Multi-station conversion type automatic bricklaying apparatus

Abstract

The application relates to a multi-station conversion type automatic bricklaying equipment which comprises a walking platform, a conveying mechanism, a guiding mechanism, a conversion mechanism, a mortar distributing mechanism and a grabbing mechanism. The guiding mechanism comprises a guiding slope, a guiding seat, a pushing cylinder, a blocking seat and a driving block. The guiding slope is arranged at the end of the conveying belt in a downward inclined mode, the guiding seat is arranged below the guiding slope, and the blocking seat is in a scissor-shaped structure. The conversion mechanism comprises a conversion frame, a rotating shaft, a rotating motor and a rotating body. The outer periphery of the rotating body is uniformly distributed with conversion seats, and the rotating motor is angularly rotated according to the number of the conversion seats. The mortar distributing mechanism comprises a stock bin, a peristaltic pump, a driving cylinder and a mortar distributing body. The lower part of the mortar distributing body is provided with a mortar distributing cavity which can be matched and clamped on the conversion seat and has a mortar distributing gap between two mortar distributing surfaces of the brick. The grabbing mechanism comprises a grabbing seat and a grabbing arm, and the grabbing seat has a friction surface corresponding to the inclined surface of the conversion seat. The application is simple in operation, saves labor cost and provides convenience for people.

Description

Technical Field

[0001] This invention relates to the field of building engineering technology, specifically to a multi-station automatic bricklaying equipment. Background Technology

[0002] With the development of commercialized construction, accelerating construction progress, shortening project cycles, and improving investment efficiency have become central aspects of commercialized construction. Masonry structures have always been a widely used structural form in my country, suitable for various civil buildings such as residences, schools, and hospitals.

[0003] Existing bricklaying structures are mainly brick placement devices based on conventional bricklaying methods. The arrangement of bricks is very limited, and their application is mainly in the stacking of materials after curing during the brick-making process, rather than in building construction where higher precision is required.

[0004] With the development of technology, there is currently a mechanized bricklaying structure. However, in its operation, a conveyor belt is first used to transport bricks one by one to a designated location. Then, a robotic arm grabs the bricks and moves them to the grouting area for grouting. After grouting is applied to both sides of the bricks, they are placed on the wall. In this structure, grouting is still required after the robotic arm grabs the bricks. The robotic arm's working steps are cumbersome, time-consuming, and prone to errors in program control, causing inconvenience to people. Therefore, it is necessary to research a multi-station conversion automatic bricklaying equipment. Summary of the Invention

[0005] Therefore, the purpose of this invention is to provide a multi-station conversion automatic bricklaying equipment, which effectively solves the problems of cumbersome working steps, long working time, easy error in program control, and low construction efficiency of existing robotic arms.

[0006] To achieve the above objectives, the technical solution adopted by this invention is: a multi-station convertible automatic bricklaying equipment, comprising a walking platform, a conveying mechanism, a guiding mechanism, a conversion mechanism, a mortar dispensing mechanism, and a gripping mechanism; the conveying mechanism includes a conveyor frame and a conveyor belt, the conveyor belt being fixedly mounted on the walking platform via the conveyor frame; the guiding mechanism includes a guiding ramp, a guiding seat, a pushing cylinder, a blocking seat, and a driving block; the guiding ramp is inclined downwards at the end of the conveyor belt, the guiding seat is arranged below the guiding ramp, the blocking seat is scissor-shaped, its end closing the bottom of the guiding seat, a driving part is provided at the tail end of the blocking seat, the driving block has an inclined structure, the pushing cylinder is connected to the guiding seat and can drive the guiding seat downwards, so that the driving part cooperates with the inclined structure to unfold the end of the blocking seat; the conversion mechanism includes a conversion frame, a rotating shaft, a rotary motor, and a rotating body; The rotating body has conversion seats evenly distributed around its outer periphery. A rotating shaft connected to a rotary motor is mounted on the rotating body. The shaft is fixed to the traveling platform via a conversion frame. The rotary motor can rotate at a fixed angle according to the number of conversion seats, allowing the conversion seats to be positioned sequentially below the guide seats. The slurry dispensing mechanism includes a hopper, a peristaltic pump, a drive cylinder, and a dispensing body. A feed pipe and a drive cylinder are located on the upper part of the dispensing body. The drive cylinder can drive the dispensing body to move up and down. The hopper is connected to the feed pipe via the peristaltic pump and a conveying pipe. A dispensing cavity is located at the lower part of the dispensing body. The dispensing cavity can be fitted onto the conversion seats and has a dispensing gap between it and the two dispensing surfaces of the brick. The feed pipe communicates with the dispensing gap. The gripping mechanism includes a gripping seat and a gripping arm. Both the gripping arm and the gripping seat are mounted on the traveling platform. The gripping seat has a friction surface corresponding to the inclined surface of the conversion seat.

[0007] Furthermore, the walking platform includes tracks, a first base, a lifting rod, and a second base. The bottom of the first base is provided with tracks, and the first base is connected to the second base via the lifting rod. The conveying mechanism, guiding mechanism, conversion mechanism, slurry dispensing mechanism, and gripping mechanism are located on the second base.

[0008] Furthermore, a housing is provided on the upper part of the guide seat, the guide slope is provided on the housing, the lower part of the housing has a vertical guide cylinder, and the guide seat is arranged on one side of the guide cylinder.

[0009] Furthermore, the rotating body has a pentagonal structure with five conversion seats evenly distributed along the circumference on its main structure, and the rotating body rotates by an angle of 72 degrees each time.

[0010] Furthermore, when the conversion seat corresponds to the guide seat, the conversion seat is in a vertical state.

[0011] Furthermore, the fabric body is provided with a limiting platform, which can be adapted to be fitted with the conversion seat. The fabric body has two vertical fabric surfaces, which correspond to the two surfaces of the brick when the fabric is being laid.

[0012] Furthermore, the friction surface includes an energy dissipation section and a blocking section, the blocking section being located below the energy dissipation section, and the friction coefficient of the blocking section being greater than that of the energy dissipation section.

[0013] Furthermore, the blocking seat is scissor-shaped and has two movable arms hinged together. A tension spring is provided between the two movable arms, which can drive the two movable arms to move closer to each other. Positioning blocks are provided on the two movable arms to position the movable arms in their minimum retracted state.

[0014] Furthermore, when the end of the blocking seat is in a contracted state, its internal space has a rectangular structure.

[0015] The beneficial effects of the above technical solution are as follows: This invention utilizes a walking platform to move on the ground or a track, and achieves large-scale horizontal bricklaying movement during movement. Based on the walking platform, a conveyor belt is arranged on the walking platform, which can continuously transport bricks, thus providing an uninterrupted supply of bricks. A guide slope is set at the end of the conveyor belt, which can guide the falling bricks and change the bricks from a horizontal state to a vertical state. The structure formed by the guide seat and the blocking seat is used to catch the vertically falling bricks. A pusher cylinder is used to push the guide seat downward, so that it can transport the bricks to the conversion seat, reducing the impact of the falling bricks on the conversion seat. During operation, the rotating body can rotate at a specific angle according to the number of conversion seats, so that the conversion seats can be in the receiving position in sequence, and the vertically falling bricks can be received at the receiving position.

[0016] After receiving the brick at the receiving station, the rotating body is driven to the placing station. At the placing station, the brick is tilted upwards. Due to the weight of the brick, the lower side of the brick will abut against the conversion seat. Then, the drive cylinder is activated to move the placing body downwards and attach it to the surface of the brick, performing the placing operation on the two exposed sides. After the placing is completed, the drive cylinder retracts to separate the placing body from the brick. Then, the rotating body rotates again to transfer the placed brick to the gripping station. At the gripping station, the brick slides down the slope naturally and stops on the gripping seat by the friction between its lower surface and the friction surface. Then, the robotic arm grips the brick and, after flipping it at a certain angle, places the brick on the wall.

[0017] Therefore, the present invention provides an automatic bricklaying device that can provide uninterrupted transportation. The material is first laid out and then picked up by a robotic arm. After picking up the bricks, the robotic arm directly lays them on the wall. Compared with the existing method of picking up the bricks first and then laying them, this method improves construction efficiency, provides full material placement and good adhesion, is simple to operate, saves labor costs, and provides convenience for people. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the transformation structure;

[0020] Figure 3 This is a schematic diagram of the pulping mechanism;

[0021] Figure 4 This is a schematic diagram of the guiding mechanism;

[0022] Figure 5 This is a schematic diagram of the drive block structure;

[0023] Figure 6 This is a schematic diagram of the structure of the blocking seat;

[0024] Figure 7 This is a schematic diagram of the friction surface.

[0025] Reference numerals: 1 is the first base, 2 is the track, 3 is the second base, 4 is the lifting rod, 5 is the conveyor belt, 6 is the guide slope, 7 is the guide seat, 8 is the blocking seat, 81 is the movable arm, 82 is the positioning block, 83 is the tension spring, 84 is the drive unit, 9 is the pushing cylinder, 10 is the drive block, 11 is the rotating body, 12 is the conversion seat, 13 is the brick, 14 is the baffle, 15 is the conversion frame, 16 is the drive cylinder, 17 is the peristaltic pump, 18 is the valve, 19 is the material placing body, 20 is the feed pipe, 21 is the material placing chamber, 22 is the gripping seat, 23 is the energy dissipation section, 24 is the blocking section, and 25 is the gripping arm. Detailed Implementation

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0027] Example 1: This example aims to provide a multi-station conversion automatic bricklaying device, mainly used for automatic bricklaying. Existing automatic bricklaying devices generally involve a robotic arm first grabbing bricks and then moving them to a material-laying structure to apply mortar. This structure results in long working times for the robotic arm, complex robotic arm movements, cumbersome work steps, and long processing time. Furthermore, the program control is prone to errors, leading to low construction efficiency. Therefore, this example provides a multi-station conversion automatic bricklaying device.

[0028] like Figure 1-6 The image showcases a multi-station convertible automatic bricklaying equipment, comprising a walking platform, a conveying mechanism, a guiding mechanism, a conversion mechanism, a mortar dispensing mechanism, and a gripping mechanism. The walking platform, as the moving component, can travel on the ground or a pre-set track. In its specific structure, for example… Figure 1 As shown, the walking platform includes tracks 2, a first base 1, a lifting rod 4, and a second base 3. The tracks 2 are installed at the bottom of the first base 1. The first base 1 is connected to the second base 3 via the lifting rod 4. The conveying mechanism, guiding mechanism, conversion mechanism, slurry distribution mechanism, and gripping mechanism are located on the second base 3. Specifically, the lifting rod includes a positioning sleeve and a power cylinder. The positioning sleeve is located on the outer periphery, and the power cylinder is located in the middle, serving as the main driving structure to drive the second base to rise and fall. In this embodiment, the walking platform has lifting and translation functions, thereby changing the initial position of the mechanical gripper as the bricklaying progresses to adapt to different bricklaying heights.

[0029] like Figure 1 As shown in the figure, the conveying mechanism includes a conveyor frame and a conveyor belt 5. The conveyor belt 5 is fixedly mounted on the walking platform through the conveyor frame. The conveyor belt 5 is a horizontal conveyor belt, and its purpose is to provide continuous brick conveying for the equipment and realize uninterrupted continuous operation. In other embodiments, the conveyor belt can also be a structure combining an inclined belt and a horizontal belt.

[0030] The guiding mechanism includes a guiding slope 6, a guiding seat 7, a pushing cylinder 9, a blocking seat 8, and a driving block 10. The guiding slope 6 is inclined downward at the end of the conveyor belt 5, and the guiding seat 7 is arranged below the guiding slope 6. Structurally, the upper part of the guiding seat 7 is provided with a housing, the guiding slope 6 is arranged on the housing, the lower part of the housing has a vertical guiding cylinder, and the guiding seat is arranged on one side of the guiding cylinder.

[0031] like Figure 5-6 As shown, the blocking seat 8 and the guide seat 7 are integrally connected, while the guide seat 7 and the housing are separate. The blocking seat 8 is scissor-shaped, with its end closing the bottom of the guide seat 7. The tail end of the blocking seat 8 is provided with a driving part 84, and the driving block 10 has an inclined structure. During the downward movement of the blocking seat, the driving part 84 can abut against the inclined structure and force the scissor-shaped blocking seat to unfold. In the specific structure, the blocking seat 8 is scissor-shaped and has two movable arms 81 that are hinged together. A tension spring 83 is provided between the two movable arms 81. The tension spring 83 can drive the two movable arms to move closer to each other. A positioning block 82 is provided on the two movable arms 81 to position the movable arms in their minimum retracted state. When the end of the blocking seat 8 is retracted, its internal space is a rectangular structure, which can be closed at the bottom of the guide seat and serve as a blocking structure for bricks. When the bricks enter the vertical section along the guide slope, they can be blocked by the blocking seat 8.

[0032] The push cylinder 9 is connected to the guide seat 7 and can drive the guide seat downward, so that the drive unit 84 cooperates with the inclined structure to unfold the end of the blocking seat; a guide slope 6 is provided at the end of the conveyor belt 5. The guide slope 6 can guide the falling bricks and change the bricks from a horizontal state to a vertical state. The structure formed by the guide seat and the blocking seat is used to catch the vertically falling bricks. The push cylinder is used to push the guide seat downward so that it can transport the bricks to the conversion seat and reduce the impact of the falling bricks on the conversion seat.

[0033] The conversion mechanism includes a conversion frame 15, a rotating shaft, a rotary motor, and a rotating body 11. Conversion seats 12 are evenly distributed around the outer periphery of the rotating body 11. A rotating shaft connected to the rotary motor is installed on the rotating body 11. The rotating shaft is fixed to the walking platform via the conversion frame 15. The rotary motor can rotate at a fixed angle according to the number of conversion seats, so that the conversion seats 12 can be positioned below the guide seats in sequence. In implementation, baffles 14 can be spaced out on the conversion seats 12, and the two baffles 14 form a limiting space. The rotating body 11 is a rigid structure, with a rotating shaft partially distributed in it. The conversion seats 12 are L-shaped structures, and their purpose is to transfer the position of the bricks 13.

[0034] In this embodiment, the rotating body 11 has a pentagonal structure with five conversion seats 12 evenly distributed along the circumference of its main structure. The rotating body 11 rotates by 72 degrees each time. The rotating body 11 is a fixed-angle rotating structure with five sequentially operating conversion seats 12 distributed on it. As the conversion seats 12 rotate, they will correspond to the guide seat 7, and in this state, the conversion seats are in a vertical position. During operation, the rotating body can rotate a specific angle according to the number of conversion seats, so that the conversion seats can be in the receiving position in sequence to receive vertically falling bricks.

[0035] The slurry dispensing mechanism includes a hopper, a peristaltic pump 17, a drive cylinder 16, and a dispensing body 19. The upper part of the dispensing body 19 is provided with a feed pipe 20 and a drive cylinder 16. The drive cylinder 16 can drive the dispensing body 19 to move up and down. The hopper is connected to the feed pipe 20 via the peristaltic pump 17, a conveying pipe, and a valve 18. The lower part of the dispensing body is provided with a dispensing cavity 21. The dispensing cavity 21 can be fitted onto the conversion seat and has a dispensing gap between it and the two dispensing surfaces of the brick. The feed pipe 20 is connected to the dispensing gap. The dispensing body 19 is provided with a limiting platform that can be fitted onto the conversion seat. The dispensing body 19 has two vertical dispensing surfaces that correspond to the two surfaces of the brick during dispensing.

[0036] The gripping mechanism includes a gripping seat 22 and a gripping arm 25. Both the gripping arm 25 and the gripping seat 22 are mounted on a walking platform. The gripping seat 22 has a friction surface corresponding to the inclined surface of the conversion seat. The friction surface includes an energy dissipation section 23 and a blocking section 24. The blocking section 24 is located below the energy dissipation section 23, and the friction coefficient of the blocking section 24 is greater than that of the energy dissipation section 23. In this embodiment, in order to make the brick stop on the gripping seat 22, the friction between the lower side of the brick and the friction surface is used to counteract the kinetic energy of the falling brick. In order to make the brick stop stably at a specific point, this embodiment increases the friction coefficient of the rear part of the friction surface, so that the brick can stop at the gripping position of the gripping seat. The gripping arm grabs the brick at the gripping position, and after flipping it at a certain angle, the two sides of the brick with grout are adjusted into place. Then the brick is placed on the wall and pressed tightly. The bricks are mounted on the wall one by one according to the preset movement path.

[0037] To ensure operational stability, in this embodiment, the transfer seat is vertical when receiving bricks. This vertical orientation ensures the bricks fall smoothly, reducing contact between the brick surface and the structure, thus minimizing friction noise and equipment wear. In the material-laying state, the transfer seat is tilted upwards. This tilt allows the bricks to fully contact the transfer seat with both sides due to their own weight, ensuring the bricks are positioned correctly to receive the material. Both sides are also oriented downwards, ensuring the mortar fills the gaps and guarantees effective mortar application. In the gripping state, the transfer seat is tilted downwards. In this state, the bricks move downwards along the slope of the transfer seat using their own weight, allowing them to smoothly detach from the transfer seat and enter the gripping position. The characteristics of each state are utilized to complete the corresponding task.

[0038] In this embodiment, after receiving the brick at the receiving station, the rotating body is driven to the placing station. At the placing station, the brick is tilted upwards. Due to the weight of the brick, the lower side of the brick will abut against the conversion seat. Then, the drive cylinder is activated to make the placing body move downwards and attach to the surface of the brick, performing the placing operation on the two exposed sides. After the placing is completed, the drive cylinder retracts to separate the placing body from the brick. Then, the rotating body rotates again to transfer the placed brick to the gripping station. At the gripping station, the brick slides down the inclined plane naturally and stops on the gripping seat by the friction between its lower surface and the friction surface. Then, the robotic arm grips the brick and, after flipping it at a certain angle, places the brick on the wall.

Claims

1. A multi-station automatic bricklaying machine, characterized in that, The system includes a walking platform, a conveying mechanism, a guiding mechanism, a conversion mechanism, a pulping mechanism, and a gripping mechanism. The conveying mechanism includes a conveyor frame and a conveyor belt, with the conveyor belt fixedly mounted on the walking platform via the conveyor frame. The guiding mechanism includes a guiding ramp, a guiding seat, a pushing cylinder, a blocking seat, and a drive block. The guiding ramp is inclined downwards at the end of the conveyor belt, the guiding seat is located below the guiding ramp, and the blocking seat is scissor-shaped, its end closing the bottom of the guiding seat. A driving part is provided at the tail end of the blocking seat. The drive block has an inclined structure. The pushing cylinder is connected to the guiding seat and can drive the guiding seat downwards, causing the driving part to engage with the inclined structure and unfold the end of the blocking seat. The conversion mechanism includes a conversion frame, a rotating shaft, a rotary motor, and a rotating body. Conversion seats are evenly distributed around the outer circumference of the rotating body. The body is equipped with a rotating shaft that is connected to a rotary motor for transmission. The rotating shaft is fixed to the walking platform via a conversion frame. The rotary motor can rotate at a fixed angle according to the number of conversion seats, so that the conversion seats can be positioned sequentially below the guide seat. The slurry dispensing mechanism includes a hopper, a peristaltic pump, a drive cylinder, and a slurry dispensing body. The upper part of the slurry dispensing body is equipped with a feed pipe and a drive cylinder. The drive cylinder can drive the slurry dispensing body to move up and down. The hopper is connected to the feed pipe via the peristaltic pump and a conveying pipe. A slurry dispensing cavity is provided at the lower part of the slurry dispensing body. The slurry dispensing cavity can be matched and clamped on the conversion seat, and there is a slurry dispensing gap between it and the two slurry dispensing surfaces of the brick. The feed pipe is connected to the slurry dispensing gap. The gripping mechanism includes a gripping seat and a gripping arm. Both the gripping arm and the gripping seat are set on the walking platform. The gripping seat has a friction surface corresponding to the inclined surface of the conversion seat.

2. The multi-station conversion automatic bricklaying equipment according to claim 1, characterized in that: The walking platform includes tracks, a first base, a lifting rod, and a second base. The bottom of the first base is provided with tracks, and the first base is connected to the second base via the lifting rod. The conveying mechanism, guiding mechanism, conversion mechanism, slurry dispensing mechanism, and gripping mechanism are located on the second base.

3. The multi-station conversion automatic bricklaying equipment according to claim 1 or 2, characterized in that: A housing is provided on the upper part of the guide seat, the guide slope is provided on the housing, the lower part of the housing has a vertical guide cylinder, and the guide seat is arranged on one side of the guide cylinder.

4. The multi-station conversion automatic bricklaying equipment according to claim 1 or 2, characterized in that: The rotating body has a five-pointed star structure, with five conversion seats evenly distributed along the circumference of its main structure. The rotating body rotates by 72 degrees each time.

5. The multi-station conversion automatic bricklaying equipment according to claim 4, characterized in that: When the conversion seat corresponds to the guide seat, the conversion seat is in a vertical position.

6. The multi-station conversion automatic bricklaying equipment according to claim 1 or 2, characterized in that: The fabric body is provided with a limiting platform, which can be adapted to be installed with the conversion seat. The fabric body has two vertical fabric surfaces, which correspond to the two surfaces of the brick when the fabric is being laid.

7. The multi-station conversion automatic bricklaying equipment according to claim 1 or 2, characterized in that: The friction surface includes an energy dissipation section and a blocking section. The blocking section is located below the energy dissipation section, and the friction coefficient of the blocking section is greater than that of the energy dissipation section.

8. The multi-station automatic bricklaying equipment according to claim 1 or 2, characterized in that: The blocking seat is scissor-shaped and has two hinged movable arms. A tension spring is provided between the two movable arms, which can drive the two movable arms to move closer to each other. Positioning blocks are provided on the two movable arms to position the movable arms in their minimum retracted state.

9. The multi-station conversion automatic bricklaying equipment according to claim 1 or 2, characterized in that: When the end of the blocking seat is in a contracted state, its internal space has a rectangular structure.

Images