EP0495525B1 - Device for and process of manufacturing wall pieces or wall boards from bricks - Google Patents

Abstract

The invention relates to a device and a process for manufacturing wall pieces or wall panels from bricks. The bricks are transported to the wall site in the sequence corresponding to the installation and are set down there on the uppermost brick course of the wall by a laying gripper. A stone saw, which can also carry out corner cuts, is provided. Each brick is preferably transported on a pallet, and the position of the pallets and the particular type of brick are managed by a central control system. The laying gripper is likewise subject to the central control system, so that the bricks are always set at a position corresponding to the building plan and tolerances in the dimensions of the bricks can be taken up by the mortar bed between the bricks. <IMAGE>

Description

The invention relates to a device and a method for producing wall pieces or wall panels from brick according to claims 1 and 21.

Such devices and corresponding methods are known for example from DE-OS 35 20 788 and DE-AS 21 49 561. According to the device described in DE-OS 35 20 788, a series of bricks is placed by hand in a turning table, where they are clamped between a stop bar and the clamping jaws of lifting cylinders and then placed on the last bricked position of the blackboard in a pivoting movement. It is disadvantageous that the brickwork is only partially automatic, since the stones have to be put in place by hand. A fully automatic creation of a wall, in particular the production of a wall under the control of a CAM program, is therefore not possible.

From DE-AS 21 49 561 a method for the automatic production of wall panels from bricks is known, in which the bricks are automatically fed with the aid of a gripper. They are removed from a brick stack by the gripper and placed on a belt, from which they are then transferred to another belt, where they are placed at a distance from one another. From a third volume, composite or special stones are fed in and used where there is a corresponding gap between the stones in the row. The device works with endless belts, so that it is not possible to turn a stone without removing it from the belt with the aid of a gripper and putting it back on again after rotation.

From DE-AS 22 33 209 a device for the mechanical production of belt elements is known, in which the stones to be processed are removed line by line from the stack with a gripper and placed on a receiving conveyor. This receiving conveyor is operated intermittently. From him with the help of a The rocker is placed on an intermediate conveyor from which they are moved under a mortar application device. There they are provided with a layer of mortar on their upper side and then gripped by another turning rocker, rotated by 90 °, and placed under a second mortar application device, where the second side of the stone lying on top after the rotation is provided with mortar. The stones then go into a sorting device, where they are pushed onto a table top with the help of pusher elements to form a row of stones. The stone row is finally picked up by another gripper and placed on a stacking platform, where the wall element is bricked up line by line. With this device it is also not possible to rotate a stone about its axis without a gripper gripping the stone from above, lifting it off the endless conveyor belt and, after rotation, putting it back on. However, such a procedure is time-consuming since the gripper is stationary and the conveyor belt must therefore be stopped during this turning process. If the conveyor belt continued to run, the stone would be set down again after lifting and turning, the order of the stones would have been changed.

The object of the invention is accordingly to provide a device for producing wall panels from bricks, which is suitable for fully automatic control using a control computer and in which a stone can be rotated about a vertical axis during its transport without the transport device being stopped must or the sequence of the stones on the transport route changes as a result of this process.

This object is achieved with a device which is designed according to the invention according to claim 1.

Further advantageous embodiments of the invention and a method corresponding to the mode of operation of this device are specified in the subclaims.

According to the invention, the bricks are placed on individual pallets and, on these pallets, are transported one after the other in an order corresponding to the installation, to the point at which they are inserted into the wall.

If a stone has to be rotated around a vertical axis so that it arrives at the wall in the correct orientation, only the pallet has to be rotated; it is therefore not necessary to lift the stone from the conveyor to be able to turn it. A major advantage of the pallet conveyor system for the individual stones is that the stones are moved independently of one another on the transport route and do not touch each other when they are stowed in the transport route. This prevents the stones, in particular stones cut at an angle, from colliding with one another and thereby being misoriented. According to a preferred development, the bricks are removed from the transport device by a displacement gripper which can be moved in the longitudinal direction of the wall and are automatically placed at a predetermined location on the wall panel. The displacement gripper is controlled with the servomotors, which in turn are controlled by the computer program. The computer program indicates to the gripper where the stone picked up by the gripper must be placed. The bricks are brought to the transfer gripper one after the other by a continuous conveyor, and the order of the bricks on the conveyor belt corresponds to their later positioning by the transfer gripper. In principle, however, it is also conceivable that the stones are deposited after their preparation by a first moving gripper, for example on a transport trolley, according to a specific scheme, this transport trolley is brought to the wall site and when the moving grippers are bricked up, the stones are removed from the carriage according to a scheme that corresponds to the storage on this car.

The invention is described and explained in more detail below on the basis of the exemplary embodiment illustrated in the figures.

Figur 1

einen schematischen Lageplan der einzelnen Elemente der erfindungsgemäßen Vorrichtung,

Figur 2

eine schematische, perspektivische Darstellung der gesamten Anlage,

Figur 3

zeigt die Anlage nach Figur 2 ausschnittweise aus einer anderen Perspektive,

Figur 4

die Versetzeinrichtung schematisch im Schnitt,

Figur 5

die Versetzeinrichtung in Draufsicht,

Figur 6

den Dreh-Wendegreifer, der in der erfindungsgemäßen Vorrichtung eingesetzt wird.

Figur 7

einen der Figur 1 entsprechenden Lageplan einer weiteren Ausführungsform

Figur 8

eine Seitenansicht einer Vorrichtung mit einer Hubvorrichtung für die ankommenden Steinpakete

Figur 9

eine alternative Ausführungsform mit einer unmittelbar bei dem hochgemauerten Element befindliche Säge;

Figur 10

eine Klemmvorrichtung für zu schneidende Steine,

Figur 11

eine Draufsicht auf die Vorrichtung nach Fig. 10,

Figur 12a u. 12b

eine Mörtelauftragsvorrichtung

Zur vollautomatischen Produktion von Wandtafeln, beispielsweise nach DIN 1053, wird der Architektenplan am CAD-Rechner im technischen Büro eingegeben und vom Programm automatisch elementiert. Die Geometriedaten der Ziegelwände werden elektronisch, beispielsweise über Diskette, Datenbus oder Computernetzwerk, auf den Leitrechnerteil des Steuerungsrechners der Mauerwerksmaschine in der Fertigungshalle übernommen und für die Wandproduktion aufbereitet. Die gesamte Anlage ist schematisch in den Figuren 1 und 2 dargestellt. Figur 1 zeigt in Draufsicht den Lageplan der einzelnen Einheiten, Figur 2 eine perspektivische Darstellung. Am einen Ende der Halle befindet sich die Steinaufbereitungsvorrichtung, von der in der richtigen Reihenfolge die Ziegel der Transportvorrichtung (10, 16, 15, 29) zugeführt werden, die die Ziegel zu dem Versetzgreifer 22 führt, der sie dem Plan entsprechend auf der zuletzt gemauerten Ziegelreihe absetzt. Die Steinaufbereitungsvorrichtung 42-44 und der Versetzroboter 22 arbeiten vorteilhafterweise stationär, die fertigen Mauern werden auf Stahlgestellen abtransportiert. Grundsätzlich ist aber auch möglich, die fertigen Mauern stehenzulassen und stattdessen ein fahrendes Versetzportal zu benutzen.Show it:

Figure 1

a schematic map of the individual elements of the device according to the invention,

Figure 2

a schematic, perspective view of the entire system,

Figure 3

2 shows a section of the plant according to FIG. 2 from a different perspective,

Figure 4

the displacement device schematically in section,

Figure 5

the transfer device in plan view,

Figure 6

the turning / turning gripper which is used in the device according to the invention.

Figure 7

one of Figure 1 corresponding location map of another embodiment

Figure 8

a side view of a device with a lifting device for the incoming stone packages

Figure 9

an alternative embodiment with a saw located directly at the brick element;

Figure 10

a clamping device for stones to be cut,

Figure 11

10 shows a plan view of the device according to FIG. 10,

Figure 12a u. 12b

a mortar applicator

For the fully automatic production of blackboards, for example according to DIN 1053, the architect's plan is entered on the CAD computer in the technical office and automatically elemented by the program. The geometric data of the brick walls are transferred electronically, for example via diskette, data bus or computer network, to the master computer part of the control computer of the masonry machine in the production hall and processed for wall production. The entire system is shown schematically in Figures 1 and 2. Figure 1 shows a top view of the site map of the individual units, Figure 2 a perspective view. At one end of the hall there is the stone processing device, from which the bricks are fed in the correct order to the transport device (10, 16, 15, 29), which leads the bricks to the transfer gripper 22, which according to the plan places them on the last brick Row of bricks. The stone preparation device 42-44 and the transfer robot 22 advantageously work stationary, the finished walls are removed on steel frames. In principle, however, it is also possible to leave the finished walls standing and use a moving moving portal instead.

In the stone preparation device on the entry side, the necessary building blocks are delivered sorted by type on large pallets 40 and placed on a roller conveyor. This is advantageously done directly from the truck so that the pallets only have to be manipulated once. The operator determines the assignment of the stone types to the roller conveyors via an input device and communicates this to the central computer.

After the placed stone pallet has been automatically moved to a defined place, it is centered there so that a gripper 17 can lift the stones in rows as required, possibly also rotate about a horizontal axis and place them on one of four unstacking places 42. This is done so that as many bricks as possible can be gripped at the same time. The number of bricks on the unstacking site and the respective type of stone is managed in the control computer and, if necessary, checked using a limit switch.

If stones with gripping holes are used, the gripping pliers 17 can be equipped with gripping mandrels which, under the control of an image recognition system, approach the gripping holes of one or more stones. Since the gripper is thereby able to remove individual stones from the incoming stone package, it can directly insert individual stones into the Transfer saw 19 or to pallet belt 10 or 15. With the image recognition system, the measurement of the stones is also made possible, so that a tolerance adjustment and a precise cutting of the fitting stones can take place.

The unstacking stations 42 are designed as bidirectional belts, so that the stones placed can be conveyed into a stone buffer in both directions. The direction of conveyance of these bidirectional belts is indicated by arrows in FIG. At this point, the stones are already differentiated according to whether they should be installed as whole stones or after cutting with a stone saw. From this stone buffer 43, the stones are now individually guided to the quarry control device 44. In this quarry control 44, the individual stone is stressed on a short piece of tape by means of a vibrator in such a way that opened parts are separated and scattered. Then the brick runs over two narrow chains, which support it at the edge so that broken and therefore too short parts fall through and trigger a signal. Fragments also trigger a signal so that a stone that could pass this conveyor line despite missing pieces can still be sorted out in good time. Alternatively, a weight measurement can also be carried out to sort out the stones. Another possibility is that the gripping pliers are provided with sensors which sense the shape of the stone, which sensors actuate a limit switch when a stone is gripped. When the stones are transferred to the quarry control device, they can be tilted by 90 °, for example with a tilting fork or with the aid of a gripper, so that they come into a more favorable or stable position for later manipulation.

The quarry control can be carried out with the help of an image recognition system that compares the target shape of the respective stone with the actual shape. The use of a vibrator can also be advantageous here.

Stones that are to be walled in as whole stones run to the left in the stone preparation plant according to FIG. 1. There they are lifted off the belt by a turning / turning gripper 117, rotated and / or turned by 90 ° or 180 ° as required and then placed in the position defined by the central control system on a pallet 36 of a suitable size, on which they can be loaded Transport device 10 are transported further.

Stones that need to be cut are conveyed to the right in the stone preparation device according to FIG. 1, a tilting device and a quarry control also being provided. At the end of the quarry control 44, the stones are placed on the inlet part of the stone saw 19 by a turning and turning gripper 217, which has a freely positionable vertical axis of rotation. The turning and turning gripper is also controlled by the central control system so that the stone is placed in the correct cutting position. This also makes bevel cuts of stones e.g. possible for roof gables.

The stone saw 19 is designed such that a vertical saw blade 19a, as in a table circular saw, protrudes from below through the longitudinal gap between two conveyor belts, and according to FIG. 3, a second circular saw blade 19b is arranged horizontally above it, so that both surfaces are in common Cut tangent. The unit with the two saw blades can be positioned in the vertical direction. Due to the construction of this saw, possible corner cuts, e.g. for radiator niches, can be carried out in one pass. In the saw, one of the transport tracks serves as a "waste belt", which transports every brick part, which after the cutting process is either placed in a residual warehouse for recycling, or which is placed in a waste container because it is unusable. The two conveyor tracks to the right and left of the vertical saw blade are driven by a common shaft and run over sliding plates to support the load to be able to accommodate by the stone weight and the clamping device. A second band is used to clamp the stones, which presses on the stones from above, thus preventing the stones from being pushed or tilted against the saw when counter-rotating.

The saw is dimensioned so that the greatest cutting height is equal to the maximum brick wall thickness (e.g. 400 mm) and the useful radius of the horizontal saw blade is equal to the greatest depth of cut for corner cuts (e.g. 250 mm). The vertical positioning range of the saw is larger than the maximum cutting height, so that the horizontal blade can still stand above the stone to be cut in other than corner cuts, i.e. it does not touch the stone.

The cooling and cleaning water is preferably provided in such a way that the vertical saw blade runs in a water tub and thus always transports enough water into the cutting area through its own movement. The water is cleaned by a pump and a filter system and fed to the horizontal saw blade by means of a hose.

The entire sawing system is preferably encapsulated for reasons of noise and dust. At the bottom, the water pan and the noise-insulating sheet metal cladding serve as encapsulation. The upper part of the encapsulation is designed as a bell, which can be lifted off easily and quickly to eliminate faults, for example to remove broken bricks, or for maintenance work. The entry and exit openings for the stones are covered with a strip curtain. Alternatively, the entire sawing system can be accommodated in a closed part of the hall or in a closed room.

During the sawing process, the stones must be clamped in a defined manner on the conveyor belt so that an exact cut is guaranteed with high cutting pressure. The clamping device consists of a synchronously running belt, which is pressed onto the stones from above, for example via a cylinder and a pressure plate.

If no corner cut is made, stones of the same cutting height can be guided through the saw at a short distance, so that continuous cutting operation and thus short cycle times are possible. In order to avoid a shift in the position of the stones when entering the clamping device, the infeed belt can be made vertically adjustable and is only raised when the new stone comes to lie completely under the clamping device. The stone is then transferred to the split cutting belt 33 in the clamped state. The cut stones are gripped in the stone transfer 8 by a first gripper 31 and placed on a pallet on the conveyor 16. With regard to the remaining stones, a distinction must be made as to whether they can still be used in the further sequence or not. Stones that are no longer usable are conveyed beyond the end of the waste belt 35 and fall into a waste container that can be moved automatically in order to ensure uniform filling and thus high storage capacity. Reusable residual stones are placed by a gripper 32 according to their classification on one of the storage tapes 34, where they are kept ready according to the LIFO principle. If a stone is placed at the beginning of the belt, the belt is moved forward by a cycle length that is larger than a brick width in order to be able to pick up the next stone. Special residual stones can also be kept on a grate using the pick-and-place principle. The reusable remnants are taken over by a manipulator controlled by a limit switch at the transfer point and stored at the predetermined location in the warehouse. The classification of the stone and its storage location are stored in the central computer so that it can be picked up again if necessary and either placed directly on a pallet for further transport or again via a feeder belt is led to the saw entrance so that it can be cut to its final shape.

Cut or split stones 53, which leave the sawing device and are required for masonry, run on the conveyor 16 to the switch 18. There they are transferred to the transport device 15 at a time which corresponds to the order of the stones determined by the central computer and thus to the intended one Position in the masonry corresponds.

The entire stone preparation plant can be used not only in connection with a semi or fully automatic masonry machine, but also for applications in which the building blocks are delivered to a construction site in packages according to an installation plan and are laid there by hand. In this case, a marking device for the stones can be provided at the exit of the stone processing or the stone saw or stone splitting device, e.g. an ink-jet device or ink-jet printer, with which each stone is provided with a marking corresponding to its site plan.

With the conveyors 10, 16 and the transport device 15, square pallets 36 of a suitable size, for example 600 × 600 mm, are moved on conveyor chains in two planes. The lower level is used to return empty pallets. Cut and uncut stones are brought into the correct production sequence on the switch (or the knot) 18 and the empty pallets are also divided as required between the two branches 10, 16. At the transfer station, where the stones are removed from the pallets and placed on the wall, the resulting empty pallets are folded away to the side and fed into the lower level. Feeding from the lower to the upper level for re-allocation takes place by means of lifting stations. If the displacement gripper 22 does not work at a constant height but is adjustable in height, the pallets are brought to the necessary height by means of a paternoster system.

Since large non-productive times can occur in the production process, it makes sense to provide a sufficient buffer section for the pallets 36 so that downtimes or bottleneck times of the stone processing plant can be compensated for.

The pallets 36 with the stones thereon are brought from the transport device 15 to the displacement gripper 22. The entire displacement device is shown in FIGS. 4 and 5. In a pit 50 there is a lifting portal 28 which carries a wall pallet 27. The brick wall is bricked up on the wall pallet. According to FIG. 4, there are two lifting portals in the pit 50. The lifting portal on the left-hand side is in its uppermost position, in which the masonry begins. In the right-hand part of the pit there is a wall 51 on the lifting portal. The stones 52 are lifted off the pallet conveyor 29 with the displacement gripper 22 and placed on the wall pallet 27 or the part of the wall 51 that has already been bricked up. While a row of stones is being laid, mortar is applied to the top of the stones and, if necessary, the vertical fingers between the stones with a mortar application device 23. The lifting portal 28 is then lowered by a stone height by means of the lifting spindles 26, so that the next row of stones can be placed with the displacement gripper 22. The displacement gripper 22 is suspended from the wall portal 21 and can be moved in the longitudinal direction and perpendicular to the wall. It can also be provided that the displacement gripper 22 can carry out a rotary movement about a vertical axis, and furthermore stones which have been tipped over with a tilting fork during the transfer into the quarry control device can be erected again with a turning / turning gripper. The finished walls 5 are moved up again with the lifting portal and then moved onto rails on the wall pallets 27 in a warehouse.

If there is no possibility of arranging the lifting portals in pits, the end point of the transport device, i.e. the part of the transport device on which the moving gripper with the delivered stones bricks up the wall panel, and also the moving gripper at a height of e.g. be arranged three meters, so that, just like before, the lifting portal is lowered accordingly with increasing wall height, so that the displacement gripper works constantly in the same plane.

The mortar used must set relatively quickly, so that the weight of the brick does not cause the mortar to be pushed out of the fingers of the lower rows of bricks. For this reason, the mortar is prepared using a mixing tube, so only as much mortar is mixed as is really required for a row of bricks. The feed to the mixing pipe is from the dry mortar silo with the help of compressed air and via a storage funnel to a screw-shaped mixing chamber, where the correct amount of water is added in a controlled manner.

An accelerated mortar can therefore be processed without any risk of drying out. The use of such a mortar prevents the mortar from being squeezed out of the fingers between the lower layers of stone by the weight of the later layer of stone, because an accelerated mortar is then so firm that it is no longer under the weight of the upper layers of stone is pushed out of the joint.

As an alternative to supplying the dry mortar by means of compressed air, provision can also be made for a dry mortar silo to be attached directly to the transfer device and to transfer the amount required per coulter to a small preliminary silo. The mortar is fed to the bricks using a mortar application pipe that mortars the horizontal bed joint immediately before the bricks are put on. If necessary, the mortar can be placed in the vertical butt joint between the stones of a layer be introduced. The mortar application pipe is attached to a slide that can be moved horizontally. Under the control of the central computer system, those holes are automatically left out when mortaring, where later anchor bolts have to be inserted into the wall according to the CAD program data. The hole detection is carried out using the CAD data and a path measuring device or a mechanical button. The mortaring of the vertical joints can either be done by hurling the abutting surface of the stone just in front, or the mortar is pressed into the joint in question by slot nozzles from both sides of the wall. The mortar used for the vertical joints is different from the mortar used for the horizontal fingers. The vertical joints are preferably closed with light mortar.

The offset gripper 22 is controlled by the central computer according to a CAM program. If the bricks are positioned so that the center of the brick is at a pre-calculated position, irregularities in the length and width dimensions of the bricks are automatically absorbed by the butt joint between adjacent bricks, i.e. the width of these butt joints varies according to the tolerances of the stones.

The displacement gripper 22 preferably works in such a way that it lifts two bricks from the pallets in a defined manner with a double gripper, pushes them together during the travel path and moves them into the desired position in the wall structure calculated by the central computer. This has the advantage that the length and thickness tolerances are compensated for after each stone and cannot add up. To carry out this method, the displacement gripper also has a horizontal axis with appropriate sensors. Furthermore, with this double gripper 25 window lintels (beams) prepared on the work platform can be gripped and moved automatically.

The productivity of the displacement gripper and the avoidance of downtimes can be improved by providing a buffer belt for the stones at the work location of the displacement gripper, from which the displacement gripper can also remove stones.

The longitudinal reinforcement of the wall, which is required by DIN standards, can be automatically placed in the mortar bed using a magazine, which is located on the horizontal axis of the displacement grab, before the bricks are pressed in.

FIG. 6 shows the row gripper 17, which picks up the rows of stones from the incoming stone packages. The offset gripper 22 is constructed similarly, its basic structure is also shown in Figure 6. A carriage 61 runs on a rail 6 running parallel to the wall, on which the gripping tongs 63 are suspended from a rod 62. The gripping pliers 63 are provided on the inside with turntables 64 so that the stone can still be pivoted in the clamped state. The gripper itself sits on the rod 62 via a pivot bearing 65 so that it can be rotated vertically. The rod 62 can in turn be raised and lowered so that the stones can be raised and lowered.

According to FIG. 4, two lifting portals 28 for the wall pallets 27 are arranged in the pit 50. The lifting spindles 26 are held in the spindle suspension 24. A work platform 25 for manual work is located between the two spindle suspensions 24. Such manual work is, for example, the aforementioned insertion of the support anchors or, for example, the installation of ceiling insulation on corona stones. This manual work takes a lot of time compared to the relocation process. For these reasons, the work platform is designed so that the worker can carry out the work while the transfer robot is already lifting the next wall. This is achieved in that the wall portal 21 of the Relocation robot between two positions, namely the two positions of the lifting portals in the pit 50, can be moved. The work platform 25 is provided with a hand crane and the necessary storage space and arranged on the side of the wall facing away from the transfer robot and in the level of the hall floor, so that the worker can easily load it with materials and walk on it himself. As soon as the gripper stops working to enable manual work, the worker can access the wall and use a lintel, for example. At the same time, it is possible for him to work on the last completed wall on the other side of the stage, for example using anchors, finishing the ceiling wall, cleaning, etc. The last worked wall is lifted up out of the pit on this other side and then in the direction transverse to the wall axis to be moved slowly during the dry season. The hand crane on the work platform relieves the worker of heavy lifting work, for example for falls, and he receives the necessary mortar via another mortar mixing pipe. If necessary, this stage can also be equipped with a small stone saw to enable the cutting of special stones on site.
In an extension, an automatically controlled stone milling machine can also be provided, with which slots are milled into the wall, for example for an electrical installation.

Since the grippers with which the stones are manipulated and moved, as well as the stone saw, the switch for inserting the stones, the moving gripper and the mortar supply device are all controlled by a central computer system, it is possible to determine the position and orientation of the stones automatically track on the pallet conveyor and determine where the last stone to be placed must be placed. Stones that are cut are automatically fed to the saw, placed in the correct position on the pallet by the corresponding grippers and then fed to the transfer gripper. Due to the automatic data acquisition, it is easy Predetermine whether residual stones from the stone saw can still be used to build a wall panel so that waste is reduced. Because all the grippers can be controlled, it is not necessary for the displacement gripper to be equipped with optical position detection for the bricks to be bricked up by it.

According to a further preferred embodiment of the invention, according to FIGS. 7 and 8, there is a largely automatically configured stone packet feeder in front of the stone processing system 42, 44. It has dust belts 201-204, each of which is provided with an upper and a lower level for the pallet supply and removal. On the upper level, the full stone packages are conveyed on the pallets 40, and the stack of stones is deposited by the dust belts 201-204 on a lifting device 205, which is equipped with a chain conveyor 206. This lifting device, for example a forklift, itself also has a chain conveyor for taking over the stone package. With the lifting device, the stack is brought up into a removal position, where the gripper 17 works. At the removal position there is a centering device 210 which compresses the stone package from four sides in order to achieve a defined gripping position. After the stones have been removed, the lifting device moves all the way down, where the empty pallet 40 is placed in the pallet backflow. The gripping tongs of the row gripper 17 can be rotated about a vertical axis so that any orientation of the incoming stone package can be taken into account.

In this embodiment, the stones are then separated in the following manner: the gripper 17 places it on one of the buffer belts 43, depending on whether the respective stone is to be cut or not, each belt conveying only in one direction. Each of these bands 43 is at least twice as long as the individual row of stones of the incoming stone package, so that the stones are separated at one end of the row of stones can, while a new row is deposited at the other end of the gripper 17. At the end of the belt, the separation is carried out with the grippers 117 or on the side of the stone saw with the gripper 217. At the first cycle of the gripper 17, a stone layer is set down, then the belt 43 travels a stone row length.

In the embodiment of the invention shown in FIG. 7, the stone saw is not designed as a continuous saw, as in the first embodiment, but instead has a rotary table 133 with four positions, to which a further gripper 132 is assigned. In a first step, the gripper 217 picks up a stone from the buffer belt 43 and places it on the rotary table 133 and clamps it there. If bevel cuts are to be made on the stone, the stone is placed at an angle with the turning / reversing gripper 217. Then the turntable 133 is rotated so that the stone comes into the cutting position. The saw 19 is designed such that the cuts of the vertical saw blade 19a and the horizontal saw blade 19b can touch tangentially, so that corner cuts are also possible in this way. If a corner cut is not required, the horizontal saw blade 19b goes out of the tangential contact position into a parking position. Both saw blades can be moved horizontally and vertically. The two saw blades are located on a carriage 130, so that they can be moved relative to the stone clamped on the rotary table. To cut the stone, the saw moves back and forth from its rest position, then the stone is moved from the saw position to the removal position by turning the turntable. The residual stone is either thrown away or placed on a residual stone buffer 34, which is equipped with residual stone management via data processing. This residual stone buffer can be designed as a "pick and place" tray, as a conveyor belt or preferably also as a rotary table (turret table) 134. After the residual stone has been removed, the turntable 133 is rotated further so that the cut useful stone 53 with the gripper 31 onto the belt 16 can be filed. The advantage of this rotary saw table is that if one pass through the saw is not sufficient to cut the stone to the desired shape, the stone can be re-clamped so that it is prepared for the second cut and then through again the saw runs.
The warehouse or the buffer for the cut stones and the residual stones from the saw 19 cut stones and the associated EDP recording and management of the inventory has the considerable advantage that the use of prefabricated half or quarter stones can be dispensed with because the saw 19 is able to cut stones continuously. However, since the need for cut stones is discontinuous, the total need for cut stones can be covered by the saw. This saves the storage of prefabricated half, quarter and corner stones.

As already mentioned, the storage of the residual stones is provided with a computer-controlled residual stone management. A program calculates the stone requirement in advance and checks whether the remaining stone is needed within a certain period of time, for example in the next three hours. If so, it is positioned accordingly and the position is stored in the data processing. If the residual stone is no longer required for bricking within a certain period of time, or if there is currently no storage space available, it will be given to the waste conveyor.

The displacement gripper 22, with which the stones are picked up from the end of the conveyor belt 29 and placed on the wall 51 to be walled up, is preferably provided with an approach or contact monitor or switch. In this way, when lowering onto the stone, the displacement gripper can determine where the top edge of the respective stone is. He then places the stone on the mortar bed on the wall 51 so that the upper edge is in the pre-calculated position. In this way, tolerances in the height of the stones can be compensated for by the mortar bed.

A mortar is used that is so tough that the individual stone cannot sink under its own weight.

In the masonry robot shown so far, the shortage of the stones on the wall to be walled up is the bottleneck. The cycle time for moving the incoming stones can be doubled by using two moving grippers, whereby these two grippers can also be controlled independently of one another. Due to this independent control, length and height tolerances that the delivered stones have can be compensated. With two offset grippers, window beams, i.e. longer concrete beams, captured and used.

In the embodiment shown in FIG. 6, the walls on lifting portals 21 were lowered into a pit 50 when the walls were being built up. Instead, however, it is also possible, according to FIG. 8, to arrange the displacement gripper 22 and the end of the transport device 29, so to speak, "on the first floor", so that when lifting the walls, the lifting portals are gradually lowered from the upper position to the ground level position until the wall element is done. This is advantageous with regard to the further transport of the wall elements.

If perforated bricks are used instead of normal bricks, which are provided with a hole in the middle into which a displacement gripper 322 can be inserted by means of a lifting tool, the separation of the stones on pallets can be dispensed with because the individual stone comes from above a surface arrangement of stones can be picked out. In this case it is also possible to arrange the cutting device for the stones, ie the stone saw, in the vicinity of the displacement gripper 322, so that the pallet conveyor belt can be dispensed with entirely. Such a device is shown in plan view in FIG. The arriving stone packages, in which the stones are all oriented so that the holes face upwards, are from the stone pick-up on pallets. The displacement gripper 322 moves its gripping element into the hole from above, grips the stone and then sets it down at the predicted position on the wall 51. If a stone is to be cut, it is placed from the stone stack on a left-right sliding table 325 and clamped in a clamping device 326. It is then moved into the saw 19 with the sliding table, and the horizontal and vertical saw blades 19b and 19a then move out of their parking position and cut the stone at the predetermined locations. The stone is then brought out of the saw again with the left-right sliding table 325, picked up by the hole gripper 322 and placed on the wall. The saw with the clamping device 326 for the stone 52 is shown schematically in a side view in FIG. 10 and a top view in FIG. 11. The clamping device is equipped with clamping levers 327, which can be actuated pneumatically. Piston-cylinder devices that grip the stone 52 from the sides can also be used.

According to a special embodiment of the invention shown in FIGS. 12a and 12b, the mortar application device 23 has two hoses 231, 232, through which the mortar is applied to the brick wall from above. The hoses can be compressed or stretched in the transverse direction so that the mortar width is adapted to the wall depth or wall thickness; This is done, for example, with positioning cylinders that are equipped with a path measurement. In FIG. 12a, the solid lines show a position of the tubes 231, 232 in which their lower ends are separated from one another by a distance d. Figure 12b is a section along the line AA 'in Figure 12a. A second position of the hoses is indicated by dashed lines in FIG. 12a. If the hoses touch in the middle, the mortar is applied to the entire row of bricks from above. The hoses are moved with a sledge over the entire longitudinal direction of the wall, so that all stones are provided with mortar on their top. By Changing the center distance of the hoses leaves a gap free of mortar, so that if necessary, gripping holes in the bricks are left out of the mortar. During the process over the row of stones, the cross-sectional shape of the hoses can be changed under computer control, so that it is possible to coat each stone on the top row of the wall individually with mortar. If the hose walls are pressed together, the mortar nozzle remains closed. The level of mortar in the rubber hoses is monitored by a level monitor, which controls the supply of mortar.

Claims (26)

1. Device for producing portions of wall or wall panels from bricks, having a transporting device (15, 29) by means of which the bricks are transported to the building point in a sequence which corresponds to their incorporation in the wall,
   characterized in that
   the transporting device has a continuously operating conveyor with individual pallets (36) for receiving and isolating bricks.
2. Device according to Claim 1,
   characterized in that
   the transporting device (15, 29) has a switch point (18) via which bricks are supplied to the transporting device by two or more conveyors (10, 16) disposed on the supply side.
3. Device according to one of Claims 1 or 2,
   characterized in that
   a brick preparation device (20) for buffering and/or isolating the bricks is provided, which has a transporting track (1, 201-204) for in-coming packs of bricks, one or more displaceable sets of gripping tongs and at least one rotatable set of gripping tongs (17, 117, 217) and one or more isolating stations with belts (42-44).
4. Device according to one of Claims 1 to 3,
   characterized in that
   the brick preparation device (20) contains an image detecting system for detecting the dimensions and shape of the bricks, or the deviation of the ideal shape of the bricks from their actual shape.
5. Device according to Claim 4,
   characterized in that
   the set of gripping tongs (17, 117, 217) is provided with sensors for scanning, or an image detecting system for measuring the bricks, and transmits signals by means of limit switches to a central control device in which a comparison with stored ideal values is carried out.
6. Device according to one of Claims 1 to 5,
   characterized in that
   a brick fragmentation checking device (44) is provided which has a vibrator and a brick measuring device disposed downstream of the vibrator, or a fragment detecting device.
7. Device according to one of Claims 1 to 6,
   characterized in that
   at least one controllable rotary turning gripper (117, 217) is provided for transferring bricks from the transporting track (1, 201-204) of the brick preparation device (20) to pallets (36) on the conveyor (10, 16).
8. Device according to one of Claims 1, or 3 to 7,
   characterized in that
   the rotary turning gripper (17) is equipped with gripping prongs for gripping perforated stones or bricks and with an image detecting system for locating the gripping holes.
9. Device according to one of Claims 1 to 8,
   characterized in that
   a controllable sawing or splitting device (19) is present for dividing the bricks.
10. Device according to Claim 9,
    characterized in that
    a rotary turning gripper (217) is provided on the supply side of the sawing or splitting device (19)
11. Device according to Claim 8,
    characterized in that
    the brick sawing or brick splitting device (19) has an arrangement for horizontally dividing, and an arrangement for vertically dividing a brick.
12. Device according to one of Claims 8 to 10,
    characterized in that
    the brick saw (19) has two circular saw blades (19a, 19b) disposed at an angle, and particularly an angle of 90°, to one another.
13. Device according to one of Claims 8 to 12,
    characterized in that
    the brick saw (19) has two belts located one above the other, between which the bricks to be cut are held and by means of which they are conducted through the saw.
14. Device according to one of Claim 8 to 13,
    characterized in that
    the brick saw has a number of stations which are connected by a rotary table (133) and can be traversed cyclically by the brick to be cut, the said brick being clamped fast by means of a clamping device disposed on the rotary table.
15. Device according to one of Claims 1 to 14,
    characterized in that
    a transposing arrangement (13), by means of which the bricks are positioned at the particular planned point on the wall panel (51), and a mortar-applying device (23) for applying mortar to the brick inlays and into the joints between the bricks, are provided, the said transposing arrangement having a transposing gripper (22, 322) which can be controlled by means of adjusting motors and displaced in the longitudinal direction of the wall.
16. Device according to Claim 15,
    characterized in that
    the transposing arrangement (13), the transposing gripper (22, 322), the transporting device (15, 29), the switch point (18), the brick saw (19), the controllable rotary turning gripper (17) and the lifting gantry (28) are connected by means of a programmable control system.
17. Device according to Claims 8 to 16,
    characterized in that
    a depot or buffering store (34) for cut bricks and/or remnants of cut bricks is provided.
18. Device according to one of Claims 1 to 17,
    characterized in that
    a working platform (25) is disposed on that side of the transposing gripper (22, 322) which faces away from the transporting belt (29), and between the positions of the wall (51) to be erected and of the wall (55) last completed.
19. Device according to one of Claims 1 to 18,
    characterized in that
    one or more of the transporting devices (10, 15, 16, 29) are constructed as buffering belts.
20. Device according to one of Claims 1 to 19,
    characterized in that
    the mortar-applying device (23) has a carriage (230) which can be displaced in the longitudinal direction of the wall and on which two hoses (231,232) made of elastic material and leading downwards are adjacently disposed in such a way that a gap having the same width as the desired thickness of mortar is formed between the lower edge of the said hoses and the uppermost layer of bricks in the wall (51), and that the two rubber hoses are acted upon by positioning cylinders (233, 234) by means of which the cross-sectional area of the hoses (231, 232) can be varied at their lower end, mortar being introduced into the hoses (231, 232) up to a specific filling level, either continuously or at a defined filling station.
21. Method of producing portions of wall or wall panels from bricks,
    characterized in that
    each brick (52, 53) is set down on its own on a pallet (36) in a way that corresponds to its subsequent incorporation and such that the pallets (36) are deposited, in the manner corresponding to the sequence of incorporation of the bricks (52, 53), on a continuous conveying device and are transported by the latter to a building gantry (28) where they are picked up and brought to a precalculated position by means of a computer-controlled transposing gripper (22, 322), which can be displaced in the longitudinal direction of the wall.
22. Method according to Claims 20 or 21,
    characterized in that
    transposing gripper (22, 322) provided with an arrangement for gripping perforated bricks removes perforated bricks from in-coming packs of bricks and, under the control of a central control system, positions the bricks on a pallet (36) and/or directly in preset positions on the wall, if necessary first positioning a brick in an adjacently disposed brick saw (19), only to remove it again after the dressing operation and position it on a pallet (36) or directly in a predetermined position on the wall.
23. Method according to Claim 21 or 22,
    characterized in that
    two bricks located side by side are gripped and built onto the wall by means of the transposing gripper (22, 322).
24. Method according to Claims 21 to 23,
    characterized in that
    cut bricks and/or remnants thereof are deposited in a brick store (34; 134) from which, according to requirements, they are supplied to the transporting device (16, 15) or to the saw (19) again or are positioned directly in the wall (51).
25. Method according to one of Claims 21 to 24,
    characterized in that
    the bricks are, in each case, pressed, by a transposing gripper (22, 322) which can be controlled by means of adjusting motors and displaced in the longitudinal direction of the wall, into the previously applied mortar to the point where possible tolerances in the stone are absorbed by the depth of penetration of the brick into the mortar and the upper edge of the brick is located in the planned ideal position.
26. Method according to one of Claims 21 to 25,
    characterized in that
    the wall is erected on a building pallet (27) carried by a lifting gantry (28), which is lowered, after the laying of a row of bricks in each case, by an amount of travel corresponding to the height of the bricks.

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