laying robot further includes a glue module 600, and the glue module 600 is disposed above the glue barrel mechanism 410 of the glue pumping module 400 and is in communication with the glue barrel mechanism 410 for coating the brick with glue. The robotic arm assembly 100 is capable of spreading the gel-coated bricks to a base surface to be spread. Referring to fig. 9, the glue spreading module 600 includes a glue spreading port 610 and a glue scraping head mechanism 620, the glue spreading port 610 is communicated with the glue pumping module 400, the glue spreading port 610 can move along a first direction to spread glue on the brick, the glue scraping head mechanism 620 can move along a second direction to scrape glue on the brick, and the first direction is intersected with the second direction. Preferably, the first direction and the second direction are directions in which two edges of the brick intersect, that is, the glue spreading opening 610 moves along the width direction of the brick, and the glue scraping head mechanism 620 moves along the length direction of the brick. The glue pumping module 400 pumps the glue in the glue barrel mechanism 410 to the glue distributing opening 610, the glue distributing opening 610 moves along the width direction of the brick to rapidly distribute glue on the surface of the brick, and then the glue scraping head mechanism 620 scrapes off redundant glue on the surface of the brick, so that the influence of excessive overflow of the glue on the paving effect of the brick when the mechanical arm assembly 100 is paved and pasted with the brick is avoided.

Still further, the brick laying robot further includes a brick loading module 500, wherein the brick loading module 500 is mounted on the moving chassis 200, and the brick loading module 500 is disposed above the glue barrel mechanism 410 and below the glue applying module 600. The upper brick module 500 is used to pick up and turn the bricks. Preferably, as shown in fig. 10. The brick feeding module 500 comprises a lifting mechanism 510, a brick taking mechanism 520 and a turnover mechanism 530, wherein the lifting mechanism 510 comprises a track and a sliding block matched with the track, and the sliding block can ascend or descend relative to the track; the brick taking mechanism 520 is used for picking up bricks from the brick rack 700; the turnover mechanism 530 is connected with the brick taking mechanism 520, and the turnover mechanism 530 can drive the brick taking mechanism 520 to turn over bricks, and the turnover mechanism 530 is fixedly connected with the sliding block, so that the sliding block drives the turnover mechanism 530 and the brick taking mechanism 520 to ascend or descend. Still further, the brick taking mechanism 520 comprises a fixing plate, a pneumatic control assembly and an adsorption assembly 122, wherein the adsorption assembly 122 is mounted on the fixing plate and connected with the pneumatic control assembly, and the pneumatic control assembly is used for controlling the adsorption assembly 122 to adsorb bricks. It will be appreciated that the suction of the first surface of the brick by the suction assembly 122 by the brick taking mechanism 520 stabilizes the pick-up brick without damaging the brick surface. After the brick taking mechanism 520 adsorbs the brick, the lifting mechanism 510 can drive the brick taking mechanism 520 to reciprocate between the gluing module 600 and the brick frame 700, and when the lifting mechanism 510 moves to a set position, the turnover mechanism 530 can drive the brick taking mechanism 520 to turn over, so that the gluing module 600 can coat the turned-over brick with colloid. Further, the glue spreading module 600 further includes a carrier 630, so that after the brick feeding module 500 feeds bricks, the turned bricks are placed on the carrier 630 of the glue spreading module 600 to be fixed, and when the glue spreading module 600 coats glue for the bricks, the brick feeding module can continue feeding bricks, so that the working efficiency of feeding bricks and glue spreading is increased.

More preferably, the front projection of the glue pumping module 400 on the mounting surface 210, the front projection of the brick feeding module 500 on the mounting surface 210, and the front projection of the glue spreading module 600 on the mounting surface 210 overlap each other, and the front projection of the mechanical arm base 111 on the plane of the mounting surface 210 and the front projection of the glue pumping module 400 on the mounting surface 210 do not overlap. The brick paving robot of the embodiment is arranged on one side of the brick frame 700 through the lifting mechanism 510, and the brick frame 700 and the gluing module 600 are arranged along the vertical direction, so that the movement path of the brick taking mechanism 520 is shortest, and the efficiency is improved; the width of the entire brick laying robot is mainly determined by the size of the brick and the thickness of the lifting mechanism 510, so that the overall size of the machine can be reduced. The brick paving robot according to the embodiment has the advantages of compact structure, small occupied space, high stability, low manufacturing cost and good protection.

In other alternative embodiments, the brick laying robot further includes a brick rack 700 for carrying bricks, referring to fig. 1, the brick rack 700 is mounted on the moving chassis 200, the lifting mechanism 510 is disposed on one side of the brick rack 700, and the lifting mechanism 510 drives the brick taking mechanism 520 to reciprocate between the glue module 600 and the brick rack 700. It will be appreciated that the brick rack 700 may also be an external structure, i.e. the brick rack 700 is independent of the brick laying robot, and the robotic arm assembly 100 is able to pick up bricks from the brick rack 700 and then move them to the carrier 630 of the glue module 600, so that the glue module 600 coats the bricks with glue. The brick paving robot of this embodiment sets up brick rack 700 an organic whole, makes brick rack 700, elevating system 510, get brick mechanism 520 and tilting mechanism 530 ingenious cooperation compact structure through reasonable spatial arrangement, reduces the whole size of brick paving robot, stores the brick simultaneously and makes things convenient for the brick to spread and paste the robot work, saves the brick and spreads the robot and gets the brick time, improves and spreads the subsides efficiency.

In other alternative embodiments, referring to fig. 11, the brick paving robot further includes a glue recovery module 800, the glue recovery module 800 includes a glue return channel 810 and a glue scraping mechanism 820, the glue return channel 810 is communicated with the glue barrel mechanism 410, the glue scraping mechanism 820 includes a scraper 821 and a reciprocating driving member 822, the scraper 821 is disposed in the glue return channel 810 and abuts against at least part of the inner wall of the glue return channel 810, the scraper 821 is mounted on the reciprocating driving member 822, and the reciprocating driving member 822 can drive the scraper 821 to reciprocate. According to the colloid recovery module 800 of the embodiment of the invention, the colloid barrel mechanism 410 is arranged at the bottom of the colloid return channel 810, the colloid return channel 810 is communicated with the colloid barrel mechanism 410 so as to facilitate colloid recovery into the colloid barrel mechanism 410, the scraping plate 821 of the scraping mechanism 820 is arranged in the reciprocating driving piece 822, and the scraping plate 821 is arranged in the colloid return channel 810 and is abutted with at least part of the inner wall of the colloid return channel 810, and the reciprocating driving piece 822 drives the scraping plate 821 to reciprocate so as to enable the scraping plate 821 to scrape colloid attached to the inner wall of the colloid return channel 810, thereby avoiding the problem of unsmooth colloid return caused by colloid accumulation in the colloid return channel 810, and simultaneously, the scraped colloid can be recovered into the colloid barrel mechanism 410 for reuse, so that materials are saved, and the use cost is reduced. According to the colloid recovery module 800 of the embodiment, redundant colloid on the surface of the brick scraped by the gluing module 600 can be recovered for reuse, and meanwhile, the problem that colloid is not smooth due to the fact that colloid is easily accumulated on the inner wall of the glue return channel 810 in the process that the existing colloid flows back to the glue barrel can be effectively solved.

In other preferred embodiments, the lifting mechanism 510 of the upper brick module 500 includes a lifting drive, with the reciprocating drive 822 multiplexed as a lifting drive. That is, the scraping knife of the colloid recovery module 800 is connected with the lifting mechanism 510 of the brick feeding module 500, and the lifting mechanism 510 can drive the scraping knife to move in each brick feeding process. The reciprocating driving piece 822 according to the embodiment is multiplexed into the lifting driving piece, so that the upper brick module 500 and the colloid recovery module 800 are linked, a power system can be saved, the energy consumption of the brick paving robot can be reduced, the structure can be simplified, and the manufacturing cost of the brick paving robot can be reduced.

As shown in fig. 1 and 2, in some alternative embodiments, the robotic arm assembly 100 includes: a robotic arm 110 and a placement mechanism 120. The mechanical arm 110 includes a mechanical arm base 111 and a movable end 112 capable of moving relative to the mechanical arm base 111, and the paving mechanism 120 is mounted on the movable end 112, and the movable end 112 of the mechanical arm 110 can drive the paving mechanism 120 to move along six degrees of freedom in space, so that the paving mechanism 120 can pave bricks. The mechanical arm base 111 is mounted on the telescopic module 300, and when the movable component 310 of the telescopic module 300 moves relative to the fixed component 320, the mechanical arm base 111 can be driven to move, so that the spatial movement range of the movable end 112 of the mechanical arm 110 is enlarged, and the paving coverage rate of the paving mechanism 120 is improved.

Further, as shown in fig. 12, the paving mechanism 120 includes a flange 121, a plurality of suction assemblies 122, and a plurality of pressing assemblies 123, wherein the flange 121 includes a paving surface 124; a plurality of suction assemblies 122 are mounted to the paving surface 124, the suction assemblies 122 being configured to suction the bricks; the pressing assemblies 123 are mounted on the paving surface 124, the pressing assemblies 123 are used for pressing the paving brick blocks, and the mounting heights of the adsorption assemblies 122 mounted in at least part of the area of the flange plate 121 and the opposite paving surface 124 of the pressing assemblies 123 are adjustable. According to the laying mechanism 120 of the present embodiment, the mounting heights of the suction member 122 and the pressing member 123 mounted on at least a part of the flange 121 with respect to the mounting surface 210 are adjustable.

In this embodiment, the suction assembly 122 is a vacuum suction assembly 122, and the brick laying apparatus further includes a solenoid valve 128. A solenoid valve 128 is connected to the suction assembly 122, the solenoid valve 128 being used to control whether the suction assembly 122 generates a vacuum suction force. The solenoid valve 128 may control the suction assembly 122 to apply a vacuum to the bricks during the brick removal and placement process. After the application is complete, solenoid valve 128 may control the vacuum to suction assembly 122 to release the brick. The brick laying robot may include a vacuum generating device, optionally mounted to the robot body, which may be connected to the suction assembly 122 through a solenoid valve 128.

When the paving mechanism 120 is used for paving bricks with larger sizes, most areas or all the adsorption assemblies 122 and the pressing assemblies 123 which are positioned on the flange plate 121 have higher installation heights, so that more adsorption assemblies 122 of the paving mechanism 120 can adsorb the bricks, the stable adsorption requirement on the bricks with larger sizes is met, more pressing assemblies 123 of the paving mechanism 120 can press and pave the bricks, and the stable pressing paving requirement on the bricks with larger sizes is met. When the paving mechanism 120 is used to pave bricks of a smaller size, the mounting heights of the suction assemblies 122 and the pressing assemblies 123 mounted in at least a portion of the flange 121 relative to the mounting surface 210 are adjusted accordingly so that the suction assemblies 122 and the pressing assemblies 123 in a smaller portion of the flange 121 have a relatively high mounting height, while the suction assemblies 122 and the pressing assemblies 123 in other regions have a relatively low mounting height. At this time, the suction members 122 of the smaller partial area can suck the bricks of the smaller size, and the suction members 122 of the other areas do not affect the bricks which have been laid because of the lower installation height. The pressing members 123 of the smaller partial areas can press and lay down bricks of smaller sizes, and the adsorbing members 122 of other areas do not contact the bricks which have been laid down because of the lower installation height, so that the influence on the bricks which have been laid down can be avoided. According to the paving mechanism 120 provided by the embodiment of the invention, the mounting heights of the adsorption component 122 and the pressing component 123 are adjusted, so that the bad influence on the bricks which are paved can be reduced when the paving mechanism 120 is compatible with paving bricks with different sizes, and good paving of the bricks with different sizes is realized.

Still further, referring to fig. 12, the brick paving robot of the present embodiment further includes a second detection module, the second detection module is mounted on the paving mechanism 120, and the second detection module includes: a camera light source assembly 126, an inclination sensor 127 and a laser ranging sensor 125, wherein the camera light source assembly 126 is used for detecting the information of the gap on the base surface to be paved; so that the mechanical arm assembly 100 adjusts the sizes of the brick joints of the brick blocks to be paved and the paved bricks, and the quality of the brick joints after paving is ensured to be qualified; the inclination sensor 127 is used for acquiring inclination information of the blocks to be paved, so that the mechanical arm assembly 100 is suitable for adjusting brick paving angles according to the inclination information, and controlling the angles of the bricks paved by each block to be consistent; the laser ranging sensor 125 is used for detecting the height difference between the brick to be paved and the brick to be paved, so that the mechanical arm assembly 100 adjusts the flatness of the brick to be paved according to the height difference, and the quality of the height difference of the adjacent bricks is qualified.

It can be understood that the brick paving robot according to the embodiment of the present application further includes a control module 900, where the control module 900 is respectively in communication with the mechanical arm assembly 100, the mobile chassis 200, the telescopic module 300, the first detection module, the glue pumping module 400, the brick feeding module 500, the glue spreading module 600, the glue recycling module 800, and the second detection module, so as to control the brick paving robot to work. Specifically, in the working state, the control module 900 controls the mobile chassis 200 to navigate to the target position, then the brick loading module 500 takes bricks, turns over and loads the bricks, the turned bricks are placed at the bottom of the gluing module 600, the glue pumping module 400 is controlled to pump glue to the gluing module 600 to glue the bricks by the gluing module 600, the glue recycling module 800 recycles the surplus glue, then the mechanical arm 110 picks up the glued bricks to carry out paving operation, in the paving operation process, the control module 900 controls the telescopic module 300 to switch the working state according to the detection result of the first detection module so as to adjust the working range of the paving mechanism 120, and adjusts the angles, the heights and the flatness of the bricks according to the detection result of the second detection module.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (15)

1. A brick laying robot, comprising:

the mechanical arm assembly is used for paving tile blocks; the mechanical arm assembly comprises a mechanical arm base;

a mobile chassis including a mounting surface;

the telescopic module is movably arranged on the movable chassis and can drive the mechanical arm assembly to move relative to the mounting surface, so that at least part of the mechanical arm assembly can extend out or retract from the circumferential edge of the movable chassis;

when the mechanical arm assembly is in a retracted state, the orthographic projection of the mechanical arm base on the plane where the mounting surface is located is positioned in the mounting surface, and the mechanical arm assembly can be used for paving bricks in a first paving range;

when the mechanical arm assembly is in an extending state, the orthographic projection of the mechanical arm base on the plane where the mounting surface is located is at least partially located outside the mounting surface, and the mechanical arm assembly can be used for paving bricks in a second paving range;

The furthest distance from the edge of the second paving range to the mobile chassis is greater than the furthest distance from the edge of the first paving range to the mobile chassis.

2. The brick laying robot of claim 1 further comprising:

the first detection module is used for acquiring information of a base surface to be paved, wherein the information of the base surface to be paved comprises a first paving position and a second paving position of the base surface to be paved, the first paving position is positioned in the first paving range, and the second paving position is positioned outside the first paving range and in the second paving range;

the telescopic module is switched between a first state and a second state according to the information of the base surface to be paved,

when the telescopic module is in a first state, the mechanical arm assembly can be paved at the first paving position in a retraction state;

and when the telescopic module is in a second state, the mechanical arm assembly can be paved at the second paving position in the extending state.

3. The brick laying robot of claim 1 wherein the telescoping module comprises a fixed assembly and a movable assembly, the movable assembly being movable relative to the fixed assembly, the fixed assembly being fixedly attached to the mounting surface, the robotic arm base being mounted to the movable assembly, the movable assembly being capable of driving the robotic arm base to extend or retract from a peripheral edge of the mobile chassis.

4. A brick laying robot according to claim 3, wherein the mounting surface comprises first and second intersecting edges, the telescoping module being capable of moving the arm base in a longitudinal direction of the first edge such that the arm base can extend or retract from the second edge.

5. The brick laying robot of claim 4 wherein the length of the first edge is greater than the length of the second edge.

6. The brick laying robot of claim 1 further comprising:

the glue pumping module comprises a glue barrel mechanism for bearing glue, and the glue barrel mechanism is movably arranged on the movable chassis;

the brick feeding module is arranged on the movable chassis and used for picking up bricks and overturning the bricks; and

the gluing module is arranged above the brick feeding module and communicated with the glue pumping module, and is used for coating colloid for the brick;

the mechanical arm assembly is used for paving the bricks coated with the colloid on a basal plane to be paved.

7. The brick laying robot of claim 6 wherein the orthographic projection of the glue pumping module on the mounting surface, the orthographic projection of the brick feeding module on the mounting surface, and the orthographic projection of the glue spreading module on the mounting surface overlap each other, and the orthographic projection of the mechanical arm base on the plane of the mounting surface does not overlap with the orthographic projection of the glue pumping module on the mounting surface.

8. The brick laying robot of claim 7 wherein the brick loading module comprises a lifting mechanism, a brick taking mechanism and a turnover mechanism, wherein the lifting mechanism comprises a rail and a slider matched with the rail, and the slider can ascend or descend relative to the rail; the brick taking mechanism is used for picking up bricks from the brick rack; the turnover mechanism is connected with the brick taking mechanism, the turnover mechanism can drive the brick taking mechanism to turn over bricks, and the turnover mechanism is fixedly connected with the sliding block, so that the sliding block drives the turnover mechanism and the brick taking mechanism to ascend or descend.

9. The brick laying robot of claim 8 further comprising a brick rack for carrying bricks, the brick rack being mounted to the mobile chassis, the lifting mechanism being disposed on one side of the brick rack, the lifting mechanism driving the brick taking mechanism to reciprocate between the glue module and the brick rack.

10. A brick laying robot according to claim 8 or 9, wherein the glue spreading module comprises a glue spreading port in communication with the glue pumping module, the glue spreading port being movable in a first direction to spread glue on the brick, and a glue spreading head mechanism movable in a second direction to spread glue on the brick, the first direction intersecting the second direction.

11. The brick laying robot of claim 8 further comprising:

the colloid recovery module comprises a colloid return channel and a colloid scraping mechanism, wherein the colloid return channel is communicated with the colloid barrel mechanism, the colloid scraping mechanism comprises a scraping plate and a reciprocating driving piece, the scraping plate is arranged in the colloid return channel and is abutted to at least part of the inner wall of the colloid return channel, the scraping plate is arranged on the reciprocating driving piece, and the reciprocating driving piece can drive the scraping plate to reciprocate.

12. The brick laying robot of claim 11 wherein the lifting mechanism comprises a lifting drive, the reciprocating drive multiplexed as the lifting drive.

13. The brick laying robot according to claim 1, wherein,

the mechanical arm assembly includes:

the mechanical arm comprises a mechanical arm base and a movable end which can move relative to the mechanical arm base; and

the paving mechanism is arranged at the movable end and is used for paving bricks.

14. The brick laying robot of claim 13 wherein the laying mechanism comprises:

the flange comprises a paving surface;

The adsorption assemblies are arranged on the paving surface and are used for adsorbing bricks; and

the pressing components are arranged on the paving surface and are used for pressing and paving the bricks,

the mounting heights of the adsorption component and the pressing component, which are mounted in at least part of the area of the flange plate, relative to the paving surface are adjustable.

15. The brick placement robot of claim 14 further comprising a second detection module mounted to the placement mechanism, the second detection module comprising:

the camera light source component is used for detecting the information of the gap on the base surface to be paved; so that the mechanical arm assembly adjusts the brick joint size of bricks to be paved and bricks paved;

the inclination angle sensor is used for acquiring inclination angle information of the brick blocks to be paved so that the mechanical arm assembly is suitable for adjusting brick paving angles according to the inclination angle information;

the laser ranging sensor is used for detecting the height difference between the brick blocks to be paved and the paved bricks, so that the mechanical arm assembly adjusts the flatness of the brick blocks to be paved according to the height difference.