The invention discloses an automatic piling
machine and a
walling control method. The automatic piling
machine comprises a base plate, a bracket, a variable amplitude telescopic mechanism, a linear telescopic mechanism, a clamping jaw mechanism and a clamping jaw horizontal holding mechanism; the bracket is installed on the base plate; one end of the linear telescopic mechanism is hinged to the upper end of the bracket, and the other end of the linear telescopic mechanism is connected with the clamping jaw mechanism through the clamping jaw horizontal holding mechanism; and one end of the variable amplitude telescopic mechanism is hinged to the bracket, and the other end of the variable amplitude telescopic mechanism is hinged to the middle of the linear telescopic mechanism. The
walling control method comprises the steps that S1, main
machine positioning is conducted; S2,
brick pillar positioning is conducted; S3, wall
body positioning is conducted; S4, the position and posture of the next
brick are determined; S5, automatic reset is carried out for grabbing the next
brick; S6, automatic bricklaying is conducted; S7, the laying position and posture of the brick are checked, if the requirement is met, the brick is put down, the process goes back to the step S4, and otherwise, the step S8 is carried out; and S8, wall position adjusting is conducted, specifically, the brick is adjusted manually, the adjusted brick laying position and posture are recorded, the spatial position of a new to-be-built wall body is solved according to all previous records, and the process goes back to the step S4.