Masonry algorithm of bricking robot linear wall and taking plasticity of mortar into consideration

Abstract

The invention discloses a masonry algorithm of a bricking robot linear wall and taking plasticity of mortar into consideration. The masonry algorithm comprises the following steps that a, a datum coordinate system is determined; b, the number of bricks and an arrangement mode of each brick are calculated; c, the coordinate position of each brick is calculated; d, The distance J between a linear track and a wall center line is determined; e, the mortar plastic time is determined, the number N of needed bricking robots is calculated, the number NS of bricked bricks of each standing posture of each robot is calculated, and the distance S between the adjacent standing postures is calculated; f, the number N of the needed bricking robots is calculated according to the mortar plastic time; and g, the bricking order of each robot is set up, an action command is sent to a programming control system, so that the programming control system implements corresponding action to conduct masonry of the linear wall. According to the masonry algorithm, By taking mortar plasticity condition into consideration, masonry is achieved through the multiple robots, the number of the bricked bricks of each robot is determined, the brick clamping and bricking processes are completed in the plasticity time of the mortar, the practicability is high, and the overall masonry efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of building automation, in particular to a masonry algorithm for a linear wall of a bricklaying robot. Background technique [0002] The traditional manual masonry building construction progress is slow, the labor intensity is high, and the labor cost is getting higher and higher. With the rapid economic growth and urbanization, more and more bricklaying robots have been developed to replace manual masonry. Wall, to achieve artificial intelligence. [0003] The invention patent with application number 2016110695716 discloses a light-duty, mobile bricklaying robot, such as figure 1 As shown, it includes a rotary mobile chassis 1, a lifting module 2, a bricklaying module 3 and a programming control system connected in sequence. The bricklaying module 3 includes a mechanical arm 4 and a bricklaying fixture 5. Move within the stroke range; the bricklaying module 3 moves up and down on the lifting module 2 thro...

AI Technical Summary

Problems solved by technology

[0002] The traditional manual masonry building construction progress is slow, the labor intensity is high, and the labor cost is getting higher and higher. With the rapid economic growth and urbanization, more and more bricklaying robots have been developed to replace manual masonry. wall, realize artificial intelligence

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