DE8424900U1 - Device for the fully automatic production of masonry from standard bricks and mortar or adhesive using a rotating masonry robot - Google Patents

Description

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\ Device for the fully automatic production of masonry from standard bricks and mortar or adhesive using a rotating masonry robot y»

The invention relates to a device for producing masonry from standard bricks and mortar or adhesive with the aid of a rotating masonry robot according to the preamble of claim 1.

Bricklaying work for buildings is carried out using a technique that has been in use for centuries, for which the profession of bricklayer was developed. However, this technique depends on the skills and reliability of the workers and the weather conditions.

Proposals for the mechanization of bricklaying are known, for example from DE-OS 26 08 826. The advantages of this proposal are based on the fact that it makes it easier for the construction worker to use his physical strength on the construction site. However, this does not make the bricklayer's work redundant, because it is not possible to carry out the bricklaying work independently, continuously and absolutely reliably, to the desired extent, at any time required and regardless of the weather.

In view of this state of the art, the invention is based on the task of creating a device with the help of which masonry can be produced to a definable extent, with the required precision, automatically and continuously. The masonry should be able to be carried out according to a definable program plan in a given time and should be independent of the skill of the mason and the weather. In addition, the time required should be reduced without reducing the quality of the masonry.

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-αδειδα and the specified work program for the respective application should be able to be carried out in a predictable and controllable manner.

This object is achieved in the device created according to the invention by the features of claim 1. Advantageous embodiments thereof are listed in the further claims.

One of the advantages of the device according to the invention is that several units of bricklaying robots can be placed on the loading area of a truck. Each bricklaying robot consists of a base and at least two movable gripping devices. One gripping device grips the mortar containers from the mortar storage container, while the other gripping device grips the standard bricks from an intermediate storage area. The mortar container conveyed to the wall connection point by the gripping device then applies a bed joint, after which the standard bricks lifted by the other gripping device are placed on the bed joint. The butt joint is also introduced using the mortar container.

The sequence of all sub-processes of bricklaying is carried out by means of a control device connected to the bricklaying robot, whereby the alignment of the brickwork is determined by means of a laser barrier on the control device.

One of the main advantages of the invention is the possibility of factory-made masonry, which can be produced in series and with the required precision according to the calculations made for the respective application. Production and quality control is also possible using the records of the control device. The manual work of several skilled masons is replaced by a single operator of the automatic masonry machine.

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A further advantage of the invention is the precise maintenance of the wall alignment by means of a laser barrier _which is integrated into the control device.

The invention also simplifies

of the work processes on the construction site, because the construction of the masonry can be carried out quickly and after rational advance planning of all sub-processes, such as creating the bed joint from the wall connection point, setting up the standard bricks on the placement point determined by the laser and creating the butt joint. The entire process of creating the masonry can therefore be carried out continuously and with savings in time and material.

Finally, one of the most important advantages is the maneuverability of using a mobile masonry system that is ready for use at any time and regardless of the weather. The construction of the masonry can therefore be planned and carried out on time. The device according to the invention thus eliminates any risk factor for deadlines and labor costs.

The invention is explained in more detail below with reference to the drawing

explained. They show:
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Fig. 1 schematically shows the sub-processes carried out with the invention, namely

Transport of the bricklaying robot units, unloading of the robot unit, Fig. Ic Installation of the laser and a track at the wall connection point,

Fig. Id Installation of the robot unit on the wall connection point with provision of the trolleys for the standard brick intermediate storage and the mortar storage containers,

Fig. Ie Loading the wagon with standard bricks, Fig. If Loading the wagon with the mortar supply, Fig. Ig Applying the bed joint,

Fig. la Fig. Ib Fig. Ic

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Setting up the standard stones,

Dismantling and removal of the bricklaying robots

ities,

the transport vehicle for the robot units

in side view and

in rear view,

the robot in gripper position,

Details of the robot,

the robot in working position,

Functions of the mortar container gripper,

Functions of the standard stone gripper and

Fig. 9 Applying the mortar

The individual figures la to Ii summarized in Fig. 1 show the partial processes from the arrival of a truck 1 to its departure after the construction of a masonry structure 13.

Fig. 2 and 3 show the truck 1 and the bricklaying robots 3 mounted on its loading area 2, with assembly accessories 14, such as tracks, material trolleys for standard bricks 5 and mortar 7, stored within easy reach.

1 Fig . lh Fig . Ii Fig . 2 S Fig . 3 Fig . 4 Fig . 5 Fig . 6 O Fig
with
7a . 7
Fig
- 7d Fig
with
8a . 8th
Fig
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Fig. 4 shows in detail a bricklaying robot 3 with base 3a, gripper devices 3b for mortar containers with mortar container gripper 16 and gripper devices 3c for standard bricks - with brick gripper 15 with a mortar storage container 6 as well as mortar containers 7 and a standard brick intermediate storage 4 on the wall connection point 8 in the gripper position.

Fig. 5 shows details of the bricklaying robot 3.

To clarify the operation of the bricklaying robot 3, it is shown in working position in Fig. 6.

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Fig. 7 illustrates the operation of the gripper device 3b for the mortar containers 7 with the gripper element 16.

Fig. 7a shows the approach of the mortar container gripper 16 to the mortar storage facility 6.

Fig. 7b shows the insertion of the mortar container gripper 16 into the mortar container 7.

Fig. 7c shows the transport of the mortar container 7 to the installation site.

Fig. 7d shows the placement of the mortar container 7 on the bed joint 9.

e

Fig. 8 shows the mode of operation of the stone grab 15 as | End element of the gripper device 3c. | Fig. 8a shows the broad side of the gripper 15 :

with sensors 15a I

a trigger groove 15b % _{

a trigger stamp with spring 15c &ggr;

a stone display 15d

a relaxation groove 15e

a tension spring 15f

a locking groove . 15g

a safety lever 15h

a safety lever rod 15i

a stamp 15k and

a spring compressor 151.

Fig. 8b shows the long side of the state of Fig. 8a.

Fig. 8c shows the gripping of the standard stone 5 with the stone gripper 15. The sensor 15a has sensed the standard stone 5, the gripper device 3d presses downwards. When the release groove 15b is at the height of the release stamp 15c, the latter is pressed into the release groove 15b by the spring and

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releases the relaxation groove 15e. This movement activates an electrical contact, which ends the downward movement of the gripper device 3c. When the relaxation groove 15e is released, the stone tongs 15d are pressed firmly onto the standard stone 5 by the tension spring 15f, whereupon the safety lever 15h engages in the safety groove 15g. The standard stone 5 is ready for transport.

Fig. 8d shows the setting down of the standard stone 5 on the bearing joint 9 and the release of the gripper device 3c from the stone. By pressing the standard stone 5 onto the bearing joint 9, the pressure stamp 15k is pushed upwards. This triggers a mechanism in the gripper device 3c, which presses the locking lever rod 15i and the spring tensioners 15e downwards. This moves the safety lever 15h out of the safety groove 15g and the system is reset to the state shown in Fig. 8a.

Fig. 9 shows the function of the mortar container 7 when applying the mortar.

The mortar flows out of the mortar container 7 through the outlet opening 7a onto the bed joint 9. A butt joint tamper 17, which is attached to the mortar container gripper 16, is moved vertically by pressure point release until the butt joint 10 is tamped. The horizontal movement of the mortar container 7 is interrupted by the control of the gripper device 3b at the distance of the butt joints 10 during the butt joint tamping.

It should also be expressly noted that any further features of the device, insofar as they have not been described above, can also be seen in detail from the drawing.

Claims (5)

PATENT ATTORNEY G. ZEITLER TELEPHONE: 089 /221806 P.O. BOX 26 02 51 TELEX: 523 535 zeit d HERRNSTRASSE15 D-8000 MUNICH 26 FAX: 089 /22 26 27 D-8000 MUNICH Dipl.-Ing. Helmut Kober Z/li 6 February 1987 Protection claims 10 1. Device for the fully automatic production of masonry from standard bricks and mortar or adhesive using a rotating masonry robot,
characterized in that the rotatable wall robot (3) is arranged on a base (3a) and has two gripper devices (3b, 3c) acting separately from one another. 2. Device according to claim 1, characterized in that the one gripper device (3b) is designed for removing mortar containers (7) from a mortar storage container (6) by means of a mortar container gripper (16) and for applying a bed joint (9) and a butt joint (10). 3. Device according to claim 1 or 2, characterized in that the other gripper device (3c) is designed for removing the standard bricks (5) from an intermediate brick storage facility (4) by means of a brick gripper (15) and for placing the standard bricks (5) in the masonry (13). 4. Device according to one of claims 1 to 3, characterized in that the bricklaying robot (3) has a control device (11) for automatically controlling the sub-processes of the continuous it 1··· 91· ··■ 11 IB ItItS* 3* · -2- 1 cient walls. 5. Device according to claim 4, characterized, 5 that a laser barrier (12) is built into the control device (11) to maintain the wall alignment.