Auxiliary brick paving robot and auxiliary brick paving method

Abstract

The invention relates to an auxiliary brick paving robot and an auxiliary brick paving method, and the robot comprises a suction cup butt joint module which is provided with a suction cup used for adsorbing bricks; the vehicle body can move in all directions; the horizontal lifting arm is supported above the vehicle body in a horizontal swinging manner, the swinging tail end of the horizontal lifting arm is connected with a lifting machine, and the lifting tail end of the lifting machine is provided with a third butt joint structure detachably connected with the suction cup butt joint module; the turnover mechanism comprises a suction cup turnover module and a turnover driving mechanism, the suction cup turnover module is connected to the vehicle body in a turnover mode and located in the moving range of the third butt joint structure, the turnover driving mechanism is installed on the vehicle body and used for driving the suction cup turnover module to conduct turnover motion, and the suction cup turnover module is detachably connected with the suction cup butt joint module. According to the brick overturning device, feeding, moving and automatic overturning of bricks can be achieved, and the physical labor of workers is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of brick-laying construction, and in particular to an auxiliary brick-laying robot and an auxiliary brick-laying method. Background Art

[0002] In the traditional construction industry, brick laying is generally done manually, but the work efficiency is low. As the weight and size of bricks increase, the difficulty of laying bricks will also increase, and the labor intensity of manual laying will also increase, affecting the stability of the quality of manual brick laying by workers.

[0003] The Chinese utility model with the current announcement number: CN221703047U discloses a novel auxiliary device for tile paving, including a movable vehicle body, a boom mounted on the vehicle body, and a vacuum suction cup mounted at the end of the boom. The auxiliary device controls the boom and the vacuum suction cup to absorb bricks, and moves the bricks to the working position by moving the vehicle body, so as to complete the loading of bricks, which reduces the labor of workers to a certain extent.

[0004] However, the above-mentioned auxiliary device can only perform the loading and moving process of brick paving, and the brick paving process is mainly divided into dry paving process and wet paving process. The dry paving process is to first lay a layer of dry cement mortar in the paving area, and then apply a layer of wet cement mortar on the back of the brick for paving. This process is suitable for places with high decoration requirements or large-area paving, but this process requires the bricks to be flipped, and the above-mentioned auxiliary device cannot achieve this operation. Manual flipping of bricks requires a lot of physical strength, especially for larger bricks. The flipping operation is difficult. Although the wet paving process only requires a layer of wet mortar to be applied on the ground before placing bricks directly, this process is only suitable for small areas and places with low construction requirements. Summary of the invention

[0005] In order to solve the above problems, the present invention provides an auxiliary brick-laying robot and an auxiliary brick-laying method, which can realize the loading, moving and automatic flipping of bricks, greatly reducing the physical labor of workers, and is suitable for the laying of large bricks.

[0006] The present invention is implemented by the following scheme: an auxiliary brick-laying robot, comprising:

[0007] Suction cup docking module, equipped with suction cups for adsorbing bricks;

[0008] A vehicle body that can move in all directions;

[0009] A horizontal boom is supported above the vehicle body in a horizontally swingable manner, the swing end of the horizontal boom is connected to a hoist, and the hoist end of the hoist is provided with a third docking structure detachably connected to the suction cup docking module;

[0010] The flipping mechanism includes a suction cup flipping module which is flippably connected to the vehicle body and is located within the movable range of the third docking structure, and a flipping driving mechanism which is installed on the vehicle body and is used to drive the suction cup flipping module to perform a flipping movement. The suction cup flipping module is detachably connected to the suction cup docking module.

[0011] A further improvement of the present invention is that: the suction cup flip module is connected to a fourth 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;

[0012] The suction cup docking module also includes a first mounting plate and a second docking structure, the suction cup and the second docking structure are respectively mounted on the bottom and the top of the suction cup docking module, the second docking structure includes a U-shaped guide seat, two flange plates of the guide seat are arranged up and down, and a guide groove for inserting the fourth docking structure is formed between the two flange plates, the flange plate located at the bottom is fixed to the top of the first mounting plate, and a telescopic hole is opened through the flange plate located at the top;

[0013] The second 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;

[0014] When the fourth 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.

[0015] 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;

[0016] 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.

[0017] A further improvement of the present invention is that the horizontal boom is supported above the vehicle body through a column, the horizontal boom includes a main boom and a secondary boom, the first end of the main boom is rotatably connected to the column through a first rotating mechanism, the first end of the secondary boom is rotatably connected to the second end of the main boom through a second rotating mechanism, and the second end of the secondary boom is connected to the hoist.

[0018] A further improvement of the present invention is that a triangular support is diagonally supported between the main boom and the column, the top end of the triangular support is fixed to the main boom, and the bottom end of the triangular support is rotatably matched with the column through a third rotating mechanism.

[0019] A further improvement of the present invention is that at least three driving modules for realizing omnidirectional movement of the vehicle body are arranged at the bottom of the vehicle body, and the driving modules include:

[0020] a second mounting plate for fixing to the vehicle body, wherein the second mounting plate is provided with a mounting hole;

[0021] A steering motor, wherein a fixed portion of the steering motor is mounted on the top of the second mounting plate, and a driving portion of the steering motor passes through the mounting hole and extends to the bottom of the second mounting plate;

[0022] A slewing support, located below the second mounting plate, comprises a movable plate drivingly connected to the driving part of the steering motor and a fixed plate fixedly connected to the bottom of the second mounting plate, wherein the movable plate is rotatably sleeved on the outer periphery of the fixed plate;

[0023] A wheel hub motor, wherein the fixed part of the wheel hub motor is fixed to the movable disk via a support frame, and the driving part of the wheel hub motor is sleeved with a roller; wherein,

[0024] The driving part of the steering motor drives the movable disk to drive the support frame and the fixed part of the hub motor to rotate to realize the steering movement of the roller, and the driving part of the hub motor drives the roller to realize forward and backward movement.

[0025] A further improvement of the present invention is that the driving module also includes a limit column and a soft limit part, the limit column is eccentrically inserted into the mounting hole, and the lower end of the limit column is fixedly connected to the movable disk or the support frame so as to rotate with the steering movement, the upper end of the limit column extends to above the second mounting plate, the number of the soft limit parts is two, and the two soft limit parts are located on both sides of the rotation center of the limit column and are installed on the top surface of the second mounting plate, and when the limit column rotates to face any of the soft limit parts, a signal to stop the rotation is fed back.

[0026] A further improvement of the present invention is that at least three supporting modules for supporting and fixing the vehicle body to prevent the vehicle body from moving are arranged at the bottom of the vehicle body.

[0027] A further improvement of the present invention is that it also includes a laser transmitter for emitting a laser standard line to the paving area and a laser receiver arranged at the adsorption position of the suction cup and for receiving the laser standard line; the suction cup is provided with an automatic vibration function.

[0028] The present invention also provides an auxiliary brick-laying method, comprising the steps of:

[0029] Providing an assisted bricklaying robot as described above;

[0030] Move the vehicle body and swing the horizontal boom so that the hoist is located directly above the suction cup docking module, adjust the height of the third docking structure, and then connect the suction cup docking module to the third docking structure;

[0031] Move the vehicle body and swing the horizontal boom so that the lifted suction cup docking module is located directly above the brick to be sucked, adjust the height of the third docking structure, and then use (the suction cup docking module to suck the brick;

[0032] Swing the horizontal boom and adjust the height of the third docking structure to move the third docking structure close to the suction cup flip module;

[0033] The suction cup docking module is removed from the third docking structure and connected to the suction cup flipping module, and then the suction cup flipping module is driven by a flipping driving mechanism to flip until the sucked brick is flipped to face the back side upward, and then the back side of the brick is plastered;

[0034] After the plastering is completed, the suction cup flip module is driven to flip back to its original position by the flip driving mechanism, and the suction cup docking module is removed from the suction cup flip module and connected to the third docking structure again;

[0035] Move the vehicle body, swing the horizontal boom, and adjust the height of 71 so that the third docking structure faces the position to be laid, then lay the bricks at the position to be laid, and stop the suction cup docking module from adsorbing the bricks.

[0036] The present invention includes but is not limited to the following beneficial effects:

[0037] Through the setting of the vehicle body, driving module 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.

[0038] 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.

[0039] Through the coordinated setting of the flipping mechanism and the suction cup docking module, the bricks can be automatically flipped, which further reduces the physical labor of the workers and is suitable for dry-laying operations of large bricks.

[0040] By setting up two suction cups to work together, a better suction effect can be achieved when facing large bricks. Furthermore, through the coordinated setting of the suction cup's vibration function, the laser level and the laser receiver, automatic leveling can be achieved when laying bricks, thus ensuring the laying quality.

[0041] Through the H-shaped setting of the fourth docking structure and the specific structural coordination of the second 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the three-dimensional structure of the auxiliary brick-laying robot in the present invention is shown.

[0043] Figure 2 A front structural schematic diagram of the auxiliary brick-laying robot in the present invention is shown.

[0044] Figure 3 The three-dimensional structure schematic diagram of the driving module in the present invention is shown.

[0045] Figure 4 The front structural schematic diagram of the driving module in the present invention is shown.

[0046] Figure 5 A schematic diagram of the planar structure of the driving module in the present invention is shown.

[0047] Figure 6A schematic diagram of the three-dimensional structure of the suction cup flip module in the present invention is shown.

[0048] Figure 7 A schematic diagram of the three-dimensional structure of the suction cup docking module in the present invention is shown.

[0049] Figure 8 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.

[0050] Fig. 9 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.

[0051] Fig.10 Shows Fig. 9 Schematic diagram of the AA cross-section structure in the state.

[0052] Fig.11 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.

[0053] Fig.12 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.

[0054] In the figure: 1, vehicle body; 11, shell; 12, aviation plug; 13, flip button; 14, extension bracket; 2, horizontal boom; 21, main boom; 22, auxiliary boom; 23, first rotating mechanism; 24, second rotating mechanism; 25, triangular support; 26, third rotating mechanism; 3, driving module; 31, second mounting plate; 32, steering motor; 321, first gear; 33, slewing support; 331, second gear; 34, support frame; 35, hub motor; 36, roller; 37, soft limiter; 38, limit column; 39, hard limiter; 4, support module; 41, side support; 42, vertical support; 5, flip mechanism; 51, suction cup flip module; 511, rotating shaft; 512, fourth docking structure; 5121 , first card slot; 5122, second card slot; 513, shaft seat; 6, suction cup docking module; 61, first mounting plate; 62, suction cup; 63, first docking structure; 631, first bayonet; 64, second 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, hoist; 71, third docking structure; 711, first hook; 8, column. DETAILED DESCRIPTION

[0055] In order to solve the problems that the existing auxiliary brick-laying equipment cannot realize the brick flipping function, needs manual labor to flip and cannot guarantee the quality of dry paving work, the present invention provides an auxiliary brick-laying robot and an auxiliary brick-laying method, which can realize the loading, movement and automatic flipping of bricks, greatly reducing the physical labor of workers, and is suitable for the laying of large bricks. The auxiliary brick-laying robot and the auxiliary brick-laying method are further described below with specific embodiments and drawings.

[0056] See also Figure 1 As shown, an auxiliary brick-laying robot includes a vehicle body 1, a horizontal boom 2, a flipping mechanism 5, a suction cup docking module 6 and a hoist 7. The suction cup docking module 6 is equipped with a suction cup 62 for adsorbing bricks, and the vehicle body 1 can move in all directions. The horizontal boom 2 can be supported above the vehicle body 1 in a horizontally swingable manner, and the hoist 7 is connected to the swinging end of the horizontal boom 2. The lifting end of the hoist 7 is provided with a third docking structure 71 detachably connected to the suction cup docking module 6. The flipping mechanism 5 includes a suction cup flipping module 51 flipably connected to the vehicle body 1 and located within the active range of the third docking structure 71, and a flipping driving mechanism installed on the vehicle body 1 and used to drive the suction cup flipping module 51 to flip, and the suction cup flipping module 51 is detachably connected to the suction cup docking module 6. Through the coordinated arrangement of the horizontal boom 2, the hoist 7 and the suction cup docking module 6, the bricks can be sucked and lowered, and the movement of the vehicle body 1 can be coordinated to realize the loading and movement of the bricks to any position, which greatly reduces the physical labor of the workers. Further, through the coordinated arrangement of the flipping mechanism 5 and the suction cup docking module 6, the bricks can be automatically flipped, which further reduces the physical labor of the workers and is suitable for dry laying operations of large bricks.

[0057] In some embodiments, see Figure 3 to Figure 5As shown, the vehicle body 1 includes a frame of a steel frame structure and a housing 11 covered outside the frame. The bottom of the frame is provided with a driving module 3 for realizing the omnidirectional movement of the vehicle body 1. Preferably, the number of the driving modules 3 is four, which are respectively installed at the bottom four corners of the frame. Specifically, each of the driving modules 3 includes a second mounting plate 31, a steering motor 32, a slewing support 33, a support frame 34, a hub motor 35 and a roller 36. The second mounting plate 31 is made of a hollow aluminum plate, and the four corners are punched and fixed to the frame of the vehicle body 1 by bolts. A mounting hole is provided on the second mounting plate 31, and the steering motor 32 is buckled on the motor flange, and its fixed part is bolted to the top of the second mounting plate 31, and the driving part (i.e., the driving shaft) of the steering motor 32 passes through the mounting hole and extends to the bottom of the second mounting plate 31. The driving part of the steering motor 32 extending to the bottom of the second mounting plate 31 is fixed with a first gear 321. The slewing support 33 is located below the second mounting plate 31, and can adopt a gear structure with a bearing, specifically including a fixed plate, a movable plate and a second gear 331, the fixed plate is fixedly connected to the bottom of the second mounting plate 31, the movable plate is rotatably sleeved on the outer periphery of the fixed plate, the second gear 331 is sleeved and fixed on the outer periphery of the movable plate, and the second gear 331 is meshed and connected with the first gear 321. The slewing support 33 plays the role of rotation and support, and at the same time, the second gear 331 and the first gear 321 form a steering transmission gear set. The fixed part of the hub motor 35 is fixedly connected to the support frame 34 by the shaft end screw, and the support frame 34 is fixed to the movable plate by screws, and the driving part (i.e., the driving shaft) of the hub motor 35 is outer-engaged with the roller 36. The vehicle body 1 includes a bottom platform and a control box fixed to one side of the bottom platform and extending upward. A controller capable of controlling the steering motor 32 and the wheel hub motor 35 is arranged in the control box. 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 or by setting a control button on the outside of the control box. The steering motor 32 is controlled to drive the movable disk to drive the support frame 34 and the fixed part of the wheel hub motor 35 to rotate so as to realize the automatic steering movement of the roller 36. The wheel hub motor 35 is controlled to drive the roller 36 to realize automatic forward and backward movement.

[0058] Preferably: the drive module 3 also includes a limit column 38 and a soft limit member 37, the limit column 38 is eccentrically inserted into the mounting hole, and the lower end of the limit column 38 is fixedly connected to the movable disk or the support frame 34 to rotate with the steering movement, the upper end of the limit column 38 extends to the top of the second mounting plate 31, the soft limit member 37 is a proximity sensor, there are two of them, and the two soft limit members 37 are located on both sides of the rotation center of the limit column 38 and are fixed to the top surface of the second mounting plate 31 by screws, when the limit column 38 rotates to face any of the soft limit members 37, a stop rotation signal is fed back to the controller to control the rotation range of the slewing support 33 to 180°, making the steering control operation easier. Furthermore: In order to avoid the inability to stop the steering movement in time due to a malfunction of the soft limit component 37 or the controller control process, two hard limit components 39 are now added. The two hard limit components 39 are respectively arranged adjacent to the two soft limit components 37 and installed on the second mounting plate 31, and the two hard limit components 39 both extend radially into the mounting hole, so that when the limit column 38 continues to rotate after passing through the corresponding soft limit component 37, the limit column 38 is blocked to stop further rotation.

[0059] In some embodiments, the bottom of the vehicle body 1 is also provided with a support module 4 for supporting and fixing the vehicle body 1 to prevent the vehicle body 1 from moving. One end of the support module 4 is hinged to the vehicle body 1, and the other end of the support module 4 is height-adjustable relative to the vehicle body 1. Figure 1 As shown, the support module 4 includes a side support 41 and a vertical support 42. One end of the side support 41 is rotatably connected to the shell 11 to realize the horizontal swing of the side support 41 relative to the vehicle body 1. The vertical support 42 is vertically arranged and height-adjustably connected to the other end of the side support 41. The bottom end of the vertical support 42 is formed with an enlarged pad for supporting the ground. The number of the support modules 4 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 42 is raised so that the roller 36 can contact the ground. When the vehicle body 1 needs to be fixed, the side support 41 is unfolded to increase the support range. By lowering the vertical support 42, the roller 36 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 module 3 and the support module 4, 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.

[0060] In some embodiments: the horizontal boom 2 is supported on the vehicle body 1 by a column 8, and the horizontal boom 2 includes a main boom 21 and a secondary boom 22. The first end of the main boom 21 is rotatably connected to the column 8 through a first rotating mechanism 23, the first end of the secondary boom 22 is rotatably connected to the second end of the main boom 21 through a second rotating mechanism 24, and the second end of the secondary boom 22 is connected to the hoist 7. Figure 1 and Figure 2 As shown, the column 8 is an aluminum hollow column, which is bolted to the middle of the bottom platform of the vehicle body 1. The main boom 21 and the auxiliary boom 22 are both made of square steel pipes. The first rotating mechanism 23 can be a bearing, the bottom of its inner ring is embedded and fixed in the top of the column 8, and its outer ring is rotatably sleeved outside the top of the inner ring, and the main boom 21 is fixed to the outer ring. The second rotating mechanism 24 can also be a bearing, the second end of the main boom 21 is fixed to the outer ring of the bearing, the first end of the auxiliary boom 22 is formed as a U-shaped end, which is sleeved outside the second rotating mechanism 24, and its two flange sides are respectively fixed to the upper and lower ends of the inner ring of the second rotating mechanism 24. The auxiliary boom 22 can be horizontally rotated 320° relative to the main boom 21 through the second rotating mechanism 24, and the main boom 21 can be horizontally rotated 360° relative to the column 8 through the first rotating mechanism 23. In order to improve the bearing capacity of the horizontal boom 2 so as to be suitable for the lifting of large bricks, a triangular support 25 is also diagonally supported between the main boom 21 and the column 8, the top end of the triangular support 25 is fixed to the main boom 21, and the bottom end of the triangular support 25 is rotatably matched with the column 8 through a third rotating mechanism 26. Specifically, the third rotating mechanism 26 is an arc-shaped support member, including two arc-shaped support plates arranged in parallel up and down and at least three bearings arranged between the two arc-shaped support plates, the two ends of the inner ring of each bearing are respectively fixed to the two arc-shaped support plates, the outer ring of each bearing contacts the outer wall of the column 8, and the inner arc edges of the two arc-shaped support plates are adapted to be adjacent to the outer periphery of the column 8, and the bottom end of the triangular support 25 is fixed to the top surface of the upper arc-shaped support plate. The use of this rotating support form can ensure that the main boom 21 rotates more smoothly relative to the column 8, and when the hoist 7 is hoisted with bricks, under the gravity of the bricks, the third rotating mechanism 26 will press the outer wall of the column 8, so that the vertical force can be partially converted into horizontal force, thereby improving the load capacity of the horizontal boom 2. In this embodiment, the arm span of the horizontal boom 2 can be 2m, and when the hoist 7 hoists a 50kg brick, the deformation of the horizontal boom 2 does not exceed 10mm, and the connection between the column 8 and the main boom 21 will not be deformed.

[0061] In some embodiments: Figure 6 to Figure 8As shown, the suction cup flip module 51 is connected to an H-shaped fourth docking structure 512, including two flange rods and a web rod fixed between the two flange rods, and a first clamping groove 5121 and a second clamping groove 5122 are formed between the two flange rods and on opposite sides of the web rod. The suction cup docking module 6 also includes a first mounting plate 61 and a second docking structure 64, the suction cup 62 and the second docking structure 64 are respectively mounted on the bottom and top of the suction cup docking module 6, the second 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 fourth docking structure 512 is formed between the two flange plates, the flange plate located at the bottom is fixed to the top of the first mounting plate 61, and the flange plate located at the top is provided with a telescopic hole. The second 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 fourth docking structure 512 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 5122 and the first slot 5121. 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 that facilitate the insertion of the fourth docking structure 512. 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 fourth docking structure 512 to play an insertion guide role.

[0062] Regarding the flipping driving mechanism, a motor drive form can be adopted. Specifically, the fourth docking structure 512 is rotatably connected to the shaft seat 513 through the rotating shaft 511, and the shaft seat 513 is fixed to the vehicle body 1. In this embodiment, an extension bracket 14 extending outward is fixed on the top of the control box of the vehicle body 1, and the shaft seat 513 is installed at the extension end of the extension bracket 14 and is located within the swing range of the third docking structure 71. The fixed part of the flipping driving mechanism is installed and fixed to the shaft seat 513 or the vehicle body 1, and the driving part (i.e., the driving shaft) of the flipping driving mechanism is directly driven and connected to the rotating shaft 511 or through a transmission mechanism. The flipping driving mechanism is connected to the controller, and the controller controls the flipping driving mechanism to drive the rotating shaft 511 to rotate forward and reverse to achieve the purpose of automatically flipping the fourth docking structure 512, thereby realizing the automatic flipping of the suction cup docking module 6 and the bricks. For the control of the automatic flipping, a remote controller can also be used for remote control, or a flip button 13 can be set on the outside of the control box for control. Through the H-shaped setting of the fourth docking structure 512 and the specific structural coordination of the second 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.

[0063] In some embodiments: Figures 9 to 11 As 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, and 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, and 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 extended part of 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.

[0064] In order to make the operation more convenient, in some preferred embodiments, 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.

[0065] In some embodiments: Figure 2 and Figure 7 As shown, the suction cup docking module 6 also includes a first docking structure 63 for detachably connecting the third docking structure 71. Specifically, a first hook 711 is formed at the bottom of the third docking structure 71. The first 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 711 to be hung is provided on the first docking structure 63. The first docking structure 63 is higher than the second docking structure 64, and the first bayonet 631 is provided at a position where the second docking structure 64 is higher than the first docking structure 63, so that the first hook 711 will not be blocked by the second docking structure 64 when it is hung on the first bayonet 631. The third docking structure 71 serves as the lifting point of the hoist 7 and also as the remote control of the hoist 7. A lifting button for controlling lifting is provided on the third docking structure 71, which is used to control the hoist 7 to wind or unwind the line, so as to move the third docking structure 71 up and down to a suitable height.

[0066] In some embodiments: Figure 7 to Figure 9As shown, the second docking structure 64 is located in the middle of the first mounting plate 61, the number of the suction cups 62 is two, and the two suction cups 62 are symmetrically installed on the bottom of the first mounting plate 61 by screws with the second docking structure 64 as the center. Preferably: the robot also includes a laser transmitter for emitting a laser standard line to the paving area and a laser receiver arranged at the adsorption position of the suction cup 62 and used to receive the laser standard line; the suction cup 62 is an industrial large suction cup, which has a vibration function and an adjustable vibration gear, 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). Further, through the vibration function of the suction cup 62, the coordinated setting of the laser level meter and the laser receiver, it can realize automatic leveling when paving bricks, ensuring the paving quality. 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 first mounting plate 61, and the electrical module 65 includes an electrical box 651 installed on the bottom surface of the edge of the first 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, a vibration button for controlling the suction cup 62 to vibrate, and a gear button for adjusting the vibration gear, 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.

[0067] The present invention also provides an auxiliary brick laying method, see Figures 1 to 12 As shown, the steps include:

[0068] Step 1: Provide the auxiliary brick-laying robot as described above.

[0069] Step 2, move the vehicle body 1 and swing the horizontal boom 2, so that the hoist 7 is located directly above the suction cup docking module 6, adjust the height of the third docking structure 71, and then connect the suction cup docking module 6 to the third docking structure 71. For the movement of the vehicle body 1, it can be achieved by controlling the driving module 3 by the controller without manually pushing the vehicle body 1. For the swing of the horizontal boom 2, it can be directly applied to the third docking structure 71 by applying a horizontal pulling force to drag the horizontal boom 2 to swing horizontally. The auxiliary boom 22 can be bent 320° relative to the main boom 21, and the main boom 21 can drive the auxiliary boom 22 to rotate 360° relative to the column 8 as a whole, so that the hoist 7 has a larger swing range. By dragging the horizontal boom 2, the hoist 7 is located at the target position. Regarding the adjustment of the height of the third docking structure 71, it can be achieved by controlling the hoist 7 to wind and unwind. Regarding the connection between the suction cup docking module 6 and the third docking structure 71 , in the case where a first bayonet 631 and a first hook 711 are provided, the first hook 711 can be directly hooked on the first bayonet 631 .

[0070] Step 3, move the vehicle body 1 and swing the horizontal boom 2 so that the lifted suction cup docking module 6 is located directly above the brick to be sucked, adjust the height of the third docking structure 71, and then use the suction cup docking module 6 to suck the brick, specifically control the suction cup 62 for adsorption.

[0071] Step 4, swing the horizontal boom 2 and adjust the height of the third docking structure 71, so that the third docking structure 71 moves close to the suction cup flip module 51, specifically, the guide groove of the suction cup docking module 6 connected to the third docking structure 71 is opposite to the fourth docking structure 512 of the suction cup flip module 51.

[0072] Step 5: Remove the suction cup docking module 6 from the third docking structure 71 and connect it to the suction cup flipping module 51. Fig.12 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 fourth docking structure 512 is inserted into the guide groove, and then the locking column 642 is controlled to extend to insert into the guide groove, so that the fourth docking structure 512 is fixed in the guide groove. Then, the suction cup flip module 51 is driven to flip by the flip drive mechanism until the sucked brick is flipped to face the back side upward, and then the back side of the brick is plastered.

[0073] Step 6: After the plastering is completed, the suction cup flip module 51 is driven to flip back to its original position by the flip driving mechanism, and the suction cup docking module 6 is removed from the suction cup flip module 51 and reconnected to the third docking structure 71. The principle of removing from the suction cup flip module 51 is referred to step 5, and the step of connecting the suction cup docking module 6 to the third docking structure 71 is referred to step 2.

[0074] Step 7, move the vehicle body 1, swing the horizontal boom 2, and adjust the height of the 71, so that the third docking structure 71 is facing the position to be laid, and then lay the bricks at the position to be laid, and stop the suction cup docking module 6 from adsorbing the bricks. For the suction cup 62 with a vibration function, after laying the bricks at the position to be laid, first turn on the vibration function, and cooperate with the laser receiver to perform leveling operation based on the laser standard line emitted by the pre-set laser transmitter. After leveling, stop the suction cup docking module 6 from adsorbing the bricks. Finally, remove the suction cup docking module 6 from the third docking structure 71.

[0075] The movement of the vehicle body 1 of the present invention is automatically controlled, and no manual push is required. The present invention adds a flipping mechanism 5, which is convenient for flipping and plastering bricks, and is suitable for dry paving processes. Moreover, the suction cup docking module 6 is detachably connected to the flipping mechanism 5 and the hoist 7, respectively, so that the robot can not only load and move bricks, but also automatically flip bricks. In addition, the suction cup 62 has a vibration function and the laser level transmitter and receiver are matched, so that the robot has a leveling auxiliary function. The present invention completes the parts of the brick paving steps that require workers to perform physical labor with the assistance of robots, which greatly reduces the physical exertion of workers and improves work efficiency.

[0076] 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-laying auxiliary robot, characterized in that: include: Suction cup docking module, equipped with suction cups for adsorbing bricks; A vehicle body that can move in all directions; A horizontal boom is supported above the vehicle body in a horizontally swingable manner, the swing end of the horizontal boom is connected to a hoist, and the hoist end of the hoist is provided with a third docking structure detachably connected to the suction cup docking module; The flipping mechanism includes a suction cup flipping module which is flippably connected to the vehicle body and is located within the movable range of the third docking structure, and a flipping driving mechanism which is installed on the vehicle body and is used to drive the suction cup flipping module to perform a flipping movement. The suction cup flipping module is detachably connected to the suction cup docking module.

2. The auxiliary brick-laying robot according to claim 1, characterized in that: The suction cup flip module is connected to a fourth 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; The suction cup docking module also includes a first mounting plate and a second docking structure, the suction cup and the second docking structure are respectively mounted on the bottom and the top of the suction cup docking module, the second docking structure includes a U-shaped guide seat, two flange plates of the guide seat are arranged up and down, and a guide groove for inserting the fourth docking structure is formed between the two flange plates, the flange plate located at the bottom is fixed to the top of the first mounting plate, and a telescopic hole is opened through the flange plate located at the top; The second 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 fourth 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.

3. The auxiliary brick-laying robot according to claim 2, 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.

4. The auxiliary brick-laying robot according to claim 1, characterized in that: The horizontal boom is supported above the vehicle body through a column, and the horizontal boom includes a main boom and a secondary boom. The first end of the main boom is rotatably connected to the column through a first rotating mechanism, the first end of the secondary boom is rotatably connected to the second end of the main boom through a second rotating mechanism, and the second end of the secondary boom is connected to the hoist.

5. The auxiliary brick-laying robot according to claim 4, characterized in that: A triangular support is obliquely supported between the main boom and the column, the top end of the triangular support is fixed to the main boom, and the bottom end of the triangular support is rotatably matched with the column through a third rotating mechanism.

6. The auxiliary brick-laying robot according to claim 1, characterized in that: At least three driving modules are arranged at the bottom of the vehicle body for realizing omnidirectional movement of the vehicle body, and the driving modules include: a second mounting plate for fixing to the vehicle body, wherein the second mounting plate is provided with a mounting hole; A steering motor, wherein a fixed portion of the steering motor is mounted on the top of the second mounting plate, and a driving portion of the steering motor passes through the mounting hole and extends to the bottom of the second mounting plate; A slewing support, located below the second mounting plate, comprises a movable plate drivingly connected to the driving part of the steering motor and a fixed plate fixedly connected to the bottom of the second mounting plate, wherein the movable plate is rotatably sleeved on the outer periphery of the fixed plate; A hub motor, wherein the fixed part of the hub motor is fixed to the movable disk via a support frame, and the driving part of the hub motor is sleeved with a roller; wherein: The driving part of the steering motor drives the movable disk to drive the support frame and the fixed part of the hub motor to rotate to realize the steering movement of the roller, and the driving part of the hub motor drives the roller to realize forward and backward movement.

7. The auxiliary brick-laying robot according to claim 6, characterized in that: The driving module also includes a limit column and a soft limit part. The limit column is eccentrically inserted into the mounting hole, and the lower end of the limit column is fixedly connected to the movable disk or the support frame so as to rotate with the steering movement. The upper end of the limit column extends to above the second mounting plate. There are two soft limit parts, and the two soft limit parts are located on both sides of the rotation center of the limit column and are installed on the top surface of the second mounting plate. When the limit column rotates to face any of the soft limit parts, a signal to stop the rotation is fed back.

8. The auxiliary brick-laying robot according to claim 1, characterized in that: At least three supporting modules are arranged at the bottom of the vehicle body for supporting and fixing the vehicle body to prevent the vehicle body from moving.

9. The auxiliary brick-laying robot according to claim 1, characterized in that: It also includes a laser transmitter for emitting a laser standard line to the paving area and a laser receiver arranged at the adsorption position of the suction cup and for receiving the laser standard line; the suction cup is provided with an automatic vibration function.

10. An auxiliary bricklaying method, characterized in that: Includes steps: Providing an auxiliary brick-laying robot as claimed in any one of claims 1 to 9; Move the vehicle body and swing the horizontal boom so that the hoist is located directly above the suction cup docking module, adjust the height of the third docking structure, and then connect the suction cup docking module to the third docking structure; Move the vehicle body and swing the horizontal boom so that the lifted suction cup docking module is located directly above the brick to be sucked, adjust the height of the third docking structure, and then use (the suction cup docking module to suck the brick; Swing the horizontal boom and adjust the height of the third docking structure to move the third docking structure close to the suction cup flip module; The suction cup docking module is removed from the third docking structure and connected to the suction cup flipping module, and then the suction cup flipping module is driven by a flipping driving mechanism to flip until the sucked brick is flipped to face the back side upward, and then the back side of the brick is plastered; After the plastering is completed, the suction cup flip module is driven to flip back to its original position by the flip driving mechanism, and the suction cup docking module is removed from the suction cup flip module and connected to the third docking structure again; Move the vehicle body, swing the horizontal boom, and adjust the height of 71 so that the third docking structure faces the position to be laid, then lay the bricks at the position to be laid, and stop the suction cup docking module from adsorbing the bricks.

Images