Automatic brick turnover mechanism

Abstract

The invention relates to an automatic brick overturning mechanism which comprises a vehicle body, a suction cup overturning module and an overturning driving mechanism. The suction cup overturning module comprises a rotating shaft rotationally connected to the vehicle body, a pair of semicircular sectors fixedly connected to the two ends of the same side of the rotating shaft and rotationally matched with the vehicle body correspondingly, and a first butt joint structure located between the pair of semicircular sectors and fixedly connected to the rotating shaft, and the first butt joint structure is detachably connected with the suction cup butt joint module. The overturning driving mechanism comprises a pair of winding drum modules installed on the vehicle body and a driving module located between the pair of winding drum modules and used for driving the pair of winding drum modules to synchronously rotate in a reciprocating mode, pull ropes are wound around the pair of winding drum modules in the opposite directions respectively, and the two pull ropes extend and are connected to the pair of semicircular sectors respectively; the semicircular sector is provided with arc grooves along the arc edges, the pull ropes rotate along with the semicircular sector to be partially embedded and wound in the arc grooves, and the two arc grooves serve as connecting points of the two pull ropes at the first end and the second end respectively. According to the brick overturning device, automatic overturning of large bricks can be achieved through a small-specification motor.

Description

Technical Field

[0001] The invention relates to the technical field of brick paving construction, and in particular to an automatic brick turning mechanism. Background Art

[0002] The brick laying process is mainly divided into dry laying process and wet laying process. The wet laying process only requires applying a layer of wet mortar on the ground, and then the bricks can be placed directly without turning over the bricks. However, this process is only suitable for small areas and places with low construction requirements. For places with high decoration requirements or large-area laying, the dry laying process is required. The dry laying process is to first lay a layer of dry cement mortar on the laying area, and then apply a layer of wet cement mortar on the back of the brick for laying. This process requires the bricks to be turned over.

[0003] The existing method of automatically flipping bricks is usually to first suck up the bricks using a suction cup module, then use a boom structure to lift the suction cup module to a flipping mechanism, then connect the suction cup module to the flipping mechanism, and then drive the flipping mechanism to flip the suction cup module together, so as to flip the bricks. However, the existing flipping drive usually adopts a motor shaft drive method, that is, the part of the flipping mechanism connected to the suction cup module is connected to the motor shaft, and the motor drives the motor shaft to rotate to directly drive the flipping mechanism to flip. However, this drive method is only suitable for lighter bricks. For large bricks, the motor shaft drive method requires a very large torque, and accordingly, a large-sized motor is required to achieve it, which not only increases the drive cost, but also makes the overall stability requirements of the mechanism more stringent. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an automatic flipping mechanism for bricks, which uses a semicircular fan and a worm gear mechanism as a transmission part to cooperate with a flipping motor for driving, which can greatly reduce the driving force of the flipping motor. A smaller motor can be used to achieve automatic flipping of larger bricks.

[0005] The present invention is implemented through the following scheme: an automatic brick flipping mechanism, comprising a vehicle body, a suction cup docking module and a flipping mechanism, wherein the suction cup docking module comprises a suction cup installed for adsorbing bricks, and the flipping mechanism comprises a suction cup flipping module flipably connected to the vehicle body and a flipping driving mechanism installed on the vehicle body and used to drive the suction cup flipping module to flip; wherein,

[0006] The top of the vehicle body extends outward to form a pair of extension brackets;

[0007] The suction cup flip module comprises a first docking structure, a rotating shaft and a pair of semicircular sectors, wherein the rotating shaft is rotatably connected between the extension ends of a pair of extension brackets, the pair of semicircular sectors are fixedly connected to the two ends of the same side of the rotating shaft and are respectively rotatably matched with the pair of extension brackets, the first docking structure is located between the pair of semicircular sectors and is fixedly connected to the rotating shaft, and the first docking structure is detachably connected to the suction cup docking module;

[0008] The flip driving mechanism comprises a pair of roller modules respectively located at one end of a pair of extension brackets away from the extension end, and a driving module located between the pair of roller modules and used to drive the pair of roller modules to synchronously reciprocate, and the pair of roller modules are respectively wound with pull ropes in the forward and reverse directions, and the free ends of the two pull ropes are respectively extended along the pair of extension brackets and connected to the pair of semicircular sectors;

[0009] Each of the semicircular sectors is provided with an arc groove along the arc edge for the corresponding pull rope portion to be embedded in when the semicircular sector rotates, and one of the two pull ropes is fixed to the first end of the arc groove of the corresponding semicircular sector, and the other of the two pull ropes is fixed to the second end of the arc groove of the corresponding semicircular sector.

[0010] A further improvement of the present invention is that the driving module includes a worm gear mechanism located between a pair of the reel modules and a flipping motor for driving the worm gear mechanism, the worm wheel in the worm gear mechanism is coaxially fixed to the pair of reel modules, the worm in the worm gear mechanism is coaxially fixed with a worm shaft gear, and a driving gear meshing with the worm shaft gear is fixed on the driving shaft of the flipping motor.

[0011] A further improvement of the present invention is that the automatic brick flipping mechanism also includes a pair of guide modules for respectively guiding the extension directions of the free ends of the two pull ropes, the pair of guide modules are both installed on the vehicle body and are respectively arranged adjacent to a pair of reel modules, the pair of guide modules are both provided with guide channels for the free ends of the corresponding pull ropes to pass through, and the heights of the two guide channels are respectively consistent with the heights of the two pull ropes led out on the corresponding reel modules.

[0012] A further improvement of the present invention is that the automatic brick flipping mechanism also includes a pair of positioning wheels for respectively positioning the free ends of the two pull ropes, the pair of positioning wheels are respectively installed on a pair of extension brackets and are respectively arranged adjacent to a pair of semicircular sectors, and the outer peripheries of the pair of positioning wheels are provided with wheel grooves for the free ends of the corresponding pull ropes to be wound around.

[0013] A further improvement of the present invention is that the automatic brick flipping mechanism also includes a pair of tensioning modules for tensioning the two pull ropes, the pair of tensioning modules are respectively installed on a pair of extension brackets, and the pair of tensioning modules are both provided with a tensioning channel with adjustable height for the free ends of the corresponding pull ropes to pass through.

[0014] A further improvement of the present invention is that it also includes a pair of limit posts and a pair of soft limit parts, one of the limit posts is fixed on the outer surface of one of the semicircular sectors and corresponds to the first end position of the arc groove, the other is fixed on the outer surface of the other semicircular sector and corresponds to the second end position of the arc groove, and a pair of soft limit parts are relatively fixed on the relative inner sides of a pair of extension brackets; when a pair of the semicircular sectors rotate 180° counterclockwise, one of the two limit posts contacts one of the soft limit parts on the corresponding side, and when the pair of the semicircular sectors rotate 180° clockwise, the other of the two limit posts contacts the other soft limit part on the corresponding side, and the soft limit part is configured to feedback a stop flipping signal after being contacted by the limit post.

[0015] A further improvement of the present invention is that: the suction cup flip module is connected to a first H-shaped docking structure, comprising two flange rods and a web rod fixed between the two flange rods, and a first clamping groove and a second clamping groove are respectively formed between the two flange rods and on opposite sides of the web rod;

[0016] The suction cup docking module also includes a second mounting plate and a third docking structure, the suction cup and the third docking structure are respectively mounted on the bottom and the top of the suction cup docking module, the third docking structure includes a U-shaped guide seat, the two flange plates of the guide seat are arranged up and down, and a guide groove for inserting the first docking structure is formed between the two flange plates, the flange plate located at the bottom is fixed to the top of the second mounting plate, and a telescopic hole is opened through the flange plate located at the top;

[0017] The third docking structure further includes a locking column and an operating handle, wherein the locking column is installed on the top of the flange plate located above and can be movably inserted into the guide groove through the telescopic hole, and the operating handle is used to drive the locking column to perform insertion movement;

[0018] When the first docking structure is inserted into and accommodated in the guide groove, the web of the guide seat and the locking column are respectively inserted into the second slot and the first slot.

[0019] A further improvement of the present invention is that: the locking column comprises a locking sleeve, a locking core rod and a spring, the locking sleeve is vertically fixed to the top of the flange plate located above the guide seat, and the bottom of the locking sleeve is provided with an opening connected to the telescopic hole, the locking core rod is inserted into the locking sleeve through the opening, a spring is arranged in the locking sleeve, the spring is connected between the locking sleeve and the top of the locking core rod, the locking sleeve is provided with a strip groove extending upward from the opening, the length of the strip groove is adapted to the telescopic range of the spring, and a sliding shaft hole is radially provided at the top of the locking core rod facing the strip groove;

[0020] The operating handle includes a sliding shaft inserted into the strip groove and the sliding shaft hole and extending out of the locking sleeve; in the reset state of the spring, the sliding shaft is located adjacent to the opening, and the locking core rod is inserted into the lower part of the guide groove; by operating the sliding shaft to move upward along the strip groove, the locking core rod can be driven to disengage from the guide groove.

[0021] A further improvement of the present invention is that at least three driving wheel sets are arranged on the bottom of the vehicle body to enable the vehicle body to move in all directions, and at least three supporting modules are used to support and fix the vehicle body to prevent the vehicle body from moving.

[0022] A further improvement of the present invention is that a horizontal boom which can swing horizontally is also supported above the vehicle body, the swinging end of the horizontal boom is connected to a hoist, the lifting end of the hoist is provided with a second docking structure which is detachably connected to the suction cup docking module; the suction cup flipping module is located within the movable range of the second docking structure.

[0023] The present invention includes but is not limited to the following beneficial effects:

[0024] The semicircular fan, worm gear mechanism and gear transmission group are used as transmission parts to cooperate with the flip motor for driving, which can greatly reduce the driving force of the flip motor. The automatic flipping of larger bricks can be achieved by using a smaller motor.

[0025] Through the H-shaped setting of the first docking structure and the specific structural coordination of the third docking structure, the suction cup docking module and the suction cup flipping module can limit each other in multiple directions when connected, ensuring the reliability of the connection between the two and avoiding separation during flipping. In addition, connection and disassembly are very convenient and almost no physical effort is required from workers.

[0026] Through the setting of the vehicle body, driving wheel set and supporting module, the robot can realize omnidirectional movement and stop at any position without manual pushing of the vehicle body, thus reducing the physical labor of workers.

[0027] Through the coordinated setting of the horizontal boom, hoist and suction cup docking module, the bricks can be sucked and lowered, and the movement of the vehicle body can be coordinated to realize the loading and movement of the bricks to any position, further reducing the physical labor of the workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A three-dimensional structural schematic diagram showing the coordination state of the flip mechanism and the suction cup docking module in the present invention is shown.

[0029] Figure 2 A planar structural schematic diagram showing the coordination state of the flip mechanism and the suction cup docking module in the present invention is shown.

[0030] Figure 3 A three-dimensional structural schematic diagram of the flip driving mechanism in the present invention is shown.

[0031] Figure 4 A schematic diagram of the three-dimensional structure of the suction cup flip module in the present invention is shown.

[0032] Figure 5 A schematic diagram of the three-dimensional structure of the suction cup docking module in the present invention is shown.

[0033] Figure 6 A three-dimensional structural schematic diagram showing the coordination state of the suction cup flip module and the suction cup docking module in the present invention is shown.

[0034] Figure 7 A planar structural schematic diagram showing the coordinated state of the suction cup flip module and the suction cup docking module in the present invention is shown.

[0035] Figure 8 Shows Figure 7 Schematic diagram of the AA cross-section structure in the state.

[0036] Fig. 9 The schematic elevation structure diagram shows the cooperation state of the suction cup flip module and the suction cup docking module in the present invention.

[0037] Fig.10 A schematic diagram of the assembly steps of the suction cup flip module and the suction cup docking module in the present invention is shown.

[0038] Fig.11 The schematic diagram shows the coordination state of the horizontal boom, the hoist, the suction cup docking module and the turning mechanism of the present invention.

[0039] In the figure: 1, car body; 11, shell; 12, aviation plug; 13, flip button; 14, extension bracket; 2, horizontal boom; 3, support module; 31, side support; 32, vertical support; 4, hoist; 41, second docking structure; 411, first hook; 5, flip mechanism; 51, suction cup flip module; 511, semicircular fan; 511a, first semicircular fan; 511b, second semicircular fan; 512, rotating shaft; 513, first docking structure; 5131, first card slot; 5132, second card slot; 514, shaft seat; 515, limit column; 516, soft limit member; 52, flip drive mechanism; 521, first mounting plate; 522, flip motor; 523, worm shaft gear; 524, worm; 525 , worm gear; 526, coupling; 527, reel module; 53, pull rope; 54, positioning wheel; 55, tensioning module; 56, guide module; 6, suction cup docking module; 61, second mounting plate; 62, suction cup; 63, fourth docking structure; 631, first bayonet; 64, third docking structure; 641, guide seat; 6411, external threaded bearing; 642, locking column; 6421, locking sleeve; 6422, locking core rod; 6423, spring; 6424, strip groove; 6425, sliding shaft hole; 643, operating handle; 6431, sliding shaft; 6432, articulated arm; 6433, U-shaped handle; 65, electrical module; 651, electrical box; 652, function button; 653, indicator light; 7, column. DETAILED DESCRIPTION

[0040] In order to solve the problems that the existing method of using motor shaft drive to realize automatic flipping of large bricks requires large torque, high driving cost, and strict stability requirements, the present invention provides an automatic flipping mechanism for bricks, which uses a semicircular fan and a worm gear mechanism as a transmission part to cooperate with a flipping motor for driving, which can greatly reduce the driving force of the flipping motor, and use a smaller motor to realize automatic flipping of larger bricks. The automatic flipping mechanism for bricks is further described below with specific embodiments combined with the accompanying drawings.

[0041] See also Figure 1 to Figure 4As shown, an automatic brick flipping mechanism includes a vehicle body 1, a suction cup docking module 6 and a flipping mechanism 5, wherein the suction cup docking module 6 includes a suction cup 62 installed for adsorbing bricks, and the flipping mechanism 5 includes a suction cup flipping module 51 flipably connected to the vehicle body 1 and a flipping driving mechanism 52 installed on the vehicle body 1 and used to drive the suction cup flipping module 51 to flip. Among them, the top of the vehicle body 1 extends outward to form a pair of extension brackets 14. The suction cup flipping module 51 includes a first docking structure 513, a rotating shaft 512 and a pair of semicircular sectors 511, the rotating shaft 512 is rotatably connected between the extension ends of a pair of the extension brackets 14, and the pair of semicircular sectors 511 are fixedly connected to the two ends of the same side of the rotating shaft 512 and are respectively rotatably matched with the pair of extension brackets 14. Specifically, the suction cup flip module 51 also includes a pair of shaft seats 514 respectively fixed to the extension ends of a pair of the extension brackets 14, the rotating shaft 512 is divided into two shaft sections, one end of the two shaft sections is fixed to the opposite sides of the first docking structure 513 by screws, and the other ends of the two shaft sections are respectively fixed to a bearing by locking nuts, and the two bearings are fixed to a pair of shaft seats 514 by screws. The two shaft sections are respectively fixedly connected to a pair of semicircular sectors 511, and the first docking structure 513 is detachably connected to the suction cup docking module 6. When a pair of semicircular sectors 511 rotate, the rotating shaft 512 can be driven to rotate, and further the suction cup docking module 6 can be driven to flip. Preferably, in order to improve the drive of the rotating shaft 512, the two shaft sections can be respectively connected to the pair of semicircular sectors 511 by worm gear transmission.

[0042] The flip driving mechanism 52 includes a pair of roller modules 527 respectively located at one end of the pair of extension brackets 14 away from the extension end, and a driving module located between the pair of roller modules 527 and used to drive the pair of roller modules 527 to rotate synchronously and reciprocatingly. The flip driving mechanism 52 also includes a first mounting plate 521, which is fixedly mounted on the top of the vehicle body 1 and is opposite to the pair of extension brackets 14. The pair of roller modules 527 and the flip driving mechanism 52 are both integrally mounted on the first mounting plate 521. The pair of roller modules 527 are respectively wound with pull ropes 53 in the forward and reverse directions, and the free ends of the two pull ropes 53 extend along the pair of extension brackets 14 and are connected to the pair of semicircular sectors 511. Each of the semicircular sectors 511 is provided with an arc groove along the arc edge for the corresponding pull rope 53 to be partially wrapped around when the semicircular sector 511 rotates, and one of the two pull ropes 53 is fixed to the first end of the arc groove of the corresponding semicircular sector 511, and the other of the two pull ropes 53 is fixed to the second end of the arc groove of the corresponding semicircular sector 511. In this embodiment, when a pair of the semicircular sectors 511 rotate to above the rotating shaft 512, the end of the arc groove close to the flip driving mechanism 52 is the first end, that is, Figure 4 At the middle P1 position, the end away from the flip driving mechanism 52 is the second end, that is, Figure 4 This embodiment uses a semicircular sector 511 for transmission, and by increasing the rotation radius, the driving force of the turning drive mechanism 52 on the rotating shaft 512 is reduced, so that the turning drive mechanism 52 is suitable for turning over larger bricks.

[0043] In some preferred embodiments, Figure 3 As shown, the driving module includes a worm gear mechanism located between a pair of the reel modules 527 and a flipping motor 522 for driving the worm gear mechanism, the worm gear mechanism includes a worm 524 and a worm wheel 525 that are vertically meshed with each other, the worm wheel 525 is coaxially fixed to the pair of reel modules 527, the worm 524 is coaxially fixed with a worm wheel shaft gear 523, a driving gear (not shown in the figure) that is meshed with the worm wheel shaft gear 523 is fixed on the driving shaft of the flipping motor 522, and the driving gear and the worm wheel shaft gear 523 form a gear transmission group. Among them, a mounting opening is opened on the first mounting plate 521, the worm 524 is embedded in the mounting opening, the flip motor 522 is installed on the first mounting plate 521 and is located below the worm 524, the worm shaft gear 523 is located above the worm 524, a pair of the reel modules 527 are symmetrically arranged on the opposite sides of the (543), and two pairs of belt seat bearings corresponding to the pair of reel modules 527 are fixed on the top surface of the first mounting plate 521. The two belt seat bearings in each pair are respectively located at the two ends of the corresponding reel module 527. The worm shaft gear 523 and the pair of reel modules 527 are arranged on the same axis, and the shaft on the axis is rotatably supported by the two pairs of belt seat bearings. Specifically, a pair of the reel modules 527 are fixed on two pairs of seat bearings through locking nuts respectively, and the worm 524 is locked to the worm shaft through locking nuts. The two ends of the worm shaft are respectively fixed with bearings, and the worm shaft gear 523 meshing with the driving gear is fixed at one end.

[0044] This embodiment uses the semicircular sector 511 and the worm gear mechanism and the gear transmission seat as the transmission member to cooperate with the flip motor 522 for driving, which can greatly reduce the driving force of the flip motor 522, so that a smaller-sized motor can be used to achieve automatic flipping of larger bricks. Further, in order to prevent the pair of reel modules 527 from being disengaged from the worm gear mechanism when they are synchronously reciprocating, a coupling 526 is coaxially fixed between the pair of reel modules 527 and the worm gear mechanism, and overload protection is performed by the coupling 526. This embodiment uses the worm gear mechanism as the transmission member to cooperate with the flip motor 522 to drive the pair of reel modules 527, which reduces the driving force of the flip motor 522, so that a smaller-sized flip motor 522 can be used to achieve flipping of larger bricks.

[0045] In some preferred embodiments, Figure 3 As shown, the automatic brick turning mechanism also includes a pair of guide modules 56 for guiding the extension direction of the free ends of the two pull ropes 53 respectively. The pair of guide modules 56 are both mounted on the first mounting plate 521 and are respectively arranged adjacent to the pair of reel modules 527. The pair of guide modules 56 are both provided with guide channels for the free ends of the corresponding pull ropes 53 to pass through, and the heights of the two guide channels are respectively consistent with the heights of the two pull ropes 53 drawn out on the corresponding reel modules 527, that is, one guide channel is located on the upper tangent line of the corresponding reel module 527, and the other guide channel is located on the lower tangent line of the corresponding reel module 527. Specifically, the guide module 56 includes a pulley, a bearing and a bracket. The pulley is fixed to the bearing by a retaining spring, the bearing is fixed to the bracket by a locking nut, and the bracket is fixed to the vehicle body 1 by screws. In the case where the first mounting plate 521 is provided, the bracket is fixed to the first mounting plate 521 by screws. The pulley circumferential surface is provided with a groove which provides the guide channel for the corresponding pull rope 53 to slide through, thereby playing a guiding role.

[0046] In some preferred embodiments, Figure 1 and Figure 4 As shown, the automatic brick turning mechanism also includes a pair of positioning wheels 54 for respectively positioning the free ends of the two pull ropes 53. The pair of positioning wheels 54 are respectively rotatably installed on the opposite inner sides of a pair of extension brackets 14 and are respectively arranged adjacent to a pair of semicircular sectors 511. The outer periphery of the pair of positioning wheels 54 is provided with wheel grooves for winding the free ends of the corresponding pull ropes 53. Similarly, the two pull ropes 53 are respectively wound around the pair of positioning wheels 54 in the forward and reverse directions.

[0047] In some preferred embodiments, Figure 1 and Figure 2As shown, the automatic brick turning mechanism also includes a pair of tensioning modules 55 for tensioning the two pull ropes 53. The pair of tensioning modules 55 are respectively installed on the pair of extension brackets 14. The pair of tensioning modules 55 are both provided with a tensioning channel with adjustable height for the free end of the corresponding pull rope 53 to pass through. Specifically, a support rod is fixed between the pair of extension brackets 14. The pair of tensioning modules 55 are respectively arranged on the opposite inner sides of the pair of extension brackets 14 and are fixed to the support rod together. The tensioning module 55 includes a U-shaped tensioning seat, a tensioning pulley and a tensioning pulley seat. The tensioning seat is fixed on the support rod. The tensioning pulley includes a pulley and a bearing for providing a tensioning channel. The pulley circumferential surface is provided with a groove for providing the tensioning channel for the corresponding pull rope 53 to slide through, which plays a role of guiding and rotating. The tension pulley is fixed to the tension pulley seat through the bearing. The tension pulley seat is provided with a sliding groove for the tension pulley seat to slide up and down. The tension pulley seat slides in the sliding groove to achieve up and down adjustment relative to the tension pulley seat. By adjusting the height of the tension pulley seat, the tension of the inserted pulley 53 can be achieved. The tensioning module 55 also includes a locking member for locking the tension pulley seat to slide up and down. Specifically, the locking member can be a bolt. The tensioning seat is provided with a plurality of threaded holes for the bolt to be selectively screwed and connected. The tension pulley seat is locked by screwing the bolt through a suitable threaded hole and pressing against the tension pulley seat.

[0048] The steps of using the above-mentioned flip driving mechanism 52 to drive the suction cup flip module 51 to realize the reciprocating flipping of the first docking structure 513 include:

[0049] Step 1, wind the two pull ropes 53 on the two reel modules 527 in the forward and reverse directions respectively, and lead the free ends of the two pull ropes 53 out of the corresponding reel modules 527, pass through the guide channel of the corresponding guide module 56, pass through the tensioning channel of the corresponding tensioning module 55, and then bypass the corresponding positioning wheel 54, and finally connect to the P1 position of the first semicircular sector 511a and the P2 position of the second semicircular sector 511b respectively, wherein the pull rope 53 connected to the P2 position is embedded in the arc groove from the P1 position of the second semicircular sector 511b and is wound along the arc groove to the P2 position and then fixed. Preferably, before the suction cup flip module 51 is driven by the flip driving mechanism 52, the tensioning pulley seats of the two tensioning modules 55 are adjusted up and down to tension the two pull ropes 53, and then the position of the tensioning pulley seats is locked by the locking member.

[0050] Step 2, control the driving shaft of the flipping motor 522 to rotate, transmit it to the worm gear mechanism through the gear transmission group, and then drive a pair of reel modules 527 to rotate 180° counterclockwise synchronously, so that the pull rope 53 corresponding to the second semicircular fan surface 511b is tightened to drive the second semicircular fan surface 511b to actively rotate, and the other pull rope 53 is loosened, so that the first semicircular fan surface 511a can passively and synchronously rotate in the same direction with the second semicircular fan surface 511b, and the synchronous and same-direction rotation of the first semicircular fan surface 511a and the second semicircular fan surface 511b drives the rotating shaft 512 to rotate, so as to realize the counterclockwise flipping of the first docking structure 513 by 180°. It should be noted that when the first semicircular sector 511a and the second semicircular sector 511b realize synchronous counterclockwise rotation of 180°, the first semicircular sector 511a and the second semicircular sector 511b are both rotated to the bottom of the rotation axis 512, and the P2 position of the two is relatively close to the flip driving mechanism 52, and the P1 position is relatively far away from the flip driving mechanism 52. Among them, the pull rope 53 corresponding to the first semicircular sector 511a is embedded in the circular arc groove from the P1 position and is wound along the circular arc groove to the P2 position, while the part of the pull rope 53 corresponding to the second semicircular sector 511b embedded in the circular arc groove will be separated from the circular arc groove.

[0051] Step 3, controlling the driving shaft of the flipping motor 522 to rotate in the opposite direction to realize the clockwise flipping of the first docking structure 513 by 180°. The working principle is the same as above, except that, during the rotation process, the pull rope 53 corresponding to the first semicircular fan 511a is tightened, and the first semicircular fan 511a actively rotates, while the other pull rope 53 is loosened, and the second semicircular fan 511b passively rotates. When the first docking structure 513 flips clockwise by 180°, the first semicircular fan 511a and the second semicircular fan 511b both rotate and return to the initial state of step 1.

[0052] In this way, by repeating step 2 and step 3, the first docking structure 513 can be reciprocated and turned over, that is, the suction cup docking module 6 connected to the first docking structure 513 can be reciprocated and turned over.

[0053] In some preferred embodiments, Figure 2 and Figure 4As shown, in order to ensure that the first docking structure 513 can stop flipping when flipping 180° counterclockwise or 180° clockwise, the automatic flipping mechanism for the brick also includes a pair of limit posts 515 and a pair of soft limit members 516, one of the limit posts 515 is fixed on the outer surface of one of the semicircular sectors 511 and corresponds to the first end position of the arc groove, the other is fixed on the outer surface of the other semicircular sector 511 and corresponds to the second end position of the arc groove, and the pair of soft limit members 516 are relatively fixed on the relative inner sides of the pair of extension brackets 14; when the pair of semicircular sectors 511 rotate 180° counterclockwise, one of the two limit posts 515 contacts with one of the soft limit members 516 on the corresponding side, and when the pair of semicircular sectors 511 rotate 180° clockwise, the other of the two limit posts 515 contacts with the other soft limit member 516 on the corresponding side, and the soft limit member 516 is configured to feedback a stop flipping signal after being contacted by the limit post 515. It should be noted that

[0054] The vehicle body 1 includes a bottom platform and a control box fixed to one side of the bottom platform and extending upward, the first mounting plate 521 and the extension bracket 14 are fixedly connected to the top of the control box, a controller for controlling the rotation of the flip motor 522 is arranged in the control box, the flip motor 522 and the soft limit member 516 are connected to the controller, an aviation plug 12 for connecting 220V AC power to the controller is arranged on the back of the control box, the controller can be remotely operated by a remote controller, and can also be operated by setting a control button outside the control box, such as: by setting a flip button 13 outside the control box to control the forward, reverse and stop of the flip motor 522, the soft limit member 516 will stop the flipping signal to the controller, so as to timely control the flip motor 522 to stop rotating. Preferably, in order to prevent the failure of the soft stopper 516 or the controller, which causes the turning motor 522 to be unable to stop rotating in time, a hard stopper can be provided on the pair of extension brackets 14, respectively, and the pair of hard stoppers can be used to block the pair of stopper posts 515 that continue to rotate after rotating 180° counterclockwise or clockwise. The pair of hard stoppers are respectively provided adjacent to the pair of soft stoppers 516 and are respectively located behind the rotation path of the pair of stopper posts 515.

[0055] In some preferred embodiments, see Figures 4 to 6As shown: the suction cup flip module 51 is connected to an H-shaped first docking structure 513, including two flange rods and a web rod fixed between the two flange rods, and a first clamping groove 5131 and a second clamping groove 5132 are formed between the two flange rods and on opposite sides of the web rod. The suction cup docking module 6 also includes a second mounting plate 61 and a third docking structure 64. The suction cup 62 and the third docking structure 64 are respectively mounted on the bottom and top of the suction cup docking module 6. The third docking structure 64 includes a U-shaped guide seat 641. The two flange plates of the guide seat 641 are arranged up and down, and a guide groove for inserting the first docking structure 513 is formed between the two flange plates. The flange plate located at the bottom is fixed to the top of the second mounting plate 61, and the flange plate located at the top is provided with a telescopic hole. The third docking structure 64 also includes a locking column 642 and an operating handle 643. The locking column 642 is installed on the top of the flange plate located above and can be movably inserted into the guide groove through the telescopic hole. The operating handle 643 is used to drive the locking column 642 to perform insertion movement. When the first docking structure 513 is inserted and accommodated in the guide groove, the web of the guide seat 641 and the locking column 642 are respectively inserted into the second slot 5132 and the first slot 5131. Preferably, the guide groove is in a trumpet shape as a whole. The two flange plates of the guide seat 641 are provided with horizontal guide followers for facilitating the insertion of the first docking structure 513. In this embodiment, the horizontal guide follower includes 8 sets of external threaded bearings 6411 respectively arranged along the edges of the two flange plates, the inner ring is fixed to the corresponding flange plate edge, and the outer ring is used to contact the upper and lower surfaces of the first docking structure 513 to play an insertion guide role. Through the H-shaped setting of the first docking structure 513 and the specific structural coordination of the third docking structure 64, the suction cup docking module 6 and the suction cup flipping module 51 can limit each other in multiple directions when connected, thereby ensuring the reliability of the connection between the two and avoiding separation during flipping. In addition, connection and disassembly are very convenient and almost no physical effort is required from workers.

[0056] In some embodiments, Figure 7 to Figure 10As shown: the locking column 642 includes a locking sleeve 6421, a locking core rod 6422 and a spring 6423. The locking sleeve 6421 is vertically fixed to the top of the flange plate located above the guide seat 641, and the bottom of the locking sleeve 6421 is provided with an opening connected to the telescopic hole. The locking core rod 6422 is inserted into the locking sleeve 6421 through the opening. A spring 6423 is provided in the locking sleeve 6421. The spring 6423 is connected between the locking sleeve 6421 and the top of the locking core rod 6422. A strip groove 6424 extending upward from the opening is provided on the locking sleeve 6421. The length of the strip groove 6424 is adapted to the telescopic range of the spring 6423. A sliding shaft hole 6425 is radially provided at the top of the locking core rod 6422 corresponding to the position of the strip groove 6424. The operating handle 643 includes a sliding shaft 6431 inserted into the strip groove 6424 and the sliding shaft hole 6425 and extending out of the locking sleeve 6421. In the reset state of the spring 6423, the sliding shaft 6431 is located near the opening, and the locking core rod 6422 is inserted into the lower part of the guide groove. By operating the sliding shaft 6431 to move upward along the strip groove 6424, the locking core rod 6422 can be driven to leave the guide groove. In order to make the operation more convenient, in some preferred embodiments, such as Figure 8 As shown, the operating handle 643 also includes a U-shaped handle 6433 for pressing operation, and the open end of the U-shaped handle 6433 is respectively hinged to the two extension parts of the sliding shaft 6431 through a hinge arm 6432. By pressing the U-shaped handle 6433, the sliding shaft 6431 can be driven to move upward along the strip groove 6424, thereby driving the locking core rod 6422 to leave the guide groove.

[0057] In some embodiments: Figure 2 , Figure 7 and Fig. 9As shown, the third docking structure 64 is located in the middle of the second mounting plate 61, and the number of the suction cups 62 is two, and the two suction cups 62 are symmetrically installed on the bottom of the second mounting plate 61 by screws with the third docking structure 64 as the center. The suction cup 62 is an industrial large suction cup, and its theoretical adsorption capacity can reach 900kg. By setting two suction cups 62 to work together, the suction cup area is larger, and it has a better absorption effect when facing large bricks (such as 800mm*800mm*15mm or more, and weighing not less than 25kg). Preferably, in order to facilitate the control of the suction cup 62, an electrical module 65 is also fixed to the bottom surface of the second mounting plate 61, and the electrical module 65 includes an electrical box 651 installed on the bottom surface of the edge of the second mounting plate 61 by screw locking, a function button 652 and an indicator light 653 arranged on the side of the electrical box 651, the bottom elevation of the electrical box 651 is higher than the bottom elevation of the suction cup 62, and is electrically connected to the two suction cups 62, the function button 652 includes a suction cup button for controlling the suction cup 62 to adsorb or stop adsorbing bricks, the suction cup 62 is controlled by the function button 652, and the status of the suction cup 62 is displayed by the indicator light 653.

[0058] In some embodiments, see Fig.11 As shown, the bottom of the vehicle body 1 is provided with at least three driving wheel groups (not shown in the figure, but covered in the housing 11) that can realize the omnidirectional movement of the vehicle body 1, and a support module 3 for supporting and fixing the vehicle body 1 to prevent the vehicle body 1 from moving. The driving wheel group can be any existing wheel group structure that can realize multi-directional rotation, which will not be described here. One end of the support module 3 is hinged to the vehicle body 1, and the other end of the support module 3 is height-adjustable relative to the vehicle body 1. Specifically, Fig.11 As shown, the support module 3 includes a side support 31 and a vertical support 32. One end of the side support 31 is rotatably connected to the shell 11 to realize the horizontal swing of the side support 31 relative to the vehicle body 1. The vertical support 32 is vertically arranged and height-adjustably connected to the other end of the side support 31. The bottom end of the vertical support 32 is formed with an enlarged pad for supporting the ground. The number of the support modules 3 is at least three, and they are evenly spaced around the bottom of the vehicle body 1. When the vehicle body 1 needs to be moved, the vertical support 32 is raised so that the driving wheel group can contact the ground. When the vehicle body 1 needs to be fixed, the side support 31 is unfolded to increase the support range. By lowering the vertical support 32, the driving wheel group is supported with the vehicle body 1 to leave the ground, so as to achieve the purpose of supporting and fixing the vehicle body 1. Through the arrangement of the vehicle body 1, the driving wheel group and the support module 3, the robot can be moved in all directions and stopped at any position without manually pushing the vehicle body 1, thereby reducing the physical labor of the workers.

[0059] In some embodiments, see Fig.11As shown, a horizontal arm 2 that can swing horizontally is also supported above the vehicle body 1. Specifically, a column 7 is vertically fixed in the middle of the vehicle body 1. The horizontal arm 2 is horizontally rotatably connected to the top of the column 7. The swing end of the horizontal arm 2 is connected to a hoist 4. The hoist end of the hoist 4 is provided with a second docking structure 41 that is detachably connected to the suction cup docking module 6. The suction cup flip module 51 is located within the range of motion of the second docking structure 41. The suction cup docking module 6 further includes a fourth docking structure 63 for detachably connecting the second docking structure 41. Specifically, a first hook 411 is formed at the bottom of the second docking structure 41. The fourth docking structure 63 is a columnar structure, which is vertically fixed to the flange plate located above the guide seat 641 by bolts, and a first bayonet 631 for the first hook 411 to be hung is provided on the fourth docking structure 63. The fourth docking structure 63 is higher than the third docking structure 64, and the first bayonet 631 is provided at a position where the third docking structure 64 is higher than the fourth docking structure 63, so that the first hook 411 will not be blocked by the third docking structure 64 when it is hung on the first bayonet 631. The second docking structure 41 serves as a lifting point of the hoist 4 and also as a remote controller of the hoist 4. A lifting button for controlling lifting is provided on the second docking structure 41, which is used to control the hoist 4 to wind or unwind the wire, so as to move the second docking structure 41 up and down to a suitable height.

[0060] In this embodiment, the brick to be flipped can be sucked by the suction cup 62 of the suction cup docking module 6, and the suction cup docking module 6 is connected by the second docking structure 41, and then the second docking structure 41 connected with the suction cup docking module 6 is moved to the vicinity of the suction cup flipping module 51 by the horizontal boom 2 and the hoist 4, and then the suction cup docking module 6 is removed from the second docking structure 41 and connected to the suction cup flipping module 51, and the specific reference is made to Fig.10 As shown in (a) to (c), the locking column 642 is controlled to retract to disengage from the guide groove, and the suction cup flip module 51 is pushed toward the suction cup docking module 6, so that the first docking structure 513 is inserted into the guide groove, and then the locking column 642 is controlled to extend to be inserted into the guide groove, so that the first docking structure 513 is fixed in the guide groove. Then, the flip drive mechanism 52 is used to drive the suction cup flip module 51 to flip until the sucked brick is flipped to the back side facing upward, so as to facilitate the plastering operation on the back side of the brick. When the plastering is completed, the flip drive mechanism 52 is used to drive the suction cup flip module 51 to flip back to its original position, and the suction cup docking module 6 is removed from the suction cup flip module 51 and reconnected to the second docking structure 41. The operating principles of removing from the suction cup flip module 51 and connecting the suction cup docking module 6 to the second docking structure 41 are the same as above.

[0061] By means of the coordinated arrangement of the horizontal boom 2, the hoist 4 and the suction cup docking module 6, the bricks to be turned over can be automatically moved to the suction cup turning module 51. The manual operation only needs to push the suction cup docking module 6 with the bricks adsorbed thereon, and cooperate with the operation of the locking column 642 to insert and snap the rotating shaft 512 into the guide groove to fix the bricks on the suction cup turning module 51. After fixation, the hoist 4 and the suction cup docking module 6 can be removed to drive the suction cup turning module 51 to turn the bricks over. The whole process requires almost no physical labor. The operation is simple and efficient, and it is convenient for automatic turning and plastering of large bricks, which is suitable for dry paving operations.

[0062] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A brick automatic turning mechanism, characterized in that: It includes a vehicle body, a suction cup docking module and a flipping mechanism, wherein the suction cup docking module includes a suction cup installed for adsorbing bricks, and the flipping mechanism includes a suction cup flipping module flipably connected to the vehicle body and a flipping driving mechanism installed on the vehicle body and used to drive the suction cup flipping module to flip; wherein, The top of the vehicle body extends outward to form a pair of extension brackets; The suction cup flip module comprises a first docking structure, a rotating shaft and a pair of semicircular sectors, wherein the rotating shaft is rotatably connected between the extension ends of a pair of extension brackets, the pair of semicircular sectors are fixedly connected to the two ends of the same side of the rotating shaft and are respectively rotatably matched with the pair of extension brackets, the first docking structure is located between the pair of semicircular sectors and is fixedly connected to the rotating shaft, and the first docking structure is detachably connected to the suction cup docking module; The flip driving mechanism comprises a pair of roller modules respectively located at one end of a pair of extension brackets away from the extension end, and a driving module located between the pair of roller modules and used to drive the pair of roller modules to synchronously reciprocate, and the pair of roller modules are respectively wound with pull ropes in the forward and reverse directions, and the free ends of the two pull ropes are respectively extended along the pair of extension brackets and connected to the pair of semicircular sectors; Each of the semicircular sectors is provided with an arc groove along the arc edge for the corresponding pull rope portion to be embedded in when the semicircular sector rotates, and one of the two pull ropes is fixed to the first end of the arc groove of the corresponding semicircular sector, and the other of the two pull ropes is fixed to the second end of the arc groove of the corresponding semicircular sector.

2. The automatic brick turning mechanism according to claim 1, characterized in that: The driving module includes a worm gear mechanism located between a pair of the reel modules and a flipping motor for driving the worm gear mechanism, the worm gear in the worm gear mechanism is coaxially fixed to the pair of reel modules, the worm in the worm gear mechanism is coaxially fixed with a worm shaft gear, and a driving gear meshing with the worm shaft gear is fixed on the driving shaft of the flipping motor.

3. The automatic brick turning mechanism according to claim 1, characterized in that: It also includes a pair of guide modules for respectively guiding the extension directions of the free ends of the two pull ropes. The pair of guide modules are both installed on the vehicle body and are respectively arranged adjacent to a pair of reel modules. The pair of guide modules are both provided with guide channels for the free ends of the corresponding pull ropes to pass through, and the heights of the two guide channels are respectively consistent with the heights of the two pull ropes led out on the corresponding reel modules.

4. The automatic brick turning mechanism according to claim 1, characterized in that: It also includes a pair of positioning wheels for respectively positioning the free ends of the two pull ropes. The pair of positioning wheels are respectively installed on a pair of extension brackets and are respectively arranged adjacent to a pair of semicircular sectors. The outer peripheries of the pair of positioning wheels are provided with wheel grooves for the free ends of the corresponding pull ropes to be wound around.

5. The automatic brick turning mechanism according to claim 1, characterized in that: It also includes a pair of tensioning modules for tensioning the two pull ropes. The pair of tensioning modules are respectively installed on a pair of extension brackets. The pair of tensioning modules are both provided with a tensioning channel with adjustable height for the free ends of the corresponding pull ropes to pass through.

6. The automatic brick turning mechanism according to claim 1, characterized in that: It also includes a pair of limit posts and a pair of soft limit parts, one of the limit posts is fixed on the outer surface of one of the semicircular sectors and corresponds to the first end position of the arc groove, the other is fixed on the outer surface of the other semicircular sector and corresponds to the second end position of the arc groove, and the pair of soft limit parts are relatively fixed on the relative inner sides of a pair of extension brackets; when the pair of semicircular sectors rotate 180° counterclockwise, one of the two limit posts contacts one of the soft limit parts on the corresponding side, and when the pair of semicircular sectors rotate 180° clockwise, the other of the two limit posts contacts the other soft limit part on the corresponding side, and the soft limit part is configured to feedback a stop flipping signal after being contacted by the limit post.

7. The automatic brick turning mechanism according to claim 1, characterized in that: The suction cup flip module is connected to a first H-shaped docking structure, including two flange rods and a web rod fixed between the two flange rods, and a first clamping groove and a second clamping groove are respectively formed between the two flange rods and on opposite sides of the web rod; The suction cup docking module also includes a second mounting plate and a third docking structure, the suction cup and the third docking structure are respectively mounted on the bottom and the top of the suction cup docking module, the third docking structure includes a U-shaped guide seat, the two flange plates of the guide seat are arranged up and down, and a guide groove for inserting the first docking structure is formed between the two flange plates, the flange plate located at the bottom is fixed to the top of the second mounting plate, and a telescopic hole is opened through the flange plate located at the top; The third docking structure further includes a locking column and an operating handle, wherein the locking column is installed on the top of the flange plate located above and can be movably inserted into the guide groove through the telescopic hole, and the operating handle is used to drive the locking column to perform insertion movement; When the first docking structure is inserted into and accommodated in the guide groove, the web of the guide seat and the locking column are respectively inserted into the second slot and the first slot.

8. The automatic brick turning mechanism according to claim 7, characterized in that: The locking column comprises a locking sleeve, a locking core rod and a spring, the locking sleeve is vertically fixed to the top of the flange plate located above the guide seat, and the bottom of the locking sleeve is provided with an opening connected to the telescopic hole, the locking core rod is inserted into the locking sleeve through the opening, a spring is arranged in the locking sleeve, the spring is connected between the locking sleeve and the top of the locking core rod, the locking sleeve is provided with a strip groove extending upward from the opening, the length of the strip groove is adapted to the telescopic range of the spring, and the top of the locking core rod is provided with a sliding shaft hole radially facing the strip groove; The operating handle includes a sliding shaft inserted into the strip groove and the sliding shaft hole and extending out of the locking sleeve; in the reset state of the spring, the sliding shaft is located adjacent to the opening, and the locking core rod is inserted into the lower part of the guide groove; by operating the sliding shaft to move upward along the strip groove, the locking core rod can be driven to disengage from the guide groove.

9. The automatic brick turning mechanism according to claim 1, characterized in that: The bottom of the vehicle body is provided with at least three driving wheel sets for realizing omnidirectional movement of the vehicle body, and at least three supporting modules for supporting and fixing the vehicle body to prevent the vehicle body from moving.

10. The automatic brick turning mechanism according to claim 1, characterized in that: A horizontal arm that can swing horizontally is also supported above the vehicle body, the swing end of the horizontal arm is connected to a hoist, and the hoist end of the hoist is provided with a second docking structure that is detachably connected to the suction cup docking module; The suction cup flip module is located within the movable range of the second docking structure.

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