Bricklaying robot

A robot and robot body technology, applied in the field of brick masonry construction, can solve the problems of complex masonry quality detection of mobile robots and positioning robots, achieve intelligence and diversity, save labor costs, and improve masonry quality. efficiency effect

Inactive Publication Date: 2021-02-02
TONGJI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the construction site, there are complex problems such as mobile robots, positioning robots, brick and mortar supply, masonry quality inspection, etc.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] Such as figure 1 As shown, a bricklaying robot provided by an embodiment of the present invention includes a mobile chassis 1 capable of moving on a construction site, a machine gripper mechanism 2 and a displacement detection device 23 . The machine gripper mechanism 2 includes a six-degree-of-freedom robot body mounted on the mobile chassis 1 at one end and a gripper mechanism connected to the other end of the robot body. Grab and place masonry bricks.

[0045]The gripper mechanism can perform brick pick-and-place operations under the drive of the robot body. As an embodiment of the present invention, a separate drive mechanism, such as a driving cylinder, can be set on the gripper mechanism, and the gripper mechanism can be driven by the drive mechanism. Carry out brick pick and place operations. Specifically, the gripper mechanism includes a mount 8 connected to the robot body and a gripper assembly 21 disposed on the mount 8 and capable of displacement relative t...

Embodiment 2

[0057] Based on the bricklaying robot described in Embodiment 1, the present invention provides a method for using the bricklaying robot, which specifically includes the following steps:

[0058] Step 101, move the chassis 1 to the working position, perform leveling support, and prepare for work;

[0059] Step 102, obtain the position information through the position feedback camera 22, transmit it to the control mechanism 3, and calculate the position of the bricklaying robot;

[0060] Step 103, according to the preset program information of the control mechanism 3, transmit commands and motion data to each mechanism;

[0061] Step 104, the brick feeding mechanism 4 obtains commands and data, and transmits bricks;

[0062] Step 105, the mortar feeding mechanism 5 obtains commands and data, and performs mortar smearing operations on the transported bricks;

[0063] Step 106, the brick cutting mechanism 6 acquires commands and data, and performs cutting operations on the smea...

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Abstract

The invention provides a bricklaying robot, and belongs to the technical field of brick masonry construction. The bricklaying robot comprises a moving chassis, a mechanical gripper mechanism and a displacement detection device; The mechanical gripper mechanism comprises a six-degree-of-freedom robot body with one end installed on the movable chassis and a gripper mechanism connected with the otherend of the robot body; the gripper mechanism can be driven by the robot body to conduct brick taking and placing operation; the gripper mechanism comprises a mounting base connected with the robot body and a gripper assembly which is arranged on the mounting base and can move relative to the mounting base; and the displacement detection device is arranged on the gripper mechanism and used for detecting the displacement of the gripper assembly. According to the bricklaying robot, the construction precision and the construction efficiency of parameterized brick wall on-site masonry can be improved.

Description

technical field [0001] The invention relates to the technical field of brick masonry construction, in particular to a bricklaying robot. Background technique [0002] Brick masonry is a very traditional construction technique. Workers use bricks as units, combining masonry to form the final wall. Traditional bricklaying methods include: full-shun, two flat sides, full ding, one-shun-one-ding, plum-blossom-ding, three-shun-one-ding and other masonry methods. The surface shape of the walls completed by these masonry methods is mostly flat, and the wall texture is relatively simple. With the support of the current parametric design technology, designers can more freely define parameters such as the rotation angle and position of each brick with the help of 3D modeling software, and the brick wall is no longer restricted by the traditional form of assembly. The masonry bricks not only have the corresponding structural performance, but also present customized non-standard wall...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E04G21/22G01B5/02B28D1/24
CPCB28D1/24E04G21/22G01B5/02
Inventor 袁烽周轶凡张立名李明阳陆明孔祥平
Owner TONGJI UNIV
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