CN110094074B

CN110094074B - Wall body masonry robot system

Info

Publication number: CN110094074B
Application number: CN201910483470.0A
Authority: CN
Inventors: 沈洋
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-06-04
Filing date: 2019-06-04
Publication date: 2024-04-26
Anticipated expiration: 2039-06-04
Also published as: CN110094074A

Abstract

The invention belongs to the technical field of building machinery, and discloses a wall masonry robot system, which comprises a wall building mechanical claw and a vertical brick supply device; the wall building mechanical claw comprises a movable base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism; the vertical brick feeding device comprises a base, wherein a block lifting mechanism is arranged on the base, block placing boxes are symmetrically arranged on two sides of the block lifting mechanism, and the bottom of the block lifting mechanism is connected with a block rotating mechanism; one side of the base, which is close to the block lifting mechanism, is provided with a block placing support, the top of the block placing support is provided with a block placing platform, and the block placing platform is provided with a block positioning baffle and a block pulling and holding mechanism. The wall building robot system sends building blocks to a designated position through a vertical brick supply device so as to ensure the clamping of a wall building mechanical claw; after the building blocks are clamped by the wall building mechanical claws, the wall is built through the cooperation of the mechanical arms and the basic clamping units, so that the labor can be effectively replaced, and the wall building efficiency is improved.

Description

Wall body masonry robot system

Technical Field

The invention belongs to the technical field of building machinery, and particularly relates to a wall masonry robot system.

Background

The construction industry is the pillar industry of national economy, and along with the development of commercialization of the construction, the construction progress is quickened, the engineering period is shortened, the investment benefit is improved, and the construction industry becomes a central link of the commercialization of the construction.

The masonry structure is a large and wide structural form in China, and is suitable for various civil buildings such as houses, schools and hospitals. At present, the wall body of the house is mostly built by red bricks or cement bricks in a certain piling mode by manual operation, and the manual wall building has the advantages of low efficiency, high cost, high labor intensity and severe working environment.

Therefore, the building construction industry has an urgent need for a robot that can replace manual construction work.

Disclosure of Invention

The present invention is directed to a wall masonry robot system that overcomes one or more of the problems set forth above.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

A wall masonry robot system comprises a wall masonry mechanical claw and a vertical brick supply device; the wall building mechanical claw comprises a movable base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is arranged on the movable base, the masonry grasping mechanism comprises a grasping bracket rotationally connected with the mechanical arm, a mounting plate is fixedly arranged at the bottom of the grasping bracket, a basic clamping unit is arranged on the mounting plate, and the basic clamping unit is connected with a rotating mechanism which enables the basic clamping unit to rotate around the axis of the basic clamping unit; the mortar laying mechanism comprises a mortar hopper and a mortar laying head, the mortar hopper is arranged on the movable base, the mortar laying head is arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the vertical brick feeding device comprises a base, wherein a block lifting mechanism is arranged on the base, block placing boxes capable of lifting along with the block lifting mechanism are symmetrically arranged on two sides of the block lifting mechanism, and the bottom of the block lifting mechanism is connected with a rotating mechanism which enables the block lifting mechanism to rotate around the axis of the block lifting mechanism; the building block lifting mechanism is characterized in that a building block placing support is arranged on one side, close to the building block lifting mechanism, of the base, a building block placing platform is arranged at the top of the building block placing support, and a building block positioning baffle and a building block pulling and holding mechanism are arranged on the building block placing platform.

Further, the basic clamping unit comprises a clamp base and a first screw rod sliding table arranged on one side of the clamp base, the bottom of the first screw rod sliding table is fixedly connected to the mounting plate, a sliding block is arranged in the middle of the first screw rod sliding table, and the sliding block is connected with the output end of the grabbing motor through a first screw rod; one end of the top of the holder base is provided with a gear base, the other end of the top of the holder base is provided with a gear seat, the gear base is provided with a slide plate gear, and the gear seat is provided with a front end gear; a center shaft rod extending towards the direction of the slide plate gear is arranged at the axis of the front end gear, a first track wheel and a second track wheel are sleeved on the center shaft rod at intervals, the first track wheel is in meshed connection with the slide plate gear through a first rack plate, the second track wheel penetrates through the first track wheel through a second rack plate and is in meshed connection with the slide plate gear, and the first rack plate and the second rack plate are positioned on two sides of the slide plate gear; one end, far away from the second rail wheel, of the second rack plate is connected with the sliding block in a clamping way; a first clamping rod and a second clamping rod are symmetrically arranged on two sides of the front end gear, which are positioned at the central axis of the front end gear, and the front end gear is respectively connected with the first clamping rod and the second clamping rod in a sliding manner; one end of the first clamping rod bypasses the second rail wheel to be connected with the first rail wheel in a sliding way, and the other end of the first clamping rod is fixedly provided with a first clamping plate; one end of the second clamping rod is in sliding connection with the second track wheel, and a second clamping plate is fixedly arranged at the other end of the second clamping rod; the bottom of holder base is provided with the holder footing, holder footing with adorn admittedly in slide rail sliding connection on the mounting panel.

Further, the rotating mechanism comprises a rotating motor frame fixedly arranged on the mounting plate, a rotating motor is fixedly arranged on the rotating motor frame, and the output end of the rotating motor is meshed and connected with the front end gear of the basic clamping unit through a transmission mechanism.

Further, a plurality of basic clamping units are arranged on the mounting plate side by side.

Further, the device also comprises a translation mechanism for controlling the translation of each basic clamping unit, wherein the translation mechanism comprises a translation transmission rod and a translation limit rod which are arranged along the direction perpendicular to the axis of the basic clamping unit, two ends of the translation transmission rod are movably connected with the grabbing bracket, and two ends of the translation limit rod are fixedly connected with the grabbing bracket; the translational transmission rod is connected with the output end of the translational motor through a second screw rod sliding table, the position, corresponding to each basic clamping unit, on the translational transmission rod is connected with the basic clamping unit through a translational connecting piece, each translational connecting piece is connected with the translational limiting rod in a sleeved mode, and limiting sleeves are respectively arranged on two sides, located on each translational connecting piece, of the translational limiting rod; all the translational connecting pieces are fixedly connected with the corresponding basic clamping units, one translational connecting piece is fixedly connected with the translational transmission rod, the other translational connecting pieces are sleeved with the translational transmission rod, and compression springs are arranged between two adjacent translational connecting pieces on the translational transmission rod.

Further, a gripping mechanism translation table is arranged at one end, connected with the masonry gripping mechanism, of the mechanical arm, a gripping mechanism translation slide bar is arranged on the gripping mechanism translation table, and the gripping bracket is in sliding connection with the gripping mechanism translation slide bar; the gripping mechanism translation table is also provided with a gripping mechanism translation control motor, and the output end of the gripping mechanism translation control motor is connected with the gripping bracket.

Further, a mortar laying head translation table is arranged on the mounting plate, a mortar laying head translation sliding rod is arranged on the mortar laying head translation table, a mortar laying head support is sleeved on the mortar laying head translation sliding rod, the mortar laying head support is connected with an output end of a mortar laying head translation motor for controlling the mortar laying head support to slide on the mortar laying head translation sliding rod, a lifting sliding rail is arranged on the mortar laying head support, and the mortar laying head is connected with the output end of the mortar laying head lifting control motor in a sliding manner through an L-shaped sliding block.

Further, the mortar laying head is further connected with a mortar laying head pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit, the mortar laying head pulling and holding mechanism comprises a mortar laying head longitudinal sliding table which is arranged on the mortar laying head support and is perpendicular to the mortar laying head translation table, a mortar laying head longitudinal sliding bar is arranged on the mortar laying head longitudinal sliding table, a longitudinal pulling and holding sliding block is arranged on the mortar laying head longitudinal sliding bar, and the longitudinal pulling and holding sliding block is connected with the output end of a mortar laying head longitudinal sliding control motor which is arranged on the side part of the mortar laying head longitudinal sliding table; the bottom of the lifting slide rail is hinged with the mortar laying head support, and one side, deviating from the mortar laying head, of the top of the lifting slide rail is connected with the longitudinal pulling sliding block through a connecting rod.

Further, two sides of the bottom of the mortar laying head are provided with mortar laying baffles.

Further, the block lifting mechanism comprises a main control motor arranged on the base, and a lifting track upright base is arranged at the periphery of the main control motor; a plurality of lifting track vertical rods are vertically arranged on the lifting track vertical rod base, wherein every two lifting track vertical rods are in a group, each group of lifting track vertical rods is provided with a block placement box back plate sliding block in a sliding manner, one side, away from the lifting track vertical rods, of the block placement box back plate sliding block is provided with a block placement box back plate, and the block placement boxes are fixedly arranged on the block placement box back plate at intervals; the top ends of all the lifting track vertical rods are fixedly connected with the track vertical rod limiting plates; the top of main control motor is fixed and is provided with two central slip table tracks, two central slip table orbital top with track pole setting limiting plate swivelling joint, two sliding connection has central promotion slip table on the central slip table track, be provided with the third lead screw on the central promotion slip table, the third lead screw is located two between the central slip table track, the bottom of central promotion slip table sets up the promotion slider, the promotion slider with two central slip table track swivelling joint passes through the third lead screw with main control motor's output is connected, the promotion slider with the bottom that the box backplate slider was placed to the building block is connected.

Further, a limiting block is arranged on the upper portion of the central sliding table track.

Further, the rotating mechanism comprises a rotating base bearing arranged on the base, and the building block lifting mechanism is arranged on the rotating base bearing; the rotary base bearing is provided with a rotary gear disc on the outer edge of the block lifting mechanism, and the rotary gear disc is meshed with the output end of the rotary motor.

Further, the block pulling and holding mechanism comprises a block pull rod sliding table arranged on the bottom surface of the block placing platform, a horizontal guide rail is arranged on the block pull rod sliding table, a pull rod frame base sliding block is arranged on the horizontal guide rail, and the pull rod frame base sliding block is connected with the output end of a pull rod control motor through a fourth screw rod; the top of pull rod frame base slider is provided with the pull rod frame, be located on the pull rod frame the one side of building block elevating system is provided with a plurality of L type building block pull rod.

Further, each L-shaped block pull rod comprises a block pull rod main body and a block pull rod baffle; one end of the block pull rod main body is fixedly connected with the pull rod frame, and the other end of the block pull rod main body is hinged with the block pull rod baffle; a hinging seat is arranged at a position, close to the middle part, of the block pull rod baffle, and the block pull rod baffle is hinged with the block pull rod main body through the hinging seat; the middle part of the top surface of the block pull rod main body is hinged with a block pull rod buffer device, and the other end of the block pull rod buffer device is hinged with the top end of the block pull rod baffle plate.

Further, a strip-shaped opening is formed in the block placement box at a position corresponding to each L-shaped block pull rod.

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects or advantages:

according to the wall masonry robot system, each block can be accurately sent to a designated position through the vertical brick feeding device, so that the wall masonry mechanical claws can be ensured to clamp smoothly, and the clamping time of the blocks is greatly saved; after the building blocks are clamped by the wall building mechanical claw, the wall building mechanical claw can not only build the wall body in a large space through the cooperation of the mechanical arm and the basic clamping unit, but also build the wall body in a limited space position which is close to the wall roof indoors, so that labor-heavy physical strength is thoroughly liberated, and the wall building efficiency is improved.

Specific embodiments of the invention are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not limited in scope thereby. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of a construction of a wall-building gripper according to an embodiment of the present invention;

FIG. 3 is a schematic view of a masonry gripping mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic view of the basic clamping unit in an embodiment of the present invention;

fig. 5 is a schematic structural view of a rotating mechanism and a translating mechanism in an embodiment of the present invention.

FIG. 6 is a schematic view of a structure of a neutral brick feeder according to an embodiment of the present invention;

fig. 7 is a schematic view of a block pulling mechanism in accordance with an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected 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, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the embodiments of the present invention, it should be noted that, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship conventionally put in use of the product of the present invention as understood by those skilled in the art, merely for convenience of describing the present invention and simplifying the description, and is not indicative or implying that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for understanding as indicating or implying a relative importance.

In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate medium. It will be apparent to those skilled in the art that the foregoing terms are used in the specific meaning of the embodiments of the present invention and that the technical solutions of the embodiments of the present invention will be clearly and fully described, and that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

As shown in fig. 1 to 7, an embodiment of the present invention provides a wall masonry robot system, including a wall-building gripper and a vertical brick-feeding device 500; the wall building mechanical claw comprises a movable base 100, a mechanical arm 200, a masonry gripping mechanism 300 and a mortar laying mechanism, wherein the mechanical arm 200 is arranged on the movable base 100, the masonry gripping mechanism 300 comprises a gripping bracket 301 rotatably connected with the mechanical arm 200, a mounting plate 302 is fixedly arranged at the bottom of the gripping bracket 301, a basic clamping unit is arranged on the mounting plate 302, and the basic clamping unit is connected with a rotating mechanism which enables the basic clamping unit to rotate around the axis of the basic clamping unit; the mortar laying mechanism comprises a mortar bucket 401 and a mortar laying head 403, wherein the mortar bucket 401 is arranged on the movable base 100, the mortar laying head 403 is arranged at the upper position of the basic clamping unit, and the mortar bucket 401 is connected with the mortar laying head 403 through a conveying pipeline 402; the vertical brick feeding device comprises a base 501, wherein a block lifting mechanism is arranged on the base 501, block placing boxes 502 which can lift along with the block lifting mechanism are symmetrically arranged on two sides of the lifting mechanism, and the bottom of the block lifting mechanism is connected with a block rotating mechanism which enables the block lifting mechanism to rotate around the axis of the block rotating mechanism; a block placing bracket 503 is arranged on one side of the base 1, which is close to the block lifting mechanism, a block placing platform 504 is arranged at the top of the block placing bracket 503, and a block positioning baffle 505 and a block pulling and holding mechanism are arranged on the block placing platform 504.

The basic clamping unit in the embodiment of the invention comprises a clamp base 303 and a first screw rod sliding table 304 arranged on one side of the clamp base 303, wherein the bottom of the first screw rod sliding table 304 is fixedly connected to a mounting plate 302, a sliding block 305 is arranged in the middle of the first screw rod sliding table 304, and the sliding block 305 is connected with the output end of a clamping motor 307 through a first screw rod 306; one end of the top of the holder base 303 is provided with a gear base 308, the other end is provided with a gear seat 309, the gear base 308 is provided with a slide plate gear 310, and the gear seat 309 is provided with a front end gear 311; a center shaft rod 312 extending towards the direction of the slide plate gear 310 is arranged at the axis of the front end gear 311, a first track wheel 313 and a second track wheel 314 are sleeved on the center shaft rod 312 at intervals, the first track wheel 313 is meshed with the slide plate gear 310 through a first rack plate 315, the second track wheel 314 penetrates through the first track wheel 313 through a second rack plate 316 and is meshed with the slide plate gear 310, and the first rack plate 315 and the second rack plate 316 are positioned on two sides of the slide plate gear 310; one end of the second rack plate 316, which is far away from the second rail wheel 314, is connected with the sliding block 305 in a clamping way; the front end gear 311 is symmetrically provided with a first clamping rod 317 and a second clamping rod 318 on two sides of the central axis thereof, and the front end gear 311 is simultaneously connected with the first clamping rod 317 and the second clamping rod 318 in a sliding manner; one end of the first clamping rod 317 bypasses the second rail wheel 314 to be connected with the first rail wheel 313 in a sliding way, and the other end of the first clamping rod 317 is fixedly provided with a first clamping plate 319; one end of the second clamping rod 318 is slidably connected with the second rail wheel 314, and the other end of the second clamping rod is fixedly provided with a second clamping plate 320; the bottom of the holder base 303 is provided with holder feet 321, and the holder feet 321 are slidably connected with slide rails 322 fixedly mounted on the mounting plate 302.

The rotating mechanism in the embodiment of the invention comprises a rotating motor frame 323 fixedly arranged on the mounting plate 302, a rotating motor 324 is fixedly arranged on the rotating motor frame 323, and the output end of the rotating motor 324 is meshed and connected with the front end gear 311 of the basic clamping unit through a transmission mechanism.

In a specific implementation process, only one basic clamping unit or a plurality of basic clamping units can be arranged on the mounting plate 302 in the embodiment of the invention, when the plurality of basic clamping units are arranged, the embodiment of the invention further comprises a translation mechanism for controlling the translation of each basic clamping unit, wherein the translation mechanism comprises a translation transmission rod 325 and a translation limit rod 326 which are arranged along the direction perpendicular to the axis of the basic clamping unit, two ends of the translation transmission rod 325 are movably connected with the gripping bracket 301, and two ends of the translation limit rod 325 are fixedly connected with the gripping bracket 301; the translation transmission rod 326 is connected with the output end of the translation motor 328 through a second screw rod sliding table 327, the position of the translation transmission rod 325 corresponding to each basic clamping unit is respectively connected with the basic clamping unit through a translation connecting piece 329, each translation connecting piece 329 is sleeved with a translation limiting rod 326, and limiting sleeves 330 are respectively arranged on two sides of each translation connecting piece 329 on the translation limiting rod 326; all the translational connecting pieces 329 are fixedly connected with the corresponding basic clamping units, one translational connecting piece 329 at the edge of all the translational connecting pieces 329 is fixedly connected with the translational transmission rod 325, the rest of the translational connecting pieces 329 are sleeved with the translational transmission rod 325, and a compression spring 331 is arranged between two adjacent translational connecting pieces 329 on the translational transmission rod 325.

In a specific implementation process, the block lifting mechanism in the embodiment of the present invention includes a main control motor 506 disposed on a base 501, and a lifting track upright base 507 is disposed at the periphery of the main control motor 506; a plurality of lifting track vertical rods 508 are vertically arranged on the lifting track vertical rod base 507, wherein every two lifting track vertical rods 508 are in a group, each group of lifting track vertical rods 508 is connected with a block placement box back plate slide block 509 in a sliding manner, one side of the block placement box back plate slide block 509, which is away from the lifting track vertical rods 508, is provided with a block placement box back plate 510, and the block placement boxes 502 are fixedly arranged on the block placement box back plate 510 at intervals; the top ends of all lifting track vertical rods 508 are fixedly connected with a track vertical rod limiting plate 511; the top of main control motor 506 is fixed and is provided with two central slip table tracks 512, the top and the track pole setting limiting plate 511 swivelling joint of two central slip table tracks 512, sliding connection has central promotion slip table 513 on two central slip table tracks 512, be provided with lead screw 514 on the central promotion slip table 513, lead screw 514 is located between two central slip table tracks 512, the bottom of central promotion slip table 513 sets up the promotion slider 515, promotion slider 515 and two central slip table tracks 512 sliding connection and be connected with main control motor 506's output through lead screw 514, promotion slider 515 is connected with the bottom of box backplate slider 509 is placed to the building block.

The block rotating mechanism in the embodiment of the invention comprises a rotating base bearing 516 arranged on the base 501, and the block lifting mechanism is arranged on the rotating base bearing 516; the outer edge of the rotary base bearing 516, which is positioned on the block lifting mechanism, is provided with a rotary gear plate 517, and the rotary gear plate 517 is in meshed connection with the output end of the rotary motor 518.

The block pulling and holding mechanism in the embodiment of the invention comprises a block pull rod sliding table 519 arranged on the bottom surface of a block placing platform 504, a horizontal guide rail 520 is arranged on the block pull rod sliding table 519, a pull rod frame base sliding block 521 is arranged on the horizontal guide rail 520, and the pull rod frame base sliding block 521 is connected with the output end of a pull rod control motor 523 through a fourth screw 522; the top of the pull rod frame base slide block 521 is provided with a pull rod frame 524, and one side of the pull rod frame 524, which is positioned on the lifting mechanism, is provided with a plurality of L-shaped block pull rods.

The block placement box 502 in the embodiment of the present invention is provided with a strip-shaped opening at a position corresponding to each L-shaped block pull rod.

It should be noted that, the mechanical arm 200 in the embodiment of the present invention may be an existing six-axis mechanical arm, or may be another mechanical arm, which is not limited herein. The transmission mechanism in the embodiment of the present invention adopts an existing transmission mechanism, such as a gear transmission mechanism, but other existing transmission mechanisms can be adopted, which is not limited herein. In addition, the conveying pipeline 402 in the embodiment of the invention is formed by splicing a plurality of hard pipes and a plurality of hoses, the hoses are mainly arranged at the movable positions of the mechanical arm 200, and mortar in the mortar bucket 401 is conveyed from the conveying pipeline 402 to the mortar laying head 403 through a conveying pump.

The basic working principle of the wall masonry robot system provided by the embodiment of the invention is as follows, and in order to facilitate understanding, the embodiment of the invention takes the wall masonry robot system with three basic clamping units arranged on the wall masonry mechanical claws as an example for elaboration:

firstly, determining the running route of the wall building mechanical claw and the relevant position of the vertical brick supply device on the running route according to the position of the wall, and simultaneously preparing building blocks and mortar.

In a specific implementation process, the moving base 100 in the embodiment of the present invention adopts a track type moving base 100 (other forms of moving bases 100 may also be adopted), two tracks for moving the moving base 100 are laid in advance according to the position of the wall, then the moving base 100 of the wall-building mechanical claw is mounted on the track, then a plurality of vertical brick-feeding devices 500 are arranged along the way of the track on the side far away from the wall to be built, and each vertical brick-feeding device 500 and the wall-building mechanical claw are positioned by a positioning device (such as an infrared positioning device and a laser positioning device).

The preparation of the building blocks and the mortar is that the building blocks required by the wall body masonry are divided into whole length building blocks and non-whole length building blocks according to the modulus relation between the length of the wall body and the length of the single building blocks, the processing is finished in advance before the building, the mortar is stirred by a small stirrer, and the mortar is sent into a mortar hopper 401 after the stirring.

And then the wall is built, and before the building blocks are clamped, the wall building mechanical claw moves along the axis direction of the wall, and meanwhile, the mortar laying mechanism is controlled to lay transverse mortar along the way.

In order to keep no dead angle in the process of laying transverse mortar, in a further embodiment, a mortar laying head translation table 332 is further arranged on the mounting plate 302, a mortar laying head translation slide bar 333 is arranged on the mortar laying head translation table 332, a mortar laying head bracket 334 is sleeved on the mortar laying head translation slide bar 333, the mortar laying head bracket 334 is connected with an output end of a mortar laying head translation motor 335 for controlling the mortar laying head bracket 334 to slide on the mortar laying head translation slide bar 333, a lifting slide rail 336 is arranged on the mortar laying head bracket 334, the mortar laying head 403 is in sliding connection with the lifting slide rail 336 through an L-shaped slide block 337, and the L-shaped slide block 337 is connected with an output end of a mortar laying head lifting control motor 338. Through setting up mortar laying head translation platform 332 for mortar laying head 403 can be in horizontal direction lateral shifting, ensures that mortar laying does not appear the dead angle, through setting up lift slide rail 336, can adjust mortar laying head 403 and the vertical ascending distance of wall body, ensures that mortar does not splash, avoids extravagant.

After the transverse mortar is laid, the clamping of the building blocks is carried out, and the basic principle of the clamping of the building blocks is as follows:

Firstly, the wall-building mechanical claw is moved to a designated position (positioned by a positioning device) by moving the base 100, then the mechanical arm 200 is rotated, so that the first clamping plate 319 and the second clamping plate 320 on the basic clamping unit come to two sides of the building block, then the clamping motor 307 on the basic clamping unit drives the sliding block 305 to move towards the clamping motor 307, the sliding block 305 drives the second rack plate 316 to move, under the action of the sliding plate gear 310, the first rack plate 315 moves towards the direction away from the clamping motor 307, the first rack plate 315 and the second rack plate 316 respectively drive the first rail wheel 313 and the second rail wheel 314 to move towards each other, the first rail wheel 313 and the second rail wheel 314 drive the first clamping rod 317 and the second clamping rod 318 to move towards each other, and the first clamping plate 319 and the second clamping rod 320 at the ends of the first clamping rod 317 and the second clamping rod 318 drive the first clamping plate 319 and the second clamping plate 320 to move towards each other, so that the building block is clamped.

In the process of clamping the blocks, the basic working principle of the vertical brick feeding device 500 is as follows:

The worker places the blocks in the block placement box 502; then the rotary motor 518 drives the rotary gear disk 517 to rotate, the rotary gear disk 517 drives the lifting mechanism to rotate, and the rotation is stopped when the center line of the block placing box 502 and the center line of the block positioning baffle 505 are positioned on the same plane; then the pull rod control motor 523 controls the pull rod frame base slide block 521 to move towards a direction away from the lifting mechanism, the pull rod frame 524 on the pull rod frame base slide block 521 drives the L-shaped block pull rod to move, and the L-shaped block pull rod drives the block to move towards the block placing platform 504 and finally reaches the block positioning baffle 505, so that the first block is in place and waits for the grabbing of the automatic wall building machine. Then, the pull rod control motor 523 controls the pull rod holder base slider 521 to move reversely, so that the L-block pull rod is reset. Then the main control motor 506 controls the lifting slide block 515 to move upwards, the lifting slide block 515 drives the block placement box back plate slide block 509 and the block placement box back plate 510 and the block placement box 502 arranged on the block placement box back plate slide block to lift upwards, the strip-shaped opening of the first block placement box 502 passes through the L-shaped block pull rod until the second block placement box 502 reaches the original position of the first block placement box 502, and the mechanical action that the first block is sent to the block positioning baffle 505 is repeated until all blocks on the side are sent to the positioning baffle. During the lifting of the side block placement box 502, the left empty block placement box 502 is replenished with blocks. When all the blocks in the side block placement box 502 are used up, the main control motor 506 is controlled to enable the lifting slide block 515 of the central lifting sliding table 513 to descend and reset, then the rotating motor 518 is used for controlling the lifting mechanism to rotate, the center line of the block placement box 502 on the other side is located on the same plane with the center line of the block positioning baffle 505, and the above actions are repeated to realize continuous supply of the blocks.

In a specific implementation process, it should be noted that in the embodiment of the present invention, the lifting slider 515 and the bottom of the block placement box back plate slider 509 may be connected in an up-down contact manner, that is, the top of the lifting slider 515 is located at the lower side of the bottom of the block placement box back plate slider 509, and connected in an up-down contact manner. Other connection methods may be used, and are not limited herein.

In a specific implementation process, when the lifting slide block 515 and the block placement box back plate slide block 509 are in up-down contact connection, in order to ensure the up-down relationship between the lifting slide block 515 and the block placement box back plate slide block 509 and ensure smooth lifting of the block placement box back plate slide block 509, a limiting block 525 is arranged at the lower part of the central sliding table track 512 in the implementation process of the invention.

It should be noted that, in the embodiment of the present invention, the lifting slider 515 may be only in contact with the block placement box back plate slider 509 near the block placement frame 503, as shown in fig. 6, so that when the block placement box back plate slider 509 near the block placement frame 503 slides upwards, the block placement frame 503 does not slide upwards, and the worker is convenient to supplement the block.

In a specific implementation, in order to ensure structural stability of the central slide rail 512, a rail connector 526 is provided between the rail upright limiting plate 511 and the central lifting slide 513.

In a specific implementation, to ensure close contact between the blocks and the block positioning baffle, in a further embodiment, each of the L-shaped block tie bars of the present embodiments includes a block tie bar body 527 and a block tie bar baffle 528; one end of the block pull rod main body 527 is fixedly connected with the pull rod frame 524, and the other end is hinged with the block pull rod baffle 528; a hinge seat 529 is arranged at a position above the middle part of the block pull rod baffle 528, and the block pull rod baffle 528 is hinged with the block pull rod main body 527 through the hinge seat 529; the middle part of the top surface of the block pull rod main body 527 is hinged with a block pull rod buffer device 530, and the other end of the block pull rod buffer device 530 is hinged with the top end of a block pull rod baffle 528. When the L-shaped block tie rod drives the block to move toward the block placement platform 504, the block tie rod baffle 528 rotates around the block tie rod body 527 by a certain angle, and compresses the block tie rod buffer 530, ensuring that the block is in close contact with the block positioning baffle 505.

When the vertical brick supplying device provided by the embodiment of the invention is used for supplying the building blocks for the automatic wall building machine, the building blocks are firstly placed in the building block placing box, then the building block placing box reaches a designated position through the cooperation of the rotating structure and the lifting mechanism, and then the building blocks in the building block placing box are pulled to the designated position on the building block placing platform through the building block pulling and holding mechanism. The vertical brick feeding device not only can accurately convey each building block to a designated position and ensure that an automatic wall building machine can smoothly grasp, but also realizes continuous supply of the building blocks.

In the embodiment of the invention, three basic clamping units are arranged, so that three building blocks can be clamped at the same time. Because the building blocks of the wall body are required to be arranged in an up-down staggered mode, non-whole length building blocks exist, when the non-whole length building blocks are grabbed, the basic clamping units at the most edge are used for clamping the non-whole length building blocks according to actual conditions, for example, when the non-whole length building blocks are required to be arranged at the most right side of the wall body, the basic clamping units at the most right side are used for clamping the non-whole length building blocks; when the non-whole length building blocks are required to be arranged at the leftmost side of the wall body, the basic clamping units at the leftmost side are used for clamping the non-whole length building blocks.

After the block is clamped, the outer side of the non-whole length block clamped by the same basic clamping unit is in the same plane with the outer side of the clamped whole length block. After the building blocks are clamped, the bottom surfaces of the building blocks are lower than the mounting plate, and the intervals between the adjacent building blocks are the same.

After the building blocks are clamped, the movable base 100 is controlled to move to a designated position, the mechanical arm 200 is rotated, and the masonry grasping mechanism 300 is driven to rotate, so that the building blocks reach a horizontal position above a position to be built; then, the rotating motor 324 is controlled to drive the front end gear 311 to rotate, so that the building block rotates by 90 degrees, the side surface of the building block faces upwards, and then the position of the mortar laying head 403 is adjusted, so that the lower edge of the mortar laying head 40 and the upper edge of the building block reach a set distance; mortar is then applied to the sides of each block one by one.

In a specific implementation process, in order to avoid mortar falling from the building block to cause mortar waste when mortar is laid, in a further implementation manner, two sides of the bottom of the mortar laying head 403 are provided with mortar laying baffles 404, and by arranging the mortar laying baffles 404, mortar can be prevented from falling from the building block when mortar is laid, so that the mortar consumption is effectively saved.

After mortar is laid, the mortar is laid, firstly, the mechanical arm 200 and the masonry gripping mechanism 300 are controlled to move downwards to reach a masonry position, then the previously laid transverse mortar is compressed to be in a designed thickness, for example, 1cm, then the translation motor 328 drives the translation transmission rod 325 to move rightwards (assuming that a wall body is laid from right to left) along a horizontal direction by a certain distance, for example, 3cm, the translation transmission rod 325 drives all the basic clamping units to slide rightwards along the corresponding sliding rails 322 through the translation connecting pieces 329, at the moment, the basic clamping units on the right side are not moved any more after moving rightwards by 1cm, the corresponding limiting sleeves 330 on the translation limiting rods 326 block the movement direction of the basic clamping units, the translation transmission rod 325 continues to move rightwards, and at the moment, the compression springs 331 between the basic clamping units on the right side and the basic clamping units in the middle are compressed by 2cm; the middle basic clamping unit does not move any more after moving rightwards by 2cm, the movement direction of the basic clamping unit is blocked by the corresponding limiting sleeve 330 on the translational limiting rod 326, and the translational rod continues to move rightwards, at this time, the compression spring 331 between the middle basic clamping unit and the basic clamping unit on the left side is compressed by 1cm; the basic clamping unit on the left side moves rightwards along with the translation rod by 3cm. The basic clamping units sequentially move from left to right for 1cm,2cm and 3cm, and the thickness of the vertical mortar finally becomes 1cm. The clamped blocks complete the masonry. The lengths 1cm,2cm, and 3cm are not fixed in size, and are merely illustrative of the working principle, and are not intended to limit the present invention.

When the wall is built to be close to the top surface of the floor, clamping of the building blocks is consistent with the method, transverse mortar and longitudinal mortar of the building blocks are also laid through the mortar laying heads 403 according to the method, at the moment, the side surfaces of the building blocks are still upward, and the front end gear is assumed to rotate 90 degrees clockwise; then, when building the wall, the masonry gripping mechanism 300 is rotated clockwise by 180 ° around the axis of the end portion of the mechanical arm 200 connected thereto, and the basic clamping unit rotates the clamped block counterclockwise by 90 ° around the central shaft 312, at this time, the bottom of the mounting plate 302 is upward, and the first clamping plate 319 and the second clamping plate 320 of the basic clamping unit maintain the state of clamping the block downward, and then the masonry is performed in the same manner as described above, and it is noted that the masonry sequence of the blocks is changed from left to right at this time.

In a specific implementation process, since the mortar laying head 403 is located right above the basic clamping unit, in order to avoid that the mortar laying head 403 is located in a plane of a masonry wall, and occupies a masonry space, and influences masonry of the wall close to a roof, a mortar laying head pulling and holding mechanism for moving the mortar laying head 403 towards the tail end of the basic clamping unit is provided in the embodiment of the invention, specifically, the pulling and holding mechanism comprises a mortar laying head longitudinal sliding table 339 which is arranged on a mortar laying head bracket 334 and is perpendicular to a mortar laying head translation table 332, a mortar laying head longitudinal sliding bar 340 is arranged on the mortar laying head longitudinal sliding table 339, a sliding block 341 is arranged on the mortar laying head longitudinal sliding bar 340, and the sliding block 341 is connected with an output end of a mortar laying head longitudinal sliding control motor 342 which is arranged on the side part of the mortar laying head longitudinal sliding table 339; the bottom of the lifting slide rail 336 is hinged with the mortar laying head bracket 334, and one side of the top of the lifting slide rail 336 facing away from the mortar laying head 403 is connected with the slide block through a connecting rod 343. When the masonry gripping mechanism 300 rotates 180 ° clockwise around the axis of the end connected to the mechanical arm 200, the mortar laying head longitudinal sliding control motor 342 drives the sliding block 341 to move along the mortar laying head longitudinal sliding rod 340 toward the tail end of the basic clamping unit, and the connecting rod 343 connected with the sliding block 341 drives the lifting sliding rail 336 to rotate around the tail end of the basic clamping unit at the position hinged to the mortar laying head bracket 334, so that the mortar laying head is located outside the plane of the wall body, and the wall body close to the floor top surface can be built smoothly.

When the highest distance from the beam/floor bottom surface of the masonry wall meets the national requirement of oblique masonry, the mechanical claw is controlled to perform masonry in a 45-degree oblique masonry mode, the clamping of the building blocks is consistent with that of the building blocks close to the floor top surface, but only one basic clamping unit at the most edge is used for clamping, and the building blocks are clamped by the basic clamping unit at the most right side in the embodiment; after the blocks are clamped, the basic clamping unit rotates the clamped blocks 180 degrees clockwise around the central shaft 312, then lays mortar along the long side direction of the blocks, then rotates the masonry gripping mechanism 300 180 degrees anticlockwise around the axis of the end part connected with the masonry gripping mechanism on the mechanical arm 200, simultaneously rotates the clamped blocks 45 degrees clockwise around the central shaft 312, at the moment, the bottom of the mounting plate 302 faces upwards, and the first clamping plate 319 and the second clamping plate 320 of the basic clamping unit are inclined at 45 degrees, and then are built on the top of the wall body one by one from left to right. After the long-side mortar of the building block is laid, the mortar laying head moves out of the plane of the wall body in the second-stage building mode, so that the blocking of building the top building block is avoided.

The whole wall body can be built through the three-stage wall body.

In a specific implementation process, a wall may have a position where the mobile base 100 cannot reach, so that in order to be able to construct such a wall, in a further embodiment, a gripping mechanism translation table 201 is provided at one end of the mechanical arm 200 connected to the masonry gripping mechanism 300, a gripping mechanism translation slide bar 202 is provided on the gripping mechanism translation table 201, and the gripping bracket 301 is slidably connected to the gripping mechanism translation slide bar 202; the grasping mechanism translation table 201 is further provided with a grasping mechanism translation control motor 203, and an output end of the grasping mechanism translation control motor 203 is connected with the grasping bracket 301. By arranging the translation table 201 of the gripping mechanism, the moving range of the masonry gripping mechanism 300 can be enlarged, so that the wall body at a position where the moving base 100 cannot reach can be built; further, when the blocks are clamped, the basic clamping units can be switched by the translation table 201 of the clamping mechanism, so that each basic clamping unit can clamp the blocks from a specified position under the condition that the wall building mechanical claw is not moved.

The wall body masonry robot system provided by the embodiment of the invention not only can be used for masonry of large-space walls, but also can be used for masonry of walls in limited space positions, which are close to the tops of the walls, in the indoor space, so that labor-intensive physical strength is relieved, and the wall building efficiency is improved.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The wall masonry robot system is characterized by comprising a wall masonry mechanical claw and a vertical brick supply device; the wall building mechanical claw comprises a movable base, a mechanical arm, a masonry grasping mechanism and a mortar laying mechanism, wherein the mechanical arm is arranged on the movable base, the masonry grasping mechanism comprises a grasping bracket rotationally connected with the mechanical arm, a mounting plate is fixedly arranged at the bottom of the grasping bracket, a basic clamping unit is arranged on the mounting plate, and the basic clamping unit is connected with a rotating mechanism which enables the basic clamping unit to rotate around the axis of the basic clamping unit; the mortar laying mechanism comprises a mortar hopper and a mortar laying head, the mortar hopper is arranged on the movable base, the mortar laying head is arranged above the basic clamping unit, and the mortar hopper is connected with the mortar laying head through a conveying pipeline; the vertical brick feeding device comprises a base, wherein a block lifting mechanism is arranged on the base, block placing boxes capable of lifting along with the block lifting mechanism are symmetrically arranged on two sides of the block lifting mechanism, and the bottom of the block lifting mechanism is connected with a block rotating mechanism which enables the block lifting mechanism to rotate around the axis of the block rotating mechanism; a block placing bracket is arranged on one side, close to the block lifting mechanism, of the base, a block placing platform is arranged at the top of the block placing bracket, and a block positioning baffle plate and a block pulling and holding mechanism are arranged on the block placing platform;

The basic clamping unit comprises a clamp base and a first screw rod sliding table arranged on one side of the clamp base, the bottom of the first screw rod sliding table is fixedly connected to the mounting plate, a sliding block is arranged in the middle of the first screw rod sliding table, and the sliding block is connected with the output end of the grabbing motor through a first screw rod; one end of the top of the holder base is provided with a gear base, the other end of the top of the holder base is provided with a gear seat, the gear base is provided with a slide plate gear, and the gear seat is provided with a front end gear; a center shaft rod extending towards the direction of the slide plate gear is arranged at the axis of the front end gear, a first track wheel and a second track wheel are sleeved on the center shaft rod at intervals, the first track wheel is in meshed connection with the slide plate gear through a first rack plate, the second track wheel penetrates through the first track wheel through a second rack plate and is in meshed connection with the slide plate gear, and the first rack plate and the second rack plate are positioned on two sides of the slide plate gear; one end, far away from the second rail wheel, of the second rack plate is connected with the sliding block in a clamping way; a first clamping rod and a second clamping rod are symmetrically arranged on two sides of the front end gear, which are positioned at the central axis of the front end gear, and the front end gear is respectively connected with the first clamping rod and the second clamping rod in a sliding manner; one end of the first clamping rod bypasses the second rail wheel to be connected with the first rail wheel in a sliding way, and the other end of the first clamping rod is fixedly provided with a first clamping plate; one end of the second clamping rod is in sliding connection with the second track wheel, and a second clamping plate is fixedly arranged at the other end of the second clamping rod; the bottom of the holder base is provided with holder feet which are in sliding connection with the sliding rail fixedly arranged on the mounting plate;

the rotating mechanism comprises a rotating motor frame fixedly arranged on the mounting plate, a rotating motor is fixedly arranged on the rotating motor frame, and the output end of the rotating motor is meshed and connected with the front end gear of the basic clamping unit through a transmission mechanism;

And two sides of the bottom of the mortar laying head are provided with mortar laying baffles.

2. The wall masonry robot system according to claim 1, wherein the mounting plate is provided with a plurality of basic clamping units and a translational mechanism for controlling the translational motion of each basic clamping unit in parallel, the translational mechanism comprises a translational transmission rod and a translational limit rod which are arranged along the direction perpendicular to the axis of the basic clamping units, two ends of the translational transmission rod are movably connected with the gripping bracket, and two ends of the translational limit rod are fixedly connected with the gripping bracket; the translational transmission rod is connected with the output end of the translational motor through a second screw rod sliding table, the position, corresponding to each basic clamping unit, on the translational transmission rod is connected with the basic clamping unit through a translational connecting piece, each translational connecting piece is connected with the translational limiting rod in a sleeved mode, and limiting sleeves are respectively arranged on two sides, located on each translational connecting piece, of the translational limiting rod; all the translational connecting pieces are fixedly connected with the corresponding basic clamping units, one translational connecting piece at the edge of all the translational connecting pieces is fixedly connected with the translational transmission rod, the rest of the translational connecting pieces are connected with the translational transmission rod in a sleeved mode, and compression springs are arranged between two adjacent translational connecting pieces on the translational transmission rod.

3. The wall masonry robot system according to claim 1, wherein a gripping mechanism translation table is arranged at one end of the mechanical arm connected with the masonry gripping mechanism, a gripping mechanism translation slide bar is arranged on the gripping mechanism translation table, and the gripping bracket is in sliding connection with the gripping mechanism translation slide bar; the gripping mechanism translation table is also provided with a gripping mechanism translation control motor, and the output end of the gripping mechanism translation control motor is connected with the gripping bracket.

4. The wall masonry robot system according to claim 1, wherein a mortar laying head translation table is arranged on the mounting plate, a mortar laying head translation slide bar is arranged on the mortar laying head translation table, a mortar laying head bracket is sleeved on the mortar laying head translation slide bar and is connected with an output end of a mortar laying head translation motor for controlling the mortar laying head bracket to slide on the mortar laying head translation slide bar, a lifting slide rail is arranged on the mortar laying head bracket, the mortar laying head is in sliding connection with the lifting slide rail through an L-shaped slide block, and the L-shaped slide block is connected with an output end of a mortar laying head lifting control motor; the mortar laying head is also connected with a mortar laying head pulling and holding mechanism which enables the mortar laying head to move towards the tail end of the basic clamping unit, the mortar laying head pulling and holding mechanism comprises a mortar laying head longitudinal sliding table which is arranged on the mortar laying head support and is perpendicular to the mortar laying head translation table, a mortar laying head longitudinal sliding bar is arranged on the mortar laying head longitudinal sliding table, a longitudinal pulling and holding sliding block is arranged on the mortar laying head longitudinal sliding bar, and the longitudinal pulling and holding sliding block is connected with the output end of a mortar laying head longitudinal sliding control motor which is arranged on the side part of the mortar laying head longitudinal sliding table; the bottom of the lifting slide rail is hinged with the mortar laying head support, and one side, deviating from the mortar laying head, of the top of the lifting slide rail is connected with the longitudinal pulling sliding block through a connecting rod.

5. The wall masonry robot system according to claim 1, wherein the lifting mechanism comprises a main control motor arranged on the base, and a lifting track upright base is arranged at the periphery of the main control motor; a plurality of lifting track vertical rods are vertically arranged on the lifting track vertical rod base, wherein every two lifting track vertical rods are in a group, each group of lifting track vertical rods is provided with a block placement box back plate sliding block in a sliding manner, one side, away from the lifting track vertical rods, of the block placement box back plate sliding block is provided with a block placement box back plate, and the block placement boxes are fixedly arranged on the block placement box back plate at intervals; the top ends of all the lifting track vertical rods are fixedly connected with the track vertical rod limiting plates; the top of main control motor is fixed and is provided with two central slip table tracks, two central slip table orbital top with track pole setting limiting plate swivelling joint, two sliding connection has central promotion slip table on the central slip table track, be provided with the third lead screw on the central promotion slip table, the third lead screw is located two between the central slip table track, the bottom of central promotion slip table sets up the promotion slider, the promotion slider with two central slip table track swivelling joint passes through the third lead screw with main control motor's output is connected, the promotion slider with the bottom that the box backplate slider was placed to the building block is connected.

6. The wall construction robot system according to claim 5, wherein the block rotation mechanism comprises a rotation base bearing provided on the base, the block lifting mechanism being provided on the rotation base bearing; the outer edge of the rotating base bearing, which is arranged on the building block lifting mechanism, is provided with a rotating gear disc, and the rotating gear disc is in meshed connection with the output end of the building block rotating motor; the block pulling and holding mechanism comprises a block pull rod sliding table arranged on the bottom surface of the block placing platform, a horizontal guide rail is arranged on the block pull rod sliding table, a pull rod frame base sliding block is arranged on the horizontal guide rail, and the pull rod frame base sliding block is connected with the output end of a pull rod control motor through a fourth screw rod; the top of pull rod frame base slider is provided with the pull rod frame, be located on the pull rod frame the one side of building block elevating system is provided with a plurality of L type building block pull rod.

7. The wall construction robot system according to claim 6, wherein each of the L-shaped block ties comprises a block tie body and a block tie baffle; one end of the block pull rod main body is fixedly connected with the pull rod frame, and the other end of the block pull rod main body is hinged with the block pull rod baffle; a hinging seat is arranged at a position, close to the middle part, of the block pull rod baffle, and the block pull rod baffle is hinged with the block pull rod main body through the hinging seat; the middle part of the top surface of the block pull rod main body is hinged with a block pull rod buffer device, and the other end of the block pull rod buffer device is hinged with the top end of the block pull rod baffle; the block placing box is provided with strip-shaped openings at positions corresponding to the L-shaped block pull rods.