A fully automatic wall building device

Abstract

The application discloses a kind of full-automatic wall body masonry device, including masonry robot, magnetic stripe guiding system, send brick system and cut brick system, the masonry robot includes grab brick system, mortar system and walking system, magnetic stripe guiding system includes magnetic guiding strip, instruction point is arranged on the magnetic guiding strip, magnetic guiding strip is parallel to the wall to be masonry, the walking system of masonry robot travels along the magnetic guiding strip, the masonry point of the masonry robot is positioned by the instruction point, masonry robot is also provided with a base arm, grab brick system includes grab brick cross arm, grab brick vertical arm and grab brick module, mortar system includes mortar cross arm, mortar vertical arm, mortar module, mortar pipeline and mortar storage barrel.The application integrates send brick, mortar, cut block, bricklaying, and can be automatically masonry straight wall and arc wall, meet the masonry needs of different scale, different height.

Description

Technical Field

[0001] This invention relates to an intelligent building equipment, and more particularly to a fully automatic wall construction device. Background Technology

[0002] As the aging population problem becomes increasingly severe, both the quantity and quality of the construction workforce are declining. Since construction is a labor-intensive industry, with many processes relying on multi-person collaborative operations, the demand for construction labor has become a significant factor restricting the industry's development. The application of artificial intelligence technology in the field of masonry construction has greatly improved the working environment of traditional manual masonry work.

[0003] Currently, masonry work mainly relies on manual labor. Traditional manual methods are extensive and the quality of construction cannot be effectively controlled. Existing masonry machinery and equipment, such as the Chinese patent CN111350361B entitled "A Masonry Method, Masonry System and Masonry Robot", employs large, complex, and costly masonry robots. Furthermore, most current masonry robots cannot automatically spread mortar, limiting the height of the walls they can construct and generally restricting their use to linear walls. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a fully automatic wall construction device that integrates brick feeding, mortar spreading, block cutting, and brick laying. It can automatically construct straight and curved walls, meeting the construction needs of different scales and heights.

[0005] A fully automated wall construction device includes a bricklaying robot, a magnetic strip guiding system, a brick feeding system, and a brick cutting system. The bricklaying robot includes a brick gripping system, a mortar spreading system, and a walking system. The magnetic strip guiding system includes a magnetic guide strip with command points. The magnetic guide strip is parallel to the wall to be constructed. The walking system of the bricklaying robot travels along the magnetic guide strip and positions its construction points using the command points. The brick cutting system receives bricks from the brick conveyor line and includes a brick positioning clamp and a brick separating tool. The bricklaying robot also has a base arm. The brick-grabbing system includes a horizontal brick-grabbing arm, a vertical brick-grabbing arm, and a brick-grabbing module. The horizontal brick-grabbing arm is slidably connected to the base arm, the vertical brick-grabbing arm is slidably connected to the horizontal brick-grabbing arm, and the brick-grabbing module is vertically connected to the vertical brick-grabbing arm. The mortar-spreading system includes a horizontal mortar-spreading arm, a vertical mortar-spreading arm, a mortar-spreading module, a mortar-distribution pipe, and a mortar storage tank. The horizontal mortar-spreading arm is slidably connected to the base arm, the vertical mortar-spreading arm is slidably connected to the horizontal mortar-spreading arm, and the mortar-spreading module is vertically connected to the vertical mortar-spreading arm. The mortar outlet of the mortar-distribution pipe is matched with the mortar-spreading module, and the mortar storage tank is fixed to the masonry robot.

[0006] The bricklaying robot of this invention moves along the path guided by magnetic guide bars without deviating from the route. Upon reaching the preset command point, i.e., the point where wall construction needs to begin, it pauses its movement. The horizontal and vertical mortar-spreading arms deliver the mortar-spreading module and the mortar outlet of the mortar distribution pipe to the required mortar-spreading location. After mortar spreading, the mortar-spreading module compacts the mortar and then moves to the next position that will not interfere with bricklaying, awaiting the next mortar-spreading action. Then, the horizontal and vertical brick-grabbing arms deliver the brick-grabbing module to the brick-cutting system, picking up bricks delivered from the brick conveyor line and placing them on the mortar-spreading area. The brick-grabbing module compacts the brick for laying, then releases the laid brick and moves to the next position to pick up the next brick for continuous construction.

[0007] The instruction point of the present invention is a masonry point marked by an RFID signal tag, wherein the RFID signal tag is a radio frequency identification tag.

[0008] The basic arm, brick-grabbing horizontal arm, brick-grabbing vertical arm, grout-spreading horizontal arm, and grout-spreading vertical arm of the present invention are each equipped with their own drive motor, stepping guide screw, and moving block. The drive motor drives the stepping guide screw to rotate, and the moving block is threaded onto the guide screw. The sliding distance of the brick-grabbing horizontal arm, brick-grabbing vertical arm, grout-spreading horizontal arm, and grout-spreading vertical arm is controlled by the stepping guide screw to send the brick-grabbing module to the brick-grabbing position to pick up the brick, to the brick-laying position for brick laying, and to the grout-spreading module to the grout-spreading position for grout spreading. The stepping guide screw can preferably be a stepping ball moving guide to ensure movement accuracy.

[0009] The brick-grabbing module of the present invention includes a first clamping plate, a second clamping plate, a base plate, a brick-grabbing driver, a vertical connecting member of the brick-grabbing module, and a horizontal connecting member of the brick-grabbing module. The first clamping plate and the second clamping plate are vertically connected parallel to each other below the base plate. The base plate has a base plate groove, and the first clamping plate and / or the second clamping plate are slidably connected in the base plate groove. The brick-grabbing driver is installed above the base plate to drive the first clamping plate and the second clamping plate to clamp or release the brick. The brick-grabbing driver is connected to the horizontal connecting member of the brick-grabbing module through the vertical connecting member. The horizontal connecting member is connected to the moving block of the brick-grabbing vertical arm so that the horizontal connecting member can move up and down relative to the brick-grabbing vertical arm. The brick-grabbing driver can be vacuum-powered. By connecting to an air pump, a vacuum is drawn into the brick-grabbing driver, causing the first clamping plate and the second clamping plate to move closer together under atmospheric pressure to clamp the brick. After air is reinjected into the brick-grabbing driver, the first clamping plate and the second clamping plate move away from each other and release the brick. The mechanical structure of this brick-grabbing actuator can be achieved using existing technology, which will not be elaborated upon in this article.

[0010] The grouting module of this invention includes a "door"-shaped grouting pressure plate, a grouting saturation detector, a vertical connecting component, and a horizontal connecting component. The "door"-shaped grouting pressure plate is connected to the horizontal connecting component via the vertical connecting component. The horizontal connecting component is connected to a movable block of the grouting vertical arm, allowing it to move up and down relative to the brick-grabbing vertical arm. One side plate of the "door"-shaped grouting pressure plate has a through hole for setting the grout outlet of the grouting pipe. The grouting saturation detector is installed on the inner side of the "door"-shaped grouting pressure plate to detect whether the grouting meets the technical requirements. During grouting, a mortar-specific water pump can be used to deliver mortar or mud to the outlet through the grouting pipe. When the grouting saturation detector detects that the grouting fullness has reached a predetermined value, the mortar-specific water pump stops operating.

[0011] The bricklaying robot of this invention has a brick storage chamber inside, with a brick outlet corresponding to the brick cutting system. The brick cutting system includes a brick cutting platform, a first conveyor belt, a second conveyor belt, a third conveyor belt, and a brick positioning card group. The brick positioning card group includes four movable buckles arranged in a rectangle and capable of moving in opposite directions along the diagonal of the rectangle. The first and second conveyor belts are distributed on both sides of the brick positioning card group and are aligned with the conveying direction of the brick conveying line of the brick feeding system. The third conveyor belt is positioned corresponding to the brick outlet to receive bricks from inside the brick storage chamber. The brick splitting blade is movably positioned above the brick positioning card group. The brick cutting system of this invention can receive bricks from the brick conveying line or bricks conveyed from inside the brick storage chamber. The brick positioning card group adjusts the angle and positions the brick before it is grasped, facilitating the grasping module to clamp the brick. When smaller bricks are needed, the brick splitting blade can cut the whole brick into, for example, 1 / 2 or 1 / 3 brick pieces.

[0012] The walking system of this invention includes a front differential drive wheel, a rear differential drive wheel, a first position sensor, and a second position sensor. The first and second position sensors monitor the relative position of the masonry robot and the magnetic guide strip, controlling the front and rear differential drive wheels to make the masonry robot walk along the magnetic guide strip. This enables the masonry robot to move in an arc, used for building non-straight walls with an arc-shaped orientation. The masonry robot can be equipped with a chassis to support the various structural components of the brick-grabbing system and the mortar-spreading system. The front and rear differential drive wheels are mounted on the chassis to form a four-wheel drive system, used to control the chassis to drive the masonry robot forward, backward, and differential turning. The first and second position sensors detect whether the masonry robot deviates from the route planned by the magnetic guide strip or the masonry point corresponding to the command point. If a deviation occurs, the front and rear differential drive wheels can be used to adjust the direction or position of the masonry robot, ensuring the positional accuracy of the masonry robot.

[0013] The base arm of this invention is mounted on the upper end of the lifting arm, which is mounted on the bricklaying robot. The lifting arm allows the base arm to be raised and lowered, thereby expanding the range of wall heights that the bricklaying robot can construct.

[0014] The sliding connections between the brick-grabbing horizontal arm and the base arm, the sliding connections between the brick-grabbing vertical arm and the brick-grabbing horizontal arm, the sliding connections between the mortar-spreading horizontal arm and the base arm, and the sliding connections between the mortar-spreading vertical arm and the mortar-spreading horizontal arm of the present invention are all achieved through narrow-mouth movable grooves and sliding buckles. The sliding buckles are slidably connected in the narrow-mouth movable grooves, and the shape of the sliding buckles matches that of the narrow-mouth movable grooves. The stability during the movement is ensured by the sliding of the sliding buckles in the narrow-mouth movable grooves.

[0015] The beneficial effects of this invention are as follows:

[0016] 1. This invention uses a magnetic guidance system for guiding the movement of a bricklaying robot, enabling it to move accurately along a track on a dusty construction site. The bricklaying robot can move along an arc to build curved walls.

[0017] 2. This invention integrates brick feeding, mortar spreading, brick cutting, and bricklaying into one unit, and can automatically build straight walls and curved walls, meeting the needs of bricklaying of different scales and heights.

[0018] 3. This invention marks the masonry points by setting RFID signal tags on the magnetic guide strip, which is used to precisely control the movement position of the masonry robot, so that the masonry robot can carry out masonry at the designated position. The cooperation with the foundation arm, brick-grabbing horizontal arm, brick-grabbing vertical arm, mortar-spreading horizontal arm and mortar-spreading vertical arm ensures accurate and error-free automatic masonry work. Attached Figure Description

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a perspective view of a fully automatic wall construction device according to the present invention;

[0021] Figure 2 for Figure 1 A diagram showing the masonry state after a single mortar-spreading action is completed by the fully automatic wall masonry device;

[0022] Figure 3 for Figure 1 A bottom view of a bricklaying robot;

[0023] Figure 4 for Figure 1 A three-dimensional view of the center-cut brick system;

[0024] Figure 5 for Figure 1 A 3D view of each robotic arm of the bricklaying robot;

[0025] Figure 6 for Figure 5 Working principle diagram of each robotic arm of the bricklaying robot;

[0026] Figure 7 This is a perspective view of the brick-grabbing module of the present invention;

[0027] Figure 8 This is a perspective view of the slurry spreading module of the present invention;

[0028] Figure 9 This is a perspective view of the brick-grabbing crossarm of the present invention; Attached image description:

[0030] 1. Masonry robot;

[0031] 11. Brick-grabbing module; 11a. First clamping plate; 11b. Second clamping plate; 11c. Base plate; 11d. Base plate slide groove; 11e. Brick-grabbing driver; 11f. Vertical connecting component of brick-grabbing module; 11g. Horizontal connecting component of brick-grabbing module;

[0032] 100. Base arm; 10a. Base arm drive motor; 10b. Base arm stepping guide screw; 10c. Base arm moving block;

[0033] 101. Lifting arm;

[0034] 111. Brick-grabbing crossarm; 111a. Brick-grabbing crossarm drive motor; 111b. Brick-grabbing crossarm stepping guide screw; 111c. Brick-grabbing crossarm moving block; 111d. Brick-grabbing crossarm sliding buckle; 111e. Brick-grabbing crossarm narrow opening movable slot;

[0035] 112. Brick-grabbing vertical arm; 112a. Brick-grabbing vertical arm drive motor; 112b. Brick-grabbing vertical arm stepping guide screw;

[0036] 112c, Brick-grabbing vertical arm moving block;

[0037] 12. Slurry spreading module; 12a. "Gate" shaped slurry spreading pressure plate; 12b. First saturation detector; 12c. Second saturation detector; 12d. Vertical connecting component of slurry spreading module; 12e. Horizontal connecting component of slurry spreading module;

[0038] 121. Slurry spreading cross arm; 121a. Slurry spreading cross arm drive motor; 121b. Slurry spreading cross arm stepping guide screw; 121c. Slurry spreading cross arm moving block;

[0039] 122. Slurry spreading vertical arm; 122a. Slurry spreading vertical arm drive motor; 122b. Slurry spreading vertical arm stepping guide screw; 122c. Slurry spreading vertical arm moving block;

[0040] 13. Grouting pipe; 13a. Grout outlet; 131. Mortar storage tank; 132. Bracket;

[0041] 14. Brick outlet; 15. Front differential drive wheel; 16. Rear differential drive wheel; 17. First position sensor; 18. Second position sensor;

[0042] 2. Magnetic guide strip; 3. Brick conveyor line;

[0043] 4. Brick cutting system; 41. Brick cutting platform; 42. Movable buckle; 43. Conveyor belt No. 1; 44. Conveyor belt No. 2; 45. Conveyor belt No. 3; 46. 1 / 3 brick cutter; 47. 1 / 2 brick cutter;

[0044] A. Wall; B. Brick; C. Mortar. Detailed Implementation

[0045] To make the present invention clearer, it will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0046] like Figures 1 to 9As shown, a fully automatic wall construction device includes a construction robot 1, a magnetic strip guiding system, a brick feeding system, and a brick cutting system 4. The construction robot 1 includes a brick gripping system, a mortar spreading system, and a walking system. The magnetic strip guiding system includes a magnetic guide strip 2 with command points. The magnetic guide strip 2 is parallel to the wall A to be constructed. In this embodiment, the brick conveying line 3 of the brick feeding system is also parallel to the magnetic guide strip 2. The walking system of the construction robot 1 travels along the magnetic guide strip 2 and locates the construction point of the construction robot 1 through the command points. The brick cutting system 4 is used to receive bricks from the brick conveying line 3 and is equipped with a brick positioning card group and a brick splitting knife. The construction robot 1 is also equipped with a base arm 100. The brick gripping system... The system includes a brick-grabbing horizontal arm 111, a brick-grabbing vertical arm 112, and a brick-grabbing module 11. The brick-grabbing horizontal arm 111 is slidably connected to the base arm 100, the brick-grabbing vertical arm 112 is slidably connected to the brick-grabbing horizontal arm 111, and the brick-grabbing module 11 is vertically connected to the brick-grabbing vertical arm 112. The mortar-spreading system includes a mortar-spreading horizontal arm 121, a mortar-spreading vertical arm 122, a mortar-spreading module 12, a mortar-spreading pipe 13, and a mortar storage tank 131. The mortar-spreading horizontal arm 121 is slidably connected to the base arm 100, the mortar-spreading vertical arm 122 is slidably connected to the mortar-spreading horizontal arm 121, and the mortar-spreading module 12 is vertically connected to the mortar-spreading vertical arm 122. The mortar outlet 13a of the mortar-spreading pipe 13 is matched with the mortar-spreading module 12, and the mortar storage tank 131 is fixed on the bracket 132 of the masonry robot 1.

[0047] In this embodiment, the brick-grabbing horizontal arm 111 and the grout-spreading horizontal arm 121 are both perpendicular to the base arm 100, the brick-grabbing vertical arm 112 is perpendicular to the brick-grabbing horizontal arm 111, the grout-spreading vertical arm 122 is perpendicular to the grout-spreading horizontal arm 121, and the grout-spreading pipe 13 is a flexible hose, the front end of which can be fixed on the grout-spreading vertical arm 122.

[0048] In this embodiment, the instruction point is a masonry point marked by an RFID signal tag, wherein the RFID signal tag is a radio frequency identification tag that uses low-frequency signals for precise positioning.

[0049] In this embodiment, the base arm 100, the brick-grabbing horizontal arm 111, the brick-grabbing vertical arm 112, the grout-spreading horizontal arm 121, and the grout-spreading vertical arm 122 are each equipped with their own drive motor, stepping guide screw, and moving block. The drive motor drives the stepping guide screw to rotate, and the moving block is threaded onto the guide screw. The stepping guide screw controls the sliding distance of the brick-grabbing horizontal arm 111, the brick-grabbing vertical arm 112, the grout-spreading horizontal arm 121, and the grout-spreading vertical arm 122 to move the brick-grabbing module 11 to the brick-grabbing position to pick up the brick, to the brick-laying position for bricklaying, and to the grout-spreading module 12 to the grout-spreading position for grouting. The stepping guide screw can preferably be a stepping ball bearing moving guide to ensure movement accuracy. Specifically, as shown... Figure 6As shown, the base arm 100 is equipped with a base arm drive motor 10a, a base arm stepping guide screw 10b, and two base arm moving blocks 10c. One base arm moving block 10c is connected to the brick-grabbing horizontal arm 111, and the other base arm moving block 10c is connected to the grouting horizontal arm 121. The brick-grabbing horizontal arm 111 is equipped with a brick-grabbing horizontal arm drive motor 111a, a brick-grabbing horizontal arm stepping guide screw 111b, and a brick-grabbing horizontal arm moving block 111c. The brick-grabbing horizontal arm moving block 111c is connected to the brick-grabbing vertical arm 112, and the brick-grabbing vertical arm 112 is equipped with a brick-grabbing vertical arm drive motor 112a, a brick-grabbing vertical arm stepping guide screw 112b, and a brick-grabbing vertical arm moving block 112c. The grouting horizontal arm 121 is equipped with a grouting horizontal arm drive motor 121a, a grouting horizontal arm stepping guide screw 121b, and a grouting horizontal arm moving block 121c. The horizontal arm moving block 121c is connected to the vertical arm 122. The vertical arm 122 is equipped with a vertical arm drive motor 122a, a vertical arm stepping guide screw 122b, and a vertical arm moving block 122c.

[0050] like Figure 7 As shown, the brick-grabbing module 11 includes a first clamping plate 11a, a second clamping plate 11b, a base plate 11c, a brick-grabbing driver 11e, a vertical connecting member 11f, and a horizontal connecting member 11g. The first clamping plate 11a and the second clamping plate 11b are vertically connected parallel to each other below the base plate 11c. The base plate 11c has a base plate groove 11d. The first clamping plate 11a and / or the second clamping plate 11b are slidably connected in the base plate groove 11d. The brick-grabbing driver 11e is installed above the base plate 11c to drive the first clamping plate 11a and the second clamping plate 11b to clamp or release the brick. The brick-grabbing driver 11e is connected to the horizontal connecting member 11g through the vertical connecting member 11f. The horizontal connecting member 11g is connected to the brick-grabbing vertical arm moving block 112c so that the horizontal connecting member 11g can move up and down relative to the brick-grabbing vertical arm 11. The brick-gripping actuator 11e can be powered by a vacuum. By connecting to an air pump, a vacuum is drawn into the brick-gripping actuator 11e, causing the first clamping plate 11a and the second clamping plate 11b to come close together under atmospheric pressure to clamp the brick. After air is reinjected into the brick-gripping actuator 11e, the first clamping plate 11a and the second clamping plate 11b move away from each other and release the brick.

[0051] like Figure 8As shown, the grouting module 12 includes a "door"-shaped grouting pressure plate 12a, a grouting saturation detector, a vertical connecting component 12d, and a horizontal connecting component 12e. The "door"-shaped grouting pressure plate 12a is connected to the horizontal connecting component 12e through the vertical connecting component 12d. The horizontal connecting component 12e is connected to the grouting vertical arm moving block 122c so that the horizontal connecting component 12e can move up and down relative to the brick-grabbing vertical arm 122. One side plate of the "door"-shaped grouting pressure plate 12a has a through hole for setting the grout outlet 13a of the grouting pipe 13. The inner side of the "door"-shaped grouting pressure plate 12a is provided with a first grouting saturation detector 12b and a second grouting saturation detector 12c. The two grouting saturation detectors are used to detect whether the grouting meets the technical requirements. During grouting, a mortar-specific water pump can be used to deliver mortar or mud to the grout outlet 13a through the grouting pipe 13. When the grouting saturation detector detects that the grouting fullness has reached the predetermined value, the mortar-specific water pump stops working.

[0052] The bricklaying robot 1 in this embodiment has a brick storage chamber inside, and the brick storage chamber has a brick outlet 14 corresponding to the brick cutting system 4. See [link / reference] Figure 4 The brick cutting system 4 includes a brick cutting platform 41, a first conveyor belt 43, a second conveyor belt 44, a third conveyor belt 45, and the brick positioning card group. The brick positioning card group includes four movable buckles 42 arranged in a rectangle and capable of moving in opposite directions along the diagonal of the rectangle. The first conveyor belt 43 and the second conveyor belt 44 are distributed on both sides of the brick positioning card group and are in the same direction as the brick conveying line 3 of the brick feeding system. The third conveyor belt 45 is set at the brick outlet 14 to receive bricks inside the brick storage chamber. The brick splitting knife is movably set above the brick positioning card group.

[0053] The brick cutting system 4 can receive bricks from the brick conveyor line 3 or bricks conveyed from inside the brick storage chamber. The brick positioning card group adjusts the angle and positions the brick before it is gripped, facilitating the gripping module to hold the brick. When smaller bricks are needed, the whole brick can be cut into smaller pieces, such as 1 / 2 or 1 / 3 bricks, using a brick divider. Therefore, this embodiment includes two 1 / 3 brick cutters 46 and one 1 / 2 brick cutter 47.

[0054] In this embodiment, see Figure 2The walking system includes a front differential drive wheel 15, a rear differential drive wheel 16, a first position sensor 17, and a second position sensor 18. The relative position of the masonry robot 1 and the magnetic guide bar 2 is monitored by the first position sensor 17 and the second position sensor 18, so as to control the front differential drive wheel 15 and the rear differential drive wheel 16 to make the masonry robot 1 walk along the magnetic guide bar 2. This can realize the arc movement of the masonry robot 1, which is used to build non-straight walls with an arc-shaped orientation. The bricklaying robot 1 can be equipped with a chassis to support the various structural components of the brick-grabbing system and the mortar-spreading system. The chassis is equipped with a front differential drive wheel 15 and a rear differential drive wheel 16 to form a four-wheel drive system, which is used to control the chassis to drive the bricklaying robot 1 forward, backward and differential turning. The first position sensor 17 and the second position sensor 18 are responsible for detecting whether the bricklaying robot 1 deviates from the route planned by the magnetic guide bar 2 or the bricklaying point corresponding to the command point. If a deviation occurs, the driving direction or position of the bricklaying robot 1 can be adjusted by the front differential drive wheel 15 and the rear differential drive wheel 16 to ensure the positional accuracy of the bricklaying robot 1.

[0055] In this embodiment, see Figure 5 The base arm 100 is mounted on the upper end of the lifting arm 101, which is mounted on the bricklaying robot 1. The lifting arm 101 enables the base arm 100 to be raised and lowered, thereby expanding the height range of the walls that the bricklaying robot 1 can build.

[0056] In this embodiment, the sliding connection between the brick-grabbing horizontal arm 111 and the base arm 100, the sliding connection between the brick-grabbing vertical arm 112 and the brick-grabbing horizontal arm 111, the sliding connection between the mortar-spreading horizontal arm 121 and the base arm 100, and the sliding connection between the mortar-spreading vertical arm 122 and the mortar-spreading horizontal arm 121 are all achieved through narrow-mouth movable grooves and sliding buckles. The sliding buckles are slidably connected within the narrow-mouth movable grooves, and the shape of the sliding buckles matches the shape of the narrow-mouth movable grooves. The stability during movement is ensured by the sliding of the sliding buckles within the narrow-mouth movable grooves. Taking the brick-grabbing horizontal arm 111 as an example... Figure 9 As shown, the brick-grabbing horizontal arm 111 is provided with a brick-grabbing horizontal arm sliding buckle 111d, which is used to slide and connect with the narrow opening movable groove on the base arm 100. It is also provided with a brick-grabbing horizontal arm narrow opening movable groove 111e, which is used to connect with the sliding buckle on the brick-grabbing vertical arm 112.

[0057] The bricklaying robot of the present invention will not deviate from the route according to the magnetic guide bar. After reaching the preset instruction point, which is the point where the wall needs to be built, it will stop walking and use the mortar spreading horizontal arm 121 and mortar spreading vertical arm 122 to send the mortar spreading module 12 and the mortar outlet 13a of the mortar spreading pipe 13 to the position where mortar needs to be spread to lay mortar C. After the mortar is laid, the mortar spreading module 12 will press the mortar C in place. Then the mortar spreading module 12 will move to the next position that will not affect the bricklaying and wait to perform the next mortar spreading action. Then, the brick-grabbing module 11 is sent to the brick-cutting system 4 via the brick-grabbing horizontal arm 111 and the brick-grabbing vertical arm 112. It picks up brick B from the brick conveying line 3 or the brick outlet 14 and delivers it to the area where mortar C has been laid. The brick-grabbing module 11 compacts brick B for laying. Then, the brick-grabbing module 11 releases the laid brick B and moves to the next position to pick up the next brick for continuous laying. Through the forward and backward movement of the masonry robot 1, in coordination with the movements of the base arm 100, the brick-grabbing horizontal arm 111, the brick-grabbing vertical arm 112, the mortar-spreading horizontal arm 121, the mortar-spreading vertical arm 122, and the brick-grabbing module 11 and the mortar-spreading module 12, the construction of wall A is automatically achieved. This invention integrates brick feeding, mortar spreading, cutting, and laying into one unit, enabling fully automated construction of straight and curved walls, meeting the needs of masonry projects of different scales and heights.

[0058] The above embodiments are merely preferred embodiments of the present invention, but should not be construed as limiting the invention. Any modifications and improvements made based on the concept of the present invention should fall within the protection scope of the present invention, and the specific protection scope is subject to the claims.

Claims

1. A fully automated wall building apparatus comprising a building robot, characterized in that: It also includes a magnetic strip guiding system, a brick feeding system and a brick cutting system. The masonry robot includes a brick grasping system, a mortar spreading system and a walking system. The magnetic strip guiding system includes a magnetic guiding strip, on which instruction points are provided. The magnetic guiding strip is parallel to the wall to be masoned. The walking system of the masonry robot walks along the magnetic guiding strip, and the masonry points of the masonry robot are positioned through the instruction points. The brick cutting system is used to receive bricks on the brick conveying line, and the brick cutting system is provided with a brick positioning card group and a brick dividing knife. The masonry robot is also provided with a base arm. The brick grasping system includes a brick grasping cross arm, a brick grasping vertical arm and a brick grasping module. The brick grasping cross arm is slidably connected to the base arm. The brick grasping vertical arm is slidably connected to the brick grasping cross arm. The brick grasping module is connected to the brick grasping vertical arm in a liftable manner. The mortar spreading system includes a mortar spreading cross arm, a mortar spreading vertical arm, a mortar spreading module, a mortar distributing pipe and a mortar storage bucket. The mortar spreading cross arm is slidably connected to the base arm. The mortar spreading vertical arm is slidably connected to the mortar spreading cross arm. The mortar spreading module is connected to the mortar spreading vertical arm in a liftable manner. The outlet of the mortar distributing pipe is arranged in a matching manner with the mortar spreading module. The mortar storage bucket is fixed on the masonry robot.

2. The apparatus according to claim 1, wherein: The instruction points are masonry points marked by RFID signal tags.

3. The apparatus according to claim 2, wherein: The base arm, the brick grasping cross arm, the brick grasping vertical arm, the mortar spreading cross arm and the mortar spreading vertical arm are all provided with their respective driving motors, stepping guide rails and moving blocks. The driving motor drives the stepping guide rail to rotate, and the moving block is threadedly connected to the guide rail.

4. The fully automatic wall construction device according to claim 3, characterized in that: The brick grasping module includes a first clamping plate, a second clamping plate, a base plate, a brick grasping driver, a vertically connecting member of the brick grasping module and a horizontally connecting member of the brick grasping module. The first clamping plate and the second clamping plate are perpendicularly connected to the lower side of the base plate in parallel. The base plate is provided with a base plate chute, and the first clamping plate and / or the second clamping plate is slidably connected in the base plate chute. The brick grasping driver is installed above the base plate and is used to drive the first clamping plate and the second clamping plate to clamp or release the brick. The brick grasping driver is connected to the horizontally connecting member of the brick grasping module through the vertically connecting member of the brick grasping module. The horizontally connecting member of the brick grasping module is connected to the moving block of the brick grasping vertical arm so that the horizontally connecting member of the brick grasping module can move up and down relative to the brick grasping vertical arm.

5. The fully automatic wall construction device according to claim 4, characterized in that: The mortar spreading module includes a "冂"-shaped mortar spreading pressing plate, a mortar spreading saturation detector, a vertically connecting member of the mortar spreading module and a horizontally connecting member of the mortar spreading module. The "冂"-shaped mortar spreading pressing plate is connected to the horizontally connecting member of the mortar spreading module through the vertically connecting member of the mortar spreading module. The horizontally connecting member of the mortar spreading module is connected to the moving block of the mortar spreading vertical arm so that the horizontally connecting member of the mortar spreading module can move up and down relative to the mortar spreading vertical arm. A through hole for arranging the outlet of the mortar distributing pipe is provided on one side plate of the "冂"-shaped mortar spreading pressing plate, and the mortar spreading saturation detector is arranged on the inner side of the "冂"-shaped mortar spreading pressing plate.

6. The fully automatic wall construction device according to any one of claims 1 to 5, characterized in that: The bricklaying robot has a brick storage chamber inside, which has a brick outlet corresponding to the brick cutting system. The brick cutting system includes a brick cutting platform, a first conveyor belt, a second conveyor belt, a third conveyor belt, and a brick positioning card group. The brick positioning card group includes four movable buckles arranged in a rectangle and capable of moving in opposite directions along the diagonal of the rectangle. The first and second conveyor belts are distributed on both sides of the brick positioning card group and are in the same direction as the brick conveying line of the brick feeding system. The third conveyor belt is set to receive bricks from inside the brick storage chamber corresponding to the brick outlet. The brick separating knife is movably set above the brick positioning card group.

7. The fully automatic wall construction device according to claim 6, characterized in that: The walking system includes a front differential drive wheel, a rear differential drive wheel, a first position sensor, and a second position sensor. The first and second position sensors monitor the relative position of the masonry robot and the magnetic guide strip, so as to control the front and rear differential drive wheels to make the masonry robot walk along the magnetic guide strip.

8. The fully automatic wall construction device according to claim 7, characterized in that: The base arm is mounted on the upper end of the lifting arm, which is mounted on the bricklaying robot.

9. The fully automatic wall construction device according to claim 8, characterized in that: The sliding connection between the brick-grabbing horizontal arm and the base arm, the sliding connection between the brick-grabbing vertical arm and the brick-grabbing horizontal arm, the sliding connection between the mortar-spreading horizontal arm and the base arm, and the sliding connection between the mortar-spreading vertical arm and the mortar-spreading horizontal arm are all achieved through a narrow-mouth movable groove and a sliding buckle. The sliding buckle is slidably connected in the narrow-mouth movable groove, and the shape of the sliding buckle matches that of the narrow-mouth movable groove.

Images