CN205840368U - A kind of High Precision Automatic brick-laying machine of self-travel type - Google Patents
A kind of High Precision Automatic brick-laying machine of self-travel type Download PDFInfo
- Publication number
- CN205840368U CN205840368U CN201620549300.XU CN201620549300U CN205840368U CN 205840368 U CN205840368 U CN 205840368U CN 201620549300 U CN201620549300 U CN 201620549300U CN 205840368 U CN205840368 U CN 205840368U
- Authority
- CN
- China
- Prior art keywords
- brick
- switch board
- mortar
- mechanical arm
- fragment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
This utility model relates to the High Precision Automatic brick-laying machine of self-travel type, including from travelling platform, send brick system, mortar applicator system and six shaft mechanical arm systems, six shaft mechanical arm systems include six shaft mechanical arms, mechanical arm switch board, brick pick tool switch board, brick pick tool power source air pump and brick pick tool, sending brick system to include conveyer belt, fragment of brick stop and fragment of brick pick-up slots, mortar applicator system includes that servomotor, mortar hopper, mortar are smeared mouth and smear switch board.Being provided with electricity from travelling platform and drive deflecting roller, hydraulic supporting feet and platform expansion slot, this utility model compatibility is good, by adjusting fragment of brick stop and adhesive mortar, and compatible fired brick conventional on the market, sand aerated concrete block etc..
Description
Technical field
This utility model relates generally to build digitized construction applications, and specifically a kind of self-travel type is High Precision Automatic lays bricks
Machine.
Background technology
The most existing equipment of laying bricks is mainly for straight line building wall, and the attitude of the brick that can put is extremely limited, application
Field is mainly the piling in brick field fragment of brick manufacturing process after maintenance, and not precision is required higher architecture construction.?
On the other hand, existing machine can not complete the mortar of blockhouse or the brushing of binding agent.It addition, along with architectural design industry not
Disconnected development, the non-linear masonry way of the design of some fragment of brick has been difficult to realize with traditional-handwork building method, the most common
Fragment of brick pile up machine and more cannot meet requirement, need the machine of laying bricks of more high-freedom degree higher precision to assist realization.
On the whole, current existing mechanical arm work system weak point has: the mode that (1) can build by laying bricks or stones is limited, builds by laying bricks or stones
Form is restricted；(2) precision is general；(3) equipment is the heaviest, is difficult to carrying with mobile；(4) automaticity is the highest.
Summary of the invention
The purpose of this utility model is to propose a kind of High Precision Automatic brick-laying machine of self-travel type, can be by existing from walking
Realize the location of putting of any brick attitude in distance, and automatic applying mortar can be carried out, lay bricks continuously.
The High Precision Automatic brick-laying machine of self-travel type that the utility model proposes, including from travelling platform 1, send brick system 2, sand
Slurry applicator system 3 and six shaft mechanical arm systems, wherein:
Six shaft mechanical arm systems include six shaft mechanical arms 4, mechanical arm switch board 13, brick pick tool switch board 14, and brick picks up
Take tool's power source air pump 15 and brick pick tool 16；Six shaft mechanical arms 4, mechanical arm switch board 13 and brick pick tool switch board
14 are respectively positioned on above travelling platform 1；Six shaft mechanical arm 4 ends arrange brick pick tool 16, brick pick tool power source air pump
15 are connected by trachea with brick pick tool 16, it is provided that pneumatic power drives brick pick tool 16；Mechanical arm switch board 13 passes through
Signal Electricity Federation controls six shaft mechanical arms 4；Mechanical arm switch board 13 and brick pickup switch board 14 carry out two-way signaling by holding wire
Connect；
It is provided with electricity from travelling platform 1 and drives deflecting roller 5, hydraulic supporting feet 6 and platform expansion slot 7, from travelling platform 1 for long
Cube structure, before and after it, bottom is each provided with two electricity and drives deflecting roller 5, for driving from travelling platform 1, on travelling platform 1
Front and back both sides are respectively provided with two hydraulic supporting feet 6, for carrying out automatic leveling to from travelling platform 1；
Sending brick system 2 to include conveyer belt, fragment of brick stop 8 and fragment of brick pick-up slots 9, conveyer belt is for placing and transporting bricks
Block, conveyor belt ends is provided with fragment of brick stop 8, and conveyer belt fragment of brick one end connects fragment of brick pick-up slots 9；Brick system 2 is sent to be arranged at
Above brick pick tool switch board 14；
Mortar applicator system 3 includes that servomotor, mortar hopper 10, mortar are smeared mouth 11 and smeared switch board 12, servo
Motor connects mortar hopper 10, and mortar hopper 10 is smeared mouth 11, servomotor and mortar by mortar and smeared mouth 11 and connect respectively
Smear switch board 12；
Wherein brick pickup switch board 14, smears switch board 12, send brick system 2, from travelling platform 1 and mechanical arm switch board 13
Between be respectively provided with two-way signaling and connect, and using mechanical arm switch board 13 as control signal center.
Work process of the present utility model is as follows:
This utility model is to use six shaft mechanical arms to coordinate from travelling platform, send brick system, mortar applicator system to carry out height
Precision is on the scene builds operation automatically by laying bricks or stones.Before being processed operation, first pass through the masonry form needed for modeling sets, and by specially
Software be converted into robotic arm path control file, input mechanical arm switch board 13；Mortar hopper 10 add special
Adhesive mortar；Sending brick system 2, conveyer belt is being placed a certain amount of fragment of brick, and fragment of brick stop 8 is adjusted to applicable fragment of brick chi
Very little width.Control file from travelling platform 1 according to robotic arm path, with reference to the reference line of job site mark, drive electricity to drive
Deflecting roller 5, marches to first and builds position by laying bricks or stones, uses hydraulic supporting feet 6 that platform entirety is carried out automatic leveling.Follow procedure is opened and is sent
Brick system, drives conveyer belt, makes fragment of brick run to certain position, by sensor signal, by one piece of brick landing to fragment of brick pick-up slots
9.Mechanical arm switch board 13 is from sending brick system 2 to obtain the ready model of fragment of brick, and then mechanical arm switch board 13 is by controlling mechanical arm
4, drive brick pick tool 16 to march to fragment of brick pick-up slots 9 position；Behind in-position, mechanical arm switch board 13 gives brick pickup work
Tool switch board 14 signal, controlling brick pick tool 16 is provided pneumatic power to drive, to brick by brick pick tool power source air pump 15
Block is picked up；After fragment of brick pickup, mechanical arm proceeds to mortar applicator system position according to program line, and mechanical arm switch board 13 gives
Smear switch board 12 signal, open servomotor, the mortar in mortar hopper 10 is smeared mouth 11 from mortar and extrudes, be applied in
On fragment of brick.After having smeared, smear switch board 12 and give mechanical arm switch board 13 feedback signal；Mechanical arm switch board 13 controls machine
Mechanical arm 4 drives fragment of brick to continue to move to building position by laying bricks or stones according to program；Behind in-position, mechanical arm switch board 13 gives brick pickup work
Tool switch board 14 signal, controlling brick pick tool 16 is provided pneumatic power to drive by brick pick tool power source air pump 15, puts down
Fragment of brick, completes the building process of one piece of brick；Mechanical arm switch board 13 controls mechanical arm 4 and returns to fragment of brick pick-up slots 9, starts next block
Building by laying bricks or stones of brick；Repeat above work until first build by laying bricks or stones in the working range of position all build by laying bricks or stones after work completes, pack up hydraulic pressure
Spike 6, from travelling platform according to program move to next build position by laying bricks or stones.Repeat said process, complete whole wall according to program
Building by laying bricks or stones of body.
The beneficial effects of the utility model are: 1. the working range of High Precision Automatic brick-laying machine significantly expanded, typically
Brick-laying machine be 1.2 meters to 1.8 meters according to type selecting and different radii, and in the present system, by auxiliary with place from travelling platform
Help location line, the range of movement of the High Precision Automatic brick-laying machine of self-travel type, any one of construction site can be reached in theory
Point；Practical operation is limited by the actual height change in place and the adjustment length of hydraulic supporting feet, covering major part can be crossed and execute
Work scope；2., by from walking and manipulator motion, the masonry that can complete complicated form builds task by laying bricks or stones；3. build precision reference by laying bricks or stones
Mechanical arm precision, integrated interference factor, can surmount manually build precision by laying bricks or stones by building precision controlling by laying bricks or stones within 1mm；4. system is certainly
Drive, it is simple to transport；5. system automation degree is high, from sending brick, smearing adhesive mortar and be automatically to completing to build work by laying bricks or stones
Change process；6. system compatibility is good, by adjusting fragment of brick stop and adhesive mortar, compatible fired brick conventional on the market,
Sand aerated concrete block etc..
Accompanying drawing explanation
Fig. 1 is this utility model axonometric drawing；
Fig. 2 is signal control access；
Fig. 3 is for building flow chart by laying bricks or stones.
Label in figure: 1 is from travelling platform；2 for sending brick system；3 is mortar applicator system；4 is six shaft mechanical arms；5 are
Electricity drives deflecting roller；6 is hydraulic supporting feet；7 is platform expansion slot；8 is fragment of brick stop；9 is fragment of brick pick-up slots；10 is mortar
Bucket；11 smear mouth for mortar；12 for smearing switch board；13 is mechanical arm switch board；14 is brick pick tool switch board；15 is brick
Pick tool power source air pump；16 is brick pick tool.
Detailed description of the invention
Further illustrate this utility model below in conjunction with the accompanying drawings.
Embodiment 1:
As shown in Figure 1 this utility model by from travelling platform 1, send brick system 2, mortar applicator system 3, six shaft mechanical arm 4
Part composition composition, six shaft mechanical arms may select different model according to process requirements.From travelling platform 1, a size of
1200x2300mm, power 10kw, load 1 ton, electric drive；Including: electricity drives deflecting roller 5 four, it is possible to achieve the walking certainly of numerical control
Rotate before and after platform 1 and rotate with direction, direction slewing area 360 °, single wheel loads 1 ton.Hydraulic supporting feet 6 four, adjusts height
For 0-200mm, single spike load 1 ton, it is possible to reference to gravity, carry out automatically from travelling platform 1 according to ground practical situation
Leveling.Can require with reference to on-the-spot auxiliary positioning line according to program from travelling platform 1, needed for moving to the system of building by laying bricks or stones, build position by laying bricks or stones
Put.Brick system 2, mortar applicator system 3, six shaft mechanical arm 4 is sent to be connected to from travelling platform 1 by platform expansion slot 7: platform expands
Exhibition groove 7 selects 40x80mm standard aluminum section bar, it is possible to use M6 T-nut carries out bolt connection.Send brick system 2, a size of
1000x350mm: belt width 300mm, PU material/1.5mm thickness/white/decorative pattern/antistatic/wear-resisting/oil resistant/heatproof 10
80 DEG C；Use without roller design and adjustable rib, heavy burden 20kg, 0-5m/min conveying can be realized.Fragment of brick stop 8 can be real
The block dimensions regulation of existing 200-300mm；With the fragment of brick pick-up slots 9 of laser inductor, grip position for fragment of brick, it is possible to achieve right
The automatic start-stop sending brick system 2 controls.Mortar applicator system 3, by 4kw/380V driven by servomotor, by smearing switch board 12
Receiver mechanical arm switch board 13 I/O port control signal, extrudes special adhesive mortar from mortar hopper 10, bucket capacity 30L,
Flow 0-6L/min is adjustable, and mortar is smeared mouth 11 and used DN32 handle type snap joint, can be different wide according to the switching of fragment of brick demand
The rubber of degree is smeared mouth and is extended.Mechanical arm switch board 13, according to program requirement, drives six shaft mechanical arms 4, drives brick pickup
Instrument 16 arrives fragment of brick pick-up slots 9.Behind in-position, mechanical arm switch board 13 transmits signal to brick pick tool switch board 14,
Brick pick tool switch board 14 provides signal to brick pick tool power source air pump 15, drives brick pick tool 16 to pick up fragment of brick.
Mechanical arm switch board 13 continues according to program requirement, drives six shaft mechanical arms 4, drives brick pick tool 16 to arrive mortar and smears mouth
11 positions.Meanwhile, the fragment of brick pick-up slots 9 of band laser inductor detects that fragment of brick is removed, to brick pick tool switch board
14 provide feedback signal, and brick pick tool switch board 14 drives and send brick system 2 belt, are picked up to fragment of brick next block fragment of brick location
Groove 9 position.On the other hand, six shaft mechanical arms 4 arrive after mortar smears mouth 11, and mechanical arm switch board 13 passes to smearing switch board 12
The number of delivering letters, smears switch board 12 and provides signal to mortar applicator system 3, start servomotor, by the mortar in mortar hopper 10
Smear to fragment of brick surface.Complete after mortar smears, to smear switch board 12 and provide feedback signal to mechanical arm switch board 13；Mechanical arm
Switch board 13 continues according to program requirement, drives six shaft mechanical arms 4, drives brick pick tool 16 to arrive and builds position by laying bricks or stones, and to brick
Pick tool switch board 14 transmits signal, and brick pick tool switch board 14 provides signal to brick pick tool power source air pump 15,
Drive brick pick tool 16 to discharge fragment of brick, complete the building process of one piece of fragment of brick.Repeat said process, first can be completed and build by laying bricks or stones
All in the working range of position build work by laying bricks or stones.Afterwards, pack up hydraulic supporting feet 6, from travelling platform move according to program under
One builds position by laying bricks or stones.Repeat this process, complete building by laying bricks or stones of whole body of wall according to program.
The signal of this process connects as in figure 2 it is shown, overall process is presented in Fig. 3 in flow diagram form.
Claims (1)
1. the High Precision Automatic brick-laying machine of self-travel type, including from travelling platform (1), send brick system (2), mortar applicator system
(3) and six shaft mechanical arm systems, it is characterised in that:
Six shaft mechanical arm systems include six shaft mechanical arms (4), mechanical arm switch board (13), brick pick tool switch board (14), brick
Pick tool power source air pump (15) and brick pick tool (16), six shaft mechanical arms (4), mechanical arm switch board (13) and brick pickup
Instrument switch board (14) is respectively positioned on from travelling platform (1) top；Six shaft mechanical arm (4) ends arrange brick pick tool (16), brick
Pick tool power source air pump (15) is connected with brick pick tool (16), it is provided that pneumatic power drives brick pick tool (16)；Machine
Mechanical arm switch board (13) connects six shaft mechanical arms (4)；Mechanical arm switch board (13) and brick pickup switch board (14) carry out two-way company
Connect；
It is provided with electricity from travelling platform (1) and drives deflecting roller (5), hydraulic supporting feet (6) and platform expansion slot (7), from travelling platform
(1) being rectangular structure, before and after it, bottom is each provided with two electricity and drives deflecting roller (5), for driving from travelling platform (1), from
Before and after travelling platform (1) is upper, both sides are respectively provided with two hydraulic supporting feet (6), for from travelling platform (1) leveling；
Sending brick system (2) to include conveyer belt, fragment of brick stop (8) and fragment of brick pick-up slots (9), conveyer belt is used for placing fragment of brick, passes
Sending strap end portion to be provided with fragment of brick stop (8), conveyer belt fragment of brick one end connects fragment of brick pick-up slots (9)；Brick system (2) is sent to be arranged at
Brick pick tool switch board (14) top；
Mortar applicator system (3) includes that servomotor, mortar hopper (10), mortar are smeared mouth (11) and smeared switch board (12),
Servomotor connects mortar hopper (10), and mortar hopper (10) smears mouth (11) by mortar, and mouth smeared by servomotor and mortar
(11) switch board (12) is smeared in connection respectively；
Brick pickup switch board (14), smear switch board (12), send brick system (2), from travelling platform (1) and mechanical arm switch board
(13) it is respectively provided with two-way signaling between to connect, and using mechanical arm switch board (13) as control signal center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620549300.XU CN205840368U (en) | 2016-06-08 | 2016-06-08 | A kind of High Precision Automatic brick-laying machine of self-travel type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620549300.XU CN205840368U (en) | 2016-06-08 | 2016-06-08 | A kind of High Precision Automatic brick-laying machine of self-travel type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205840368U true CN205840368U (en) | 2016-12-28 |
Family
ID=57623546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620549300.XU Active CN205840368U (en) | 2016-06-08 | 2016-06-08 | A kind of High Precision Automatic brick-laying machine of self-travel type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205840368U (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106677036A (en) * | 2017-02-23 | 2017-05-17 | 湖南品智工程技术有限公司 | Automatic paving construction equipment for bricks for walkway |
| CN107127731A (en) * | 2017-05-16 | 2017-09-05 | 上海大界机器人科技有限公司 | The self-positioning robot multifunctional intellectual operation platform of crawler type |
| CN107447997A (en) * | 2017-09-07 | 2017-12-08 | 宁夏大学 | Wall-building machine |
| CN107806248A (en) * | 2017-11-29 | 2018-03-16 | 厦门理工学院 | A kind of wall-building robot equipment |
| CN110587626A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Wall building robot |
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| CN111287475A (en) * | 2020-02-13 | 2020-06-16 | 广东博智林机器人有限公司 | Plastering device, plastering robot and masonry equipment |
| CN111519919A (en) * | 2020-04-30 | 2020-08-11 | 广东博智林机器人有限公司 | Bricklaying mechanism |
| CN111519921A (en) * | 2020-05-21 | 2020-08-11 | 中物智建(武汉)科技有限公司 | Industrial robot and automatic wall building machine based on helping hand system |
| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
| CN112302356A (en) * | 2020-09-28 | 2021-02-02 | 同济大学 | Brick laying robot |
| CN112324168A (en) * | 2019-08-05 | 2021-02-05 | 厦门华蔚物联网科技有限公司 | Wall building method and system based on cooperative plastering and brick building |
| CN113021535A (en) * | 2021-03-23 | 2021-06-25 | 同济大学 | Multifunctional wood processing integrated system |
| CN113073866A (en) * | 2021-03-23 | 2021-07-06 | 同济大学 | Reassembling type removes construction robot |
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
| CN114263358A (en) * | 2021-12-27 | 2022-04-01 | 中国建筑第五工程局有限公司 | Masonry mortar joint controller |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
-
2016
- 2016-06-08 CN CN201620549300.XU patent/CN205840368U/en active Active
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10865578B2 (en) | 2016-07-15 | 2020-12-15 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US11106836B2 (en) | 2016-07-15 | 2021-08-31 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US11687686B2 (en) | 2016-07-15 | 2023-06-27 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US10876308B2 (en) | 2016-07-15 | 2020-12-29 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US10635758B2 (en) | 2016-07-15 | 2020-04-28 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
| US11299894B2 (en) | 2016-07-15 | 2022-04-12 | Fastbrick Ip Pty Ltd | Boom for material transport |
| US11842124B2 (en) | 2016-07-15 | 2023-12-12 | Fastbrick Ip Pty Ltd | Dynamic compensation of a robot arm mounted on a flexible arm |
| CN106677036A (en) * | 2017-02-23 | 2017-05-17 | 湖南品智工程技术有限公司 | Automatic paving construction equipment for bricks for walkway |
| CN107127731A (en) * | 2017-05-16 | 2017-09-05 | 上海大界机器人科技有限公司 | The self-positioning robot multifunctional intellectual operation platform of crawler type |
| US11441899B2 (en) | 2017-07-05 | 2022-09-13 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
| US11958193B2 (en) | 2017-08-17 | 2024-04-16 | Fastbrick Ip Pty Ltd | Communication system for an interaction system |
| CN107447997A (en) * | 2017-09-07 | 2017-12-08 | 宁夏大学 | Wall-building machine |
| US11401115B2 (en) | 2017-10-11 | 2022-08-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| CN107806248A (en) * | 2017-11-29 | 2018-03-16 | 厦门理工学院 | A kind of wall-building robot equipment |
| CN112324168A (en) * | 2019-08-05 | 2021-02-05 | 厦门华蔚物联网科技有限公司 | Wall building method and system based on cooperative plastering and brick building |
| CN112324168B (en) * | 2019-08-05 | 2022-06-14 | 厦门华蔚物联网科技有限公司 | Wall building method and system based on cooperative plastering and brick building |
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| CN110587626A (en) * | 2019-09-23 | 2019-12-20 | 杭州自砌科技发展有限公司 | Wall building robot |
| CN111287475A (en) * | 2020-02-13 | 2020-06-16 | 广东博智林机器人有限公司 | Plastering device, plastering robot and masonry equipment |
| CN111519919A (en) * | 2020-04-30 | 2020-08-11 | 广东博智林机器人有限公司 | Bricklaying mechanism |
| CN111519921A (en) * | 2020-05-21 | 2020-08-11 | 中物智建(武汉)科技有限公司 | Industrial robot and automatic wall building machine based on helping hand system |
| CN112302356A (en) * | 2020-09-28 | 2021-02-02 | 同济大学 | Brick laying robot |
| CN113073866B (en) * | 2021-03-23 | 2022-04-01 | 同济大学 | Reassembling type removes construction robot |
| CN113021535B (en) * | 2021-03-23 | 2022-02-18 | 同济大学 | Multifunctional wood processing integrated system |
| CN113073866A (en) * | 2021-03-23 | 2021-07-06 | 同济大学 | Reassembling type removes construction robot |
| CN113021535A (en) * | 2021-03-23 | 2021-06-25 | 同济大学 | Multifunctional wood processing integrated system |
| CN113565300A (en) * | 2021-08-03 | 2021-10-29 | 王献 | Tile work device |
| CN114263358A (en) * | 2021-12-27 | 2022-04-01 | 中国建筑第五工程局有限公司 | Masonry mortar joint controller |
| CN114263358B (en) * | 2021-12-27 | 2023-01-24 | 中国建筑第五工程局有限公司 | Masonry mortar joint controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205840368U (en) | A kind of High Precision Automatic brick-laying machine of self-travel type | |
| CN107083845B (en) | A kind of automatic wall-building method and automatic wall-building system | |
| CN206844687U (en) | A kind of automatic brick laying machine device people | |
| EP3519651B1 (en) | System for placing objects on a surface and method thereof | |
| EP3434845B1 (en) | Automated brick laying system and method of use thereof | |
| CN104153591B (en) | A kind of fully-automatic intelligent wall-building machine | |
| JP2019527310A (en) | Brick / block laying machine built into the vehicle | |
| CN110259070B (en) | Combined system and linkage method of brick paving primary and secondary machines and mortar paving machine | |
| CN110685446A (en) | Full-automatic wall building process | |
| CN110984539A (en) | Automatic ceramic tile paving and pasting robot | |
| CN107654077A (en) | Consider the bricklaying robot straight line wall of mortar plasticity builds algorithm by laying bricks or stones | |
| CN107357294A (en) | A kind of straight line wall of bricklaying robot builds algorithm by laying bricks or stones | |
| CN107740591A (en) | The T-shaped building wall method of bricklaying robot | |
| CN102011482A (en) | Full-automatic multifunctional wall plastering machine | |
| CN111075084B (en) | Method and device for manufacturing disassembly-free non-metal bottom plate fixed mold laminated slab | |
| CN104153553B (en) | A kind of fully-automatic intelligent mud wall machine | |
| CN107605167A (en) | Bricklaying robot right angle building wall method | |
| CN112351867A (en) | Robotized construction system | |
| CN104175309A (en) | Wall building robot | |
| CN112192578A (en) | Double-mechanical-arm ceramic tile paving and pasting robot | |
| US11124977B2 (en) | System and method for constructing a brick structure with a cable-driven robot | |
| RU2606886C1 (en) | Automated method of erecting buildings from building blocks | |
| Pritschow et al. | A mobile robot for on-site construction of masonry | |
| CN211114692U (en) | Brick paving primary and secondary machine | |
| CN111677249A (en) | Intelligent paving and pasting robot for large-space indoor ceramic tiles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190716 Address after: Room 301-02, Building 3, 18, No. 1277 Yixian Road, Baoshan District, Shanghai, 200439 Patentee after: SHANGHAI YIZAO BUILDING INTELLIGENT ENGINEERING CO., LTD. Address before: 200092 Shanghai City, Yangpu District Siping Road No. 1239 Co-patentee before: SHANGHAI YIZAO BUILDING INTELLIGENT ENGINEERING CO., LTD. Patentee before: Tongji University |
|
| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200439 room 301-02, 3 / F, building 18, No. 1277, Yixian Road, Baoshan District, Shanghai Patentee after: Shanghai yizao Technology Co.,Ltd. Address before: 200439 room 301-02, 3 / F, building 18, No. 1277, Yixian Road, Baoshan District, Shanghai Patentee before: SHANGHAI YIZAO BUILDING INTELLIGENT ENGINEERING Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |