Intelligent masonry spraying robot and spraying method

Abstract

The present invention discloses an intelligent masonry spraying robot and a spraying method. The spraying robot comprises at least one group of walking base parts, a middle conveying part installed in the middle of each group of the walking base parts, and brick storage parts on both sides installed on both sides of each group of the walking base parts. A group of conveying spraying parts is provided on the inner sides of both ends of any group of the walking base parts; wherein any group of the walking base parts is used alone; or any two groups of the walking base parts are connected and used through two groups of conveying spraying parts opposite to each other at the same end. The present invention realizes one-time masonry and spraying of a large number of bricks through a special brick storage and brick taking mechanism and a brick laying mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to an intelligent masonry spraying robot, and also to an intelligent masonry spraying method. Background Art

[0002] The masonry process of the existing building enclosure walls is usually manual masonry. Since bricks are usually large in size and heavy in weight, the method of manually transporting and masonry in sections is time-consuming, labor-intensive, and costly. Long-term repetitive labor can easily cause workers to suffer from occupational diseases such as lumbar muscle strain. In addition, due to factors such as different working environments and different physical conditions of workers, the effect and quality of masonry are affected. The invention patent with publication number CN201910718232.3 discloses a wall masonry method and wall masonry system that coordinates mortaring and bricklaying. This technology realizes the automation of masonry by coordinating the designed mortaring machine with the bricklaying robot, and taking bricks and applying mortar by clamping. However, the clamping method used in this scheme is still single clamping, and its efficiency is still low. Therefore, there is a need for an intelligent bricklaying spraying robot and method that can take a large number of bricks at the same time and perform one-time masonry spraying. Summary of the invention

[0003] In order to make up for the loopholes in the above-mentioned technology, the purpose of the present invention is to provide an intelligent masonry spraying robot, which can realize one-time masonry and spraying of a large number of bricks through a specially designed brick storing and retrieving mechanism and a brick laying mechanism.

[0004] Another object of the present invention is to provide an intelligent masonry spraying method that can be directly applied in the existing masonry process to effectively improve the scope, efficiency and accuracy of brick masonry.

[0005] To further achieve the above purpose, the present invention adopts the following technical solution: an intelligent masonry spraying robot, comprising

[0006] At least one group of walking base parts, a middle conveying part installed in the middle of each group of walking base parts, and brick storage parts on both sides of each group of walking base parts, and a group of conveying spraying parts are provided on the inner sides of both ends of any group of walking base parts; wherein,

[0007] Any one group of the walking base parts is used alone; or

[0008] Any two groups of the walking base parts are connected for use through two groups of conveying spraying parts opposite to each other at the same end.

[0009] Optionally, the walking base part is mainly composed of a special-shaped walking seat, and a first rectangular opening is provided in the middle of the special-shaped walking seat;

[0010] Two wheels are arranged at both ends of the outer side of the special-shaped walking seat, a first push rod motor mounting seat is arranged on the inner side, and another two wheels are arranged on the inner side of the special-shaped walking seat in the front and rear directions of the first push rod motor mounting seat;

[0011] The wheels on the inner and outer sides are arranged asymmetrically, wherein the wheels on the inner side are closer to the first rectangular opening in the middle;

[0012] The first push rod motor mounting seat is provided with a first push rod motor.

[0013] Optionally, the brick storage parts on both sides include at least two groups of storage units arranged on both sides of the special-shaped walking seat, a group of output units arranged on the uppermost storage unit, a transmission unit in the middle connecting the upper and lower units, and a switch unit for controlling the bricks to enter and exit the transmission unit;

[0014] The output unit is composed of a hollow frame body, the four corners of the hollow frame body are provided with first support rods for supporting the special-shaped top plate, and the middle of the special-shaped top plate is provided with a second rectangular opening with the same vertical position and size as the first rectangular opening;

[0015] An output plate is provided on the outer side of the hollow frame, and one end of the output plate is tilted downward. A plurality of first rollers are provided on the hollow frame at intervals, and the first rollers are driven to rotate by a first stepper motor installed on the outer side of the baffle at the bottom of the hollow frame.

[0016] The storage unit is located below the output unit, and its main structure is the same as that of the output unit, except that both sides of the storage unit are provided with input plates, and the outward end of the input plate is inclined upward;

[0017] The transmission unit comprises transverse baffles connected to the output unit and the storage unit on both sides, and a middle baffle vertically connecting the transverse baffles on both sides; a third stepper motor is installed on the outer side of the middle baffle, which is connected to the transmission shaft on the inner side through a coupling; a plurality of groups of transmission shafts are arranged on the inner side of the middle baffle, and a first sprocket is arranged on both sides of the transmission shaft, and the first sprocket is meshed with the conveying chain;

[0018] The switch unit is installed at the innermost side of the output unit and the storage unit, and its main body is composed of a movable cover plate; the movable cover plate is slightly larger than the third rectangular opening provided in the middle of the transport port baffle on the inner side of the output unit, and a rack track is provided on one side of the movable cover plate, and the second stepper motor installed on the outer side of the transport port baffle is engaged with the rack track through the gear on its output shaft.

[0019] Optionally, the middle conveying part includes a conveying bucket, one side of the conveying bucket is provided with an opening, the other side is provided with a transverse baffle, the upper end is open, and the lower end is provided with a plurality of second rollers; two chain mounting seats are provided on the outer side of the transverse baffle for connecting with the conveying chain to drive the conveying bucket to move;

[0020] A second push rod motor is provided at the middle portion of the inner side of the transverse baffle, and the second push rod motor is connected to the first push plate.

[0021] Optionally, the conveying spraying part is mainly composed of a main frame, and the lower end of the main frame is installed on the inner sides of both ends of the special-shaped walking seat;

[0022] Two sets of opposite conveying spraying parts are connected by a chain, or by a connecting pin installed at the bottom of the main frame;

[0023] A transfer bucket is provided on the outward side of the main frame, the transfer bucket is open toward one side of the output unit and corresponds to the output plate, and a transverse guardrail is provided on the side of the transfer bucket away from the output unit;

[0024] The transfer bucket is a closed structure at the top and bottom, a third roller is arranged horizontally at the bottom, a third push rod motor mounting seat is arranged on the outward side, a third push rod motor is arranged on the third push rod motor mounting seat, an open structure is arranged on the inward side, and a sloped transport plate is arranged on the outside;

[0025] The sloped transport plate is tilted downward and is provided with guardrails on both sides, and a front shotcrete port and a rear shotcrete port are respectively provided in the middle of the sides facing each other.

[0026] The main frame is provided with a horizontally protruding irregular rectangular convex structure, and a downward upper spraying port is provided on the lower side of the irregular rectangular convex structure, and the upper spraying port is directly opposite to the sloped transport plate.

[0027] Optionally, it further comprises a rotating track portion installed on two opposite conveying spraying portions, wherein the rotating track portion comprises a lifting push rod motor, a rotating motor mounting seat, a rotating motor, a special-shaped rotating seat, a special-shaped track mounting seat, and a fifth push rod motor which are arranged in sequence from bottom to top;

[0028] The special-shaped rotating seat is L-shaped, and the middle of the bottom of the adjacent special-shaped rotating seat is respectively provided with a special-shaped rotating convex component and a special-shaped rotating concave component that can be engaged with each other;

[0029] The special-shaped track mounting seat is mounted on the special-shaped rotating seat, a first rectangular track is arranged in the middle thereof, and a first electric trolley is arranged on the first rectangular track;

[0030] The first electric trolley is connected to a turnbuckle bolt, and the turnbuckle bolt is connected to a steel wire rope, and is used to connect the front and rear sets of rotating track parts through two steel wire ropes;

[0031] The fifth push rod motor is connected to the third push plate.

[0032] Optionally, it further comprises a vertical rolling portion provided on the two opposite rotating track portions, wherein the vertical rolling portion is supported by the second rectangular track;

[0033] The second rectangular track is installed on the closed top plate at the upper end of the transfer bucket, and a second electric trolley is provided on the second rectangular track;

[0034] The two opposite second rectangular rails are respectively provided with a special-shaped fixing convex component and a special-shaped fixing concave component that can be inserted and connected;

[0035] The special-shaped fixed concave component is provided with a third rectangular track, and a third electric trolley is installed on the third rectangular track;

[0036] A fourth vertical rectangular track is arranged on the front and rear third electric trolleys, a fourth electric trolley is arranged at the lower end of the fourth rectangular track, a sixth push rod motor is arranged at the lower end of the fourth electric trolley; and a roller is arranged at the lower end of the sixth push rod motor.

[0037] Optionally, it further comprises a gripping and transmitting part, wherein the gripping and transmitting part is mainly formed by the seventh push rod motor mounting seat;

[0038] The seventh push rod motor mounting seat is mounted on the first push rod motor and the fourth push rod motor located on the same side, and the seventh push rod motor and the second support rod are respectively provided on the seventh push rod motor mounting seat;

[0039] The seventh push rod motor is connected to a vertical clamping plate, and a plurality of horizontal clamping plates with gaps are provided at the outer bottom of the vertical clamping plate; a horizontal track mounting seat is provided above the second support rod, and a horizontal track seat is connected to the inner side of the horizontal track mounting seat;

[0040] A fifth rectangular track is arranged on the transverse track seat, a plurality of fifth electric trolleys are arranged on the fifth rectangular track, an eighth push rod motor is installed on the fifth electric trolley, and an L-shaped clamping plate is installed on the outer side of the eighth push rod motor.

[0041] Accordingly, the present invention also claims a smart masonry spraying method, comprising the following steps:

[0042] S1, brick adding process: bricks are added by two different brick adding methods, one is to put bricks into the storage unit through the input plates on both sides of the storage unit for storage; the other is to directly add bricks from the top into the transport bucket through the second rectangular opening in the middle of the special-shaped top plate on the top of the output unit, and then the transport bucket transports the bricks to each storage unit;

[0043] S2. Determine the masonry area: First, the two walking base parts can be moved to the two ends of the paving site. At this time, the two walking base parts are independent units. After the position is determined, the two walking base parts are aligned, and then the two independent parts are connected by chains and / or connecting pins to form a complete independent part. Finally, the special-shaped rotating seat is driven to rotate by a rotating motor, so that the mechanism originally idle at the two ends forms a complete movable track through the combination of the special-shaped rotating convex component and the special-shaped rotating concave component, and then masonry can be started;

[0044] S3, brick taking process: the bricks pre-stored in the storage unit are quickly transported to the output unit through the transport bucket, and then the first roller inside the output unit is actuated to transport the bricks to the outermost output plate and slide into the subsequent conveying spraying part;

[0045] S4, spraying process: the front spraying port, the rear spraying port, and the upper spraying port are all connected to the existing mortar mixing and output mechanism. When the bricks are pushed into the transfer bucket through the output plate, they will be placed in the middle of the transfer bucket under the horizontal guardrail enclosure. The third push rod motor controls the second push plate on it to push the bricks horizontally to the transfer bucket under the rotation of the third roller, and finally output from the slope transport plate to the next part; when passing through the slope transport plate, the front spraying port, the rear spraying port, and the upper spraying port can be controlled as needed to spray the bricks, and then the next step of masonry can be carried out;

[0046] S5, brick arrangement process: by controlling the fifth electric trolley to drive the L-shaped clamping plates on both sides to move to the bottom of the sloped transport plate, by controlling the eighth push rod motor to drive the L-shaped clamping plates to catch the first brick that falls, and then controlling the fifth electric trolley to move, so that the second brick falls to the other end of the L-shaped clamping plates, the fifth push rod motor pushes the second brick to clamp the first brick, and cooperates with the L-shaped clamping plates at both ends to clamp them, and after clamping the two connected bricks, the fifth electric trolley is controlled to control the L-shaped clamping plates to move to the middle of the track formed by the vertical clamping plates, and the steel wire rope is supported at the bottom, the two L-shaped clamping plates are loosened, and the two bricks are put down, and the above process is repeated, and finally a whole brick placed on the steel wire rope is obtained;

[0047] S6, brick placing process: the seventh push rod motor pushes inwards in the left and right directions, and the fifth push rod motor pushes inwards in the front and back directions, so as to form a rectangular clamping track for a whole brick. The horizontal clamping plate installed at the bottom of the vertical clamping plate can be used for switching support with the steel wire rope. The bricks can be supported vertically by the steel wire rope first. After the steel wire rope moves to the bottom of the horizontal clamping plate, the gravity support is switched to the horizontal clamping plate. At this time, the steel wire rope can be moved away by the first electric trolley, and then the brick wall can be lowered as a whole onto the upper brick wall;

[0048] S7, brick pressing process: control the special-shaped fixed convex components and the special-shaped fixed concave components to extend, and the special-shaped fixed convex components are inserted into the middle slots of the special-shaped fixed concave components to support the entire frame. The fourth rectangular track can also be moved to the top of the track formed by the wire rope. At this time, the bricks below have been arranged in a whole row, and the sixth push rod motor is needed to push the roller to move to the bricks, and then control the fourth electric trolley to roll back and forth on the fourth rectangular track, thereby completing the compaction function of the masonry bricks. At this point, the entire masonry spraying work is completed.

[0049] Furthermore, two methods of taking bricks are provided in step S3, namely, sliding the bricks into the next mechanism for masonry preparation through the output plate, or unloading the stored bricks directly to the ground through the first rectangular opening at the bottom of the special-shaped walking seat through the middle conveying part.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] 1. Compared with the brick storage and retrieval methods in the prior art, one is manual masonry, which is to clamp and place the bricks one by one for masonry, which is inefficient and time-consuming and labor-intensive; the other is mechanical masonry, which is to clamp bricks one by one with a clamp and place them at a designated location for masonry. This method is inefficient and the brick storage location needs to be changed due to the change of the masonry location, which is also time-consuming and labor-intensive; this technology solves the problem of placing bricks on the ground or the need to constantly change the brick storage location according to the masonry location by setting the entire two side structures of the robot as brick storage and transportation parts. Bricks can be placed according to the location of the masonry. The actual needs are loaded into the brick storage parts on both sides of the mechanism in advance, so that the masonry robot can automatically add bricks during the masonry process. The number of storage units can also be changed according to actual needs, thereby increasing the amount of bricks stored to cope with higher masonry needs. At the same time, the top output unit designed by the present technology cooperates with the transmission unit to connect the storage units at the bottom, and can quickly transport the bricks pre-stored in the storage unit to the output unit through the transport bucket, and then the first roller inside the output unit is driven by the first stepper motor to rotate, and the bricks are transported to the outermost output plate to slide into the subsequent transmission spraying part. At the same time, the present technology sets up two different ways of adding bricks. One is to put bricks in for storage through the input plates on both sides of the storage unit. Because the switch unit can close and block the innermost bricks, the bricks put in can be tightly together, which effectively improves the space utilization rate of brick storage. The other is to add bricks directly from the top into the conveying bucket through the second rectangular opening in the middle of the special-shaped top plate on the top of the output unit, and then the conveying bucket transports the bricks to each storage unit. Similarly, the present technology also sets up two methods of outputting bricks. One is to slide the bricks into the next mechanism for masonry preparation through the output plate, and the other is The stored bricks are directly unloaded to the ground through the first rectangular opening at the bottom of the special-shaped walking seat through the middle conveying unit. It should be noted that the second brick unloading method can be used for the brick handling process. Therefore, when this brick unloading method is used, the entire robot can be used as a brick transport robot. Compared with the existing technology, this technology not only solves the brick storage problem, but also realizes the storage and transportation of a large number of bricks. It can make preliminary preparations for the subsequent one-time laying of a large number of bricks, effectively improve the efficiency of the entire brick storage and retrieval, and make the entire masonry robot not restricted by the brick storage location, and the construction operation range is wider.

[0052] 2. Compared with the prior art, the time-consuming, labor-intensive and inefficient problems caused by the inability to carry out multiple processes of manual masonry in parallel, or the mutual influence between the position of the machine during masonry and the masonry wall; the conveying and spraying part provided by the present technology can quickly take out the bricks stored in the brick storage parts on both sides through the front and rear two groups and one group of left and right transfer buckets, and pre-spray the bricks passing through the transfer bucket through the pre-set front spraying port, rear spraying port and upper spraying port, and then output them to the next process. The brick taking mechanism of the present technology can continuously take out bricks and pre-spray them like a factory production line, which not only improves the efficiency of taking bricks but also enables the entire brick taking, spraying and masonry processes to be carried out in parallel; in addition, the left and right walking base parts designed by the present technology cooperate with the two groups of conveying and spraying parts installed in front and behind the walking base parts, so that the entire robot can be divided into two independent parts, and the two independent parts can be connected through Chains, connecting pins and other mechanisms are fixedly connected to form a complete independent part, so the entire robot of this design becomes two identical replaceable units, that is, multiple groups of "semi-robot" units can be prepared in advance. When all the bricks in one group are used up, bricks do not need to be replenished, but instead directly switched to another group of units that are pre-filled with bricks. This structure can greatly increase the brick reserve of the entire device, and can also increase the endurance of the masonry robot, making it easier to build more walls at one time; at the same time, this detachable mechanism also allows the two units at both ends to be separated first, the area to be built is sandwiched between the two units, and then the two units are controlled to be close, and finally connected together to form a whole and then carry out assembly line masonry. After the masonry is completed, facing a wall of a certain height, the two units can be separated again, and then leave the masonry area. This structure can avoid the robot after masonry from affecting the wall, and effectively ensure the quality of masonry.

[0053] 3. Compared with the prior art of laying bricks one by one, which is inefficient and time-consuming, the rotating track part provided by this technology can drive the special-shaped rotating seat to rotate through a rotating motor, so that the mechanism originally idle at both ends forms a complete movable track through the combination of special-shaped rotating convex components and special-shaped rotating concave components, and then through the cooperation of the fifth push rod motor and the subsequent vertical clamping plates and horizontal clamping plates, a whole brick wall can be controlled to be shaped and clamped, effectively improving the masonry efficiency.

[0054] 4. Compared with the manual compaction in the prior art, this technology also integrates the compaction process into the masonry production line. Through the detachable compaction track, the compaction process after the bricklaying is completed can be completed by moving the rollers on the fourth rectangular track for cyclic compaction. This integrated process not only improves efficiency but also saves space and energy consumption.

[0055] 5. Compared with the existing technology of manual brick placement and brick laying, or mechanical brick clamping and brick placement structure, the three-layer track brick placement mechanism provided by this technology can clamp the bricks through the L-shaped clamp and move them on the track, and switch the bricks up and down and place them on the wire rope, and then place them on the horizontal clamp, and finally place them on the upper row of bricks. This one-time masonry structure can not only ensure the masonry efficiency, but also can be adjusted according to actual conditions, such as different brick sizes and masonry lengths, to adapt to more masonry scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0057] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0058] Figure 2 A top view of the present invention;

[0059] Figure 3 This is a schematic diagram of the structure of the walking base portion of the present invention;

[0060] Figure 4 This is a schematic diagram of the structure of the brick storage part on both sides of the present invention;

[0061] Figure 5 It is a schematic diagram of the structure of the output unit, storage unit and transmission unit of the present invention;

[0062] Figure 6 It is a schematic diagram of the structure of the middle conveying part and the switch unit of the present invention;

[0063] Figure 7 This is a schematic diagram of the structure of the spraying transmission part of the present invention;

[0064] Figure 8 It is a schematic diagram of the structure of the rotating track part of the present invention;

[0065] Fig. 9 It is a partial enlarged schematic diagram of the rotating track portion of the present invention;

[0066] Fig.10 This is a schematic diagram of the rotary lock structure at the bottom of the rotating track portion of the present invention;

[0067] Fig.11 This is a schematic diagram of the structure of the clamping and transmission part of the present invention;

[0068] Fig.12 It is a schematic diagram of the structure of the vertical scrolling part of the present invention.

[0069] Description of Reference Numerals :

[0070] 1000- Walking base part:

[0071] 1001-wheel; 1002-special-shaped walking seat; 1002a-first rectangular opening; 1003-first push rod motor mounting seat; 1004-first push rod motor;

[0072] 2000-Brick storage on both sides:

[0073] 2100- output unit; 2101- hollow frame; 2102- first support rod; 2103- special-shaped top plate; 2103a- second rectangular opening; 2104- first stepper motor; 2104a- first roller; 2105- output plate; 2106- transport port baffle; 2106a- third rectangular opening;

[0074] 2200-storage unit; 2201-input board; 2202-brick;

[0075] 2300-switch unit; 2301-movable cover; 2302-second stepper motor; 2303-rack track;

[0076] 2400-transmission unit; 2401-lateral baffle; 2402-middle baffle; 2403-transmission shaft; 2404-first sprocket; 2405-conveying chain; 2406-third stepping motor;

[0077] 3000-Middle conveying part:

[0078] 3001-transport bucket; 3002-chain mounting seat; 3003-second roller; 3004-second push rod motor; 3005-first push plate;

[0079] 4000-Transmission spraying part:

[0080] 4001-transport bucket; 4001a-third push rod motor mounting seat; 4001b-lateral guardrail; 4001c-third roller; 4001d-slope transport plate; 4002a-third push rod motor; 4002b-second push plate; 4003a-front spraying port; 4003b-rear spraying port; 4003c-upper spraying port; 4004-main frame; 4005-fourth push rod motor; 4006-connecting pin; 4007a-chain seat; 4007b-chain;

[0081] 5000-rotation track section:

[0082] 5001-lifting push rod motor; 5002-rotating motor mounting seat; 5003-rotating motor; 5004-special-shaped rotating seat; 5005-special-shaped track mounting seat; 5005a-first rectangular track; 5005b-first electric trolley; 5006-fifth push rod motor; 5007-third push plate; 5008a-special-shaped rotating convex component; 5008b-special-shaped rotating concave component; 5009-wire rope;

[0083] 6000-Vertical rolling part:

[0084] 6001-second rectangular track; 6002-second electric trolley; 6003a-special-shaped fixed convex member; 6003b-special-shaped fixed concave member; 6004-third rectangular track; 6005-third electric trolley; 6006-fourth rectangular track; 6007-fourth electric trolley; 6008-sixth push rod motor; 6009-roller;

[0085] 7000-Gripping and transporting part:

[0086] 7001-the seventh push rod motor mounting seat; 7002-the seventh push rod motor; 7003a-the vertical clamping plate; 7003b-the horizontal clamping plate; 7004-the second support rod; 7005-the horizontal track mounting seat; 7005a-the horizontal track seat; 7005b-the fifth rectangular track; 7006-the fifth electric trolley; 7007-the eighth push rod motor; 7008-the L-shaped clamping plate. DETAILED DESCRIPTION

[0087] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0088] Depend on Figure 1-Figure 2 As shown, an intelligent masonry spraying robot includes a walking base part 1000 as the bottom of the whole, a middle conveying part 3000 installed in the middle of the walking base part 1000, and two side brick storage parts 2000 installed on both sides of the walking base part 1000, two pairs of conveying and spraying parts 4000 are respectively provided on both sides of the two walking base parts 1000, and the middle parts of the conveying and spraying parts 4000 located on the same side are connected together by a rotating track part 5000; further, the present invention also includes a vertical rolling part 6000 installed above the conveying and spraying parts 4000 located on the same side, and a clamping and transmission part 7000 is provided in the middle part of the front and rear track rotating parts 5000.

[0089] Depend on Figure 3As shown, the walking base part 1000 is mainly composed of a special-shaped walking seat 1002, and a first rectangular opening 1002a is provided in the middle of the special-shaped walking seat 1002; two wheels 1001 are provided at both ends of the outer side of the special-shaped walking seat 1002, and a first push rod motor mounting seat 1003 is provided on the horizontal outer side of the inner first rectangular opening 1002a, and another two wheels 1001 are provided on the inner side of the special-shaped walking seat 1002 in the front and rear directions of the first push rod motor mounting seat 1003; a first push rod motor 1004 is provided on the first push rod motor mounting seat 1003; the position and size of the first rectangular opening 1002a are consistent with the middle conveying part 30 The transport bucket 3001 on the chain track formed by 00 passes through the same track. The purpose here is to have enough space to move when the middle conveying chain 2405 of the middle conveying part 3000 drives the transport bucket 3001 to run to the bottom. At the same time, it can also be used to unload bricks. The bricks loaded on the transport bucket 3001 are directly unloaded to the bottom of the machine body through the first rectangular opening 1002a. In this way, the bricks can be unloaded quickly and efficiently through the back and forth circulation of multiple transport buckets 3001 on the chain track; the first push rod motor 1004 serves as the middle support lifting bottom mechanism of the entire clamping and transmission part 7000, which can assist in controlling its lifting action; It should be noted that the inner and outer wheels 1001 here are not symmetrical structures. The inner wheel 1001 is closer to the first rectangular opening 1002a in the middle. The purpose of setting this structure is to facilitate the subsequent transmission of the spraying part 4000 and the rotating track part 5000 to be connected to each other at both ends of the inner side of the walking base part 1000. The two identical walking base parts 1000 here are independent individuals and can maintain balance in both connected and disconnected states. Therefore, the wheel model can be changed here and it can be set at the bottom of the special-shaped walking seat 1002 (not shown in the figure); and the design here is two independent walking bases that can be spliced. The purpose of part 1000 is that when bricks need to be laid at one time, the middle part that needs to be laid often has a certain height. If the two walking base parts 1000 are fixedly connected, the brick laying area cannot be covered inside the machine body due to the volume height problem. Therefore, the designed detachable chassis can first be moved to the two ends of the laying location by the two walking base parts 1000, and then the paving area is covered inside the collective by connection. When the paving is completed, the wall with a certain height can still be separated by first separating the two walking base parts 1000 and then leaving the paved wall, thereby effectively ensuring the quality and stability after paving.

[0090] Depend on Figure 4-Figure 6As shown, the brick storage parts 2000 on both sides include a group of output units 2100 on both sides of the top, two groups of storage units 2200 on both sides of the bottom, a transmission unit 2400 connecting the upper and lower units in the middle, and a switch unit 2300 for controlling the bricks 2202 to enter and exit the transmission unit 2400; the output unit 2100 is mainly composed of a hollow frame 2101, and the four corners of the hollow frame 2101 are provided with first support rods 2102 for supporting the special-shaped top plate 2103. It should be noted here that the main structure of the storage unit 2200 is the same as that of the output unit 2100, except that it is located below the output unit 2100, and the mechanisms on both sides are input plates 2201, which can increase or decrease the number of layers of the storage unit 2200 according to actual needs to control the entire machine. The storage brick capacity of the robot; the middle part of the supporting special-shaped top plate 2103 is set to a second rectangular opening 2103a with the same vertical position and size as the first rectangular opening 1002a. The purpose of setting this structure is to provide the conveying chain 2405 of the middle conveying part 3000 with enough space to drive the transport bucket 3001 to rotate and turn from the top. At the same time, it can also be used to add and store bricks. The specific method is to directly load bricks 2202 into the transport bucket 3001 through the second rectangular opening 2103a at the top, and then the transport bucket 3001 transports the bricks to the height of the storage unit 2200 and pushes the bricks 2202 into it for storage; the outer side of the hollow frame 2101 of the output unit 2100 is provided with an output plate 2105, and the structure of the output plate 2105 is The tilt angle is downward, and the first stepper motor 2104 installed on the outer side of the bottom baffle of the hollow frame 2101 can drive the first roller 2104a to rotate, so that the brick 2202 on it slides on the roller, and then slides down from the output plate 2105 into the transmission spraying part 4000; the input plate 2201 arranged on the outer side of the hollow frame 2101 of the input unit 2100 is tilted upward. When bricks need to be added, the bricks 2202 can be directly placed therein through the input plate 2201, and then the first stepper motor 2104 controls the first roller 2104a to rotate and drive the brick 2202 to move to the innermost side of the storage unit 2200. At this time, the switch unit 2300 arranged on the innermost side of the storage unit 2200 is in a closed state, so The bricks 2202 will be blocked outside the switch unit 2300, so that the bricks put in can be tightly attached together, further improving the brick storage efficiency; the switch unit 2300 is installed at the innermost side of the output unit 2100 and the storage unit 2200, and is mainly composed of a movable cover plate 2301. The movable cover plate 2301 is slightly larger than the third rectangular opening 2106a in the middle of the transport port baffle 2106 inside the output unit 2100, and a rack track 2303 is provided on one side thereof. The second stepper motor 2302 installed on the outer side of the transport port baffle 2106 can control the up and down movement of the movable cover plate 2301 through the engagement of the gear on its output shaft with the rack track 2303, and further control the opening and closing of the switch unit 2300;The transmission unit 2400 includes a transverse baffle 2401 connected to the output unit 2100 and the storage unit 2200 on both sides, and a middle baffle 2402 vertically connecting the transverse baffles 2401 on both sides; a third stepper motor 2406 is installed on the outer side of the middle baffle 2402, which can be connected to the transmission shaft 2403 on the inner side through a coupling or the like; a plurality of groups of transmission shafts 2403 are arranged on the inner side of the middle baffle 2402, and a first sprocket 2404 is respectively arranged on both sides of the transmission shaft 2403; the first sprocket 2404 is meshed with the conveying chain 2405, which can be controlled by the third stepper motor 2406. The motor 2406 drives the transmission shaft 2403 to rotate, and then drives the conveying chain 2405 to rotate through the first sprocket 2404, and then drives the transport bucket 3001 on the conveying chain 2405 to move; the conveying chain 2405 is a universal part, and components can be suspended on the chain for transportation. Here, two sets of conveying chains 2405 can be fixedly connected to two chain mounting seats 3002 of a transport bucket 3001 at the same height at the same time, further improving the transportation stability; all stepper motors involved in the present invention are universal parts, and their functions are to provide a power source, drive the transmission shaft connected thereto to rotate, etc.;

[0091] Depend on Figure 6As shown, the middle conveying part 3000 is mainly composed of a transport bucket 3001, and its main structure is a bucket shape, with an opening on one side and a baffle on the other side, an opening on the top, and a plurality of second rollers 3003 on the bottom; two chain mounting seats 3002 are provided at both ends of the outer side of the transverse baffle of the transport bucket 3001, which can be connected with the conveying chain 2405 to drive the transport bucket 3001 to move; a second push rod motor 3004 is provided in the middle of the inner side of the transverse baffle of the transport bucket 3001, and the push rod motor is connected to the first push plate 3005; the push rod motors involved in the present invention are all universal parts, and their function is to push the components connected thereto to realize forward and backward, up and down, left and right movements; the purpose of setting this structure is to control the opening and closing of the movable cover plate 2301 by the second stepper motor 2302, and then control the storage The first stepper motor 2104 of the unit 2200 drives the first roller 2104a to rotate, thereby allowing the brick 2202 to enter the transport bucket 3001 through the third rectangular opening 2106a. This is the brick placing part. Then the transport bucket 3001 is driven to move to a specified height through the conveying chain 2405, and the second push rod motor 3004 is controlled to push the first push plate 3005, thereby pushing the brick 2202 in the transport bucket 3001 to enter through the third rectangular opening 2106a into the output unit 2100 under the cooperation of the rotation of the second roller 3003. The first stepper motor 2104 of the output unit 2100 controls the rotation of the first roller 2104a to transport the brick 2202 to the outermost side, and finally slides from the outermost output plate 2105 into the conveying spraying part 4000.Compared with the brick storing and retrieving methods in the prior art, one is manual masonry, which is to clamp and place the placed bricks one by one for masonry, which is inefficient and time-consuming and labor-intensive; the other is mechanical masonry, which is mostly to clamp bricks one by one with a clamp and place them at a designated position for masonry, which is inefficient and time-consuming and labor-intensive because the brick storage location has to be changed due to the change of the masonry location; however, this technology solves the problem of placing bricks on the ground or the need to constantly change the brick storage location according to the masonry location by setting the entire two side structures of the robot as brick storage and transportation parts. Bricks can be loaded into the brick storage parts 2000 on both sides of the mechanism in advance according to actual needs, so that The masonry robot can automatically add bricks during the masonry process, and can also change the number of storage units 2200 according to actual needs, thereby increasing the amount of bricks stored to meet higher masonry needs. At the same time, the top output unit 2100 designed by the present technology cooperates with the transmission unit 2400 to connect the storage units 2200 at the bottom, and can quickly transport the bricks pre-stored in the storage unit 2200 to the output unit 2100 through the transport bucket 3001, and then the first roller 2104a inside the output unit 2100 is actuated to transport the bricks 2202 to the outermost output plate 2105 to slide into the subsequent transmission spraying part 4000. At the same time, the present technology is designed Two different ways of adding bricks are provided. One is to put bricks in for storage through the input plates 2201 on both sides of the storage unit 2200. Because the switch unit 2300 can close the innermost bricks, the bricks put in can be tightly together, which effectively improves the space utilization of brick storage. The other is to add bricks directly from the top into the transport bucket 3001 through the second rectangular opening 2103a in the middle of the special-shaped top plate 2103 on the top of the output unit 2100, and then the transport bucket 3001 transports the bricks to each storage unit 2200. Similarly, the present technology also provides two methods of outputting bricks. One is to slide the bricks into the next mechanism through the output plate 2105. The second method of unloading bricks can be used for brick handling process. Therefore, when using this method of unloading bricks, the entire robot can be used as a brick transport robot. Compared with the prior art, this technology not only solves the problem of brick storage, but also realizes the storage and transportation of a large number of bricks. It can make preliminary preparations for the subsequent one-time laying of a large number of bricks, effectively improving the efficiency of the entire brick storage and retrieval, and making the entire masonry robot not restricted by the brick storage location, and the construction operation range is wider.

[0092] Depend on Figure 7As shown, the transmission spraying part 4000 is mainly composed of a main frame 4004, and the main frame 4004 is installed at the inner side of the two ends of the special-shaped walking seat 1002 at the bottom, and its installation position corresponds to the space reserved by the inner wheels 1001 of the special-shaped walking seat 1002; the transmission spraying part 4000 is also installed on two identical parts of the two walking base parts 1000, which can be connected by a chain seat 4007a set at the bottom of the front and a chain 4007b to connect the two transmission spraying parts 4000, and the left and right transmission spraying parts 4000 can be fixedly connected by a connecting pin 4006 installed on the bottom of the main frame 4004; a fourth push rod motor is provided on the rear side of the bottom of the transmission spraying part 4000 4005, the fourth push rod motor 4005 cooperates with the first push rod motor 1003 to jointly push the seventh push rod motor mounting seat 7001 above to move up and down; the upper outer side of the transmission spraying part 4000 is at the same height as the outer side of the output unit 2100, and the rear side of the transfer bucket 4001 installed thereon is set as an opening, and the position just corresponds to the output plate 2105, and the bricks 2202 output by the output unit 2100 can directly enter the transfer bucket 4001; the transfer bucket 4001 has a closed structure on the top and bottom, and a third roller 4001c is provided on the bottom, and a third push rod motor mounting seat 4001a is provided on the left side, and a third push rod motor 4002a is provided on the mounting seat, and a horizontal guardrail 4001b is provided on the front side; the transfer bucket 4001 is a closed structure on the top and bottom, and a third roller 4001c is provided on the bottom, and a third push rod motor mounting seat 4001a is provided on the left side, and a third push rod motor 4002a is provided on the mounting seat, and a horizontal guardrail 4001b is provided on the front side; The right side of the bucket 4001 is an open structure, and a sloped transport plate 4001d is provided on the outside of the right side; the third push rod motor 4002a is connected to the second push plate 4002b on the inside; the sloped transport plate 4001d is a slope-shaped structure, with guardrails on the left and right, and a front shotcrete port 4003a and a rear shotcrete port 4003b are provided in the middle of the two guardrails facing each other; it should be noted that the transfer bucket 4001 here is provided with a protruding irregular rectangular convex structure above the sloped transport plate 4001d, and the specific position is directly above the sloped transport plate 4001d, and an upper shotcrete port 4003c facing downward is provided below it; the front shotcrete port 4003a, the rear shotcrete port 4003b, and the upper shotcrete port 4003c can all be mixed with existing mortar for output The mechanism is connected to carry out spraying operation; the purpose of setting this structure is that when the brick 2202 is pushed into the transfer bucket 4001 through the output plate 2105, it will be placed in the middle of the transfer bucket 4001 under the enclosure of the horizontal guardrail 4001b, and the second push plate 4002b on it is controlled by the third push rod motor 4002a to push the brick 2202 horizontally to move to the right side of the transfer bucket 4001 under the rotation of the third roller 4001c, and finally output to the next part from the sloped transport plate 4001d; when passing through the sloped transport plate 4001d, the front spray port 4003a, the rear spray port 4003b, and the upper spray port 4003c can be controlled as needed to spray the brick 2202, and then proceed to the next step of masonry.Compared with the time-consuming, labor-intensive and inefficient problems caused by the inability to parallelize multiple manual masonry processes in the prior art, or the mutual influence between the position of the machine during masonry and the masonry wall; the conveying and spraying part 4000 provided by the present technology can quickly take out the bricks stored in the brick storage parts 2000 on both sides through the front and rear two groups and one group of left and right transfer buckets 4001, and pre-spray the bricks passing through the transfer bucket 4001 through the pre-set front spraying port 4003a, rear spraying port 4003b, and upper spraying port 4003c, and then output them to the next process. The brick taking mechanism of the present technology can continuously take out bricks and pre-spray them like a factory production line, which not only improves the efficiency of taking bricks but also enables the entire brick taking, spraying and masonry processes to be parallel; in addition, the left and right walking base parts 1000 designed by the present technology cooperate with the two groups of conveying and spraying parts 4000 installed in front and behind the walking base part 1000, so that the entire robot can be used with two independent The two independent parts can be fixedly connected by the chain 4007b, the connecting pin 4006 and other mechanisms to form a complete independent part. Therefore, the whole robot of this design becomes two identical replaceable units, that is, multiple groups of "semi-robot" units can be prepared in advance. When all the bricks in one group are used up, the bricks do not need to be replenished, but instead directly switched to another group of units that are pre-filled with bricks. This structure can greatly increase the amount of bricks prepared for the entire device, and can also increase the endurance of the masonry robot, so that more walls can be built at one time; at the same time, this detachable mechanism also allows the two units at both ends to be separated first, the area to be built is sandwiched between the two units, and then the two units are controlled to be close, and finally connected together to form a whole and then carry out assembly line masonry. After the masonry is completed, facing a wall of a certain height, the two units can be separated again, and then leave the masonry area. This structure can avoid the robot after masonry from affecting the wall, and effectively ensure the quality of masonry.

[0093] Depend on Figure 8-Figure 10As shown, the rotating track part 5000 is installed above the bottom of the left and right conveying spraying parts 4000, and its structure from bottom to top is: a lifting push rod motor 5001, a rotating motor mounting seat 5002, a rotating motor 5003, a special-shaped rotating seat 5004, a special-shaped track mounting seat 5005, and a fifth push rod motor 5006. The special-shaped rotating seat 5004 is an L-shaped structure, and a special-shaped rotating component is arranged in the middle of the bottom of the L-shape, and the middle of the bottom of the left and right groups of L-shaped structures are respectively arranged as a special-shaped rotating convex component 5008a and a special-shaped rotating concave component 5008b. The purpose of designing this structure is that when the rotating motor 5003 drives the special-shaped rotating seat thereon to rotate inward, the special-shaped rotating convex component 5008a can just engage with the special-shaped rotating concave component 5008b, so that the two originally separated structures become a whole, making the structure more stable; the rotating motor 5003 is a universal part, and its function is to drive the upper component to rotate; the special-shaped track mounting seat 5005 is installed on the special-shaped rotating seat 5004, and the specific position can be adjusted according to the actual force-bearing structure, and a first rectangular track 5005a is arranged in the middle, and a first electric trolley 5005b is arranged on the track; The electric trolley is a universal part that can travel on the track and drive the mechanism on it to move; the first electric trolley 5005b can be connected to a basket bolt (not shown in the figure), and the basket bolt is connected to the wire rope 5009; the basket bolt can be used to adjust the tightness of the wire rope 5009, and the front and rear sets of rotating track parts 5000 can be connected by two wire ropes 5009; the fifth push rod motor 5006 is connected to the third push plate 5007; the purpose of setting up this structure is that the track composed of the wire rope 5009 can be used as a support for an entire brick wall, and the subsequent clamping mechanism and the first electric trolley 5005b can drive the wire rope 5009 to move out of the bottom of the brick, so that the brick can be put down; and the fifth push rod motor 5006 drives the third push plate 5007 to push the brick horizontally, so that a whole brick can be clamped horizontally, and can also be used to limit the length of the entire brick wall. Compared with the prior art which is inefficient and time-consuming in arranging bricks one by one, the rotating track part 5000 provided by the present technology can drive the special-shaped rotating seat 5004 to rotate through the rotating motor 5003, so that the mechanism originally idle at both ends forms a complete movable track through the combination of the special-shaped rotating convex component 5008a and the special-shaped rotating concave component 5008b, and then through the cooperation of the fifth push rod motor 5006 and the subsequent vertical clamping plate 7003a and the horizontal clamping plate 7003b, a whole brick wall can be controlled to be shaped and clamped, thereby effectively improving the masonry efficiency.

[0094] Depend on Fig.12As shown, the vertical rolling part 6000 is also connected by two groups of front and rear, and two left and right mechanisms, which are mainly supported by the second rectangular track 6001; the second rectangular track 6001 is installed on the closed top plate above the transfer bucket 4001, and a second electric trolley 6002 is installed on the track; the left and right second rectangular tracks 6001 are respectively installed with a special-shaped fixed convex component 6003a and a special-shaped fixed concave component 6003b; the two special-shaped fixed components are inserted into each other, and the second electric trolley 6002 is controlled to move in the second rectangular track 6001. The third rectangular track 6004 is arranged above the special-shaped fixing concave member 6003b, and a third electric trolley 6005 is arranged on the third rectangular track 6004; the front and rear third electric trolleys 6005 are provided with a vertical fourth rectangular track 6006, and a fourth electric trolley 6007 is arranged below the track, and a sixth push rod motor 6008 is arranged below the trolley; a roller 6009 is arranged below the sixth push rod motor 6008 ; The purpose of setting this structure is that when the left and right "semi-robot" units are in a separated state, the second electric trolley 6002 moves with the special-shaped fixed concave component 6003b and the special-shaped fixed convex component 6003a to the top of the transfer bucket 4001 for placement, which can save space. At this time, the fourth rectangular track 6006 is also retracted to the top of the transfer bucket 4001 under the movement of the third electric trolley 6005, so that the entire force-bearing structure is stable and occupies a small space; when the "semi-robot" units are needed to form a complete robot, similarly, the special-shaped fixed The convex member 6003a and the special-shaped fixed concave member 6003b extend out, and the special-shaped fixed convex member 6003a is inserted into the middle slot of the special-shaped fixed concave member 6003b to support the entire frame. The fourth rectangular track 6006 can also move to the top of the track formed by the steel wire rope 5009. At this time, the bricks below have been arranged in a whole line, and the sixth push rod motor 6008 is needed to push the roller 6009 to move to the bricks, and then control the fourth electric trolley 6007 to roll back and forth on the fourth rectangular track 6006, thereby completing the compaction function of the masonry bricks. Compared with the manual compaction of the prior art, this technology also integrates the compaction process into the masonry assembly line. Through the detachable compaction track, the compaction process after the brick arrangement and bricklaying is completed can be completed by the roller 6009 moving on the fourth rectangular track 6006 for cyclic compaction. This integrated process not only improves efficiency but also saves space and energy consumption.

[0095] Depend on Fig.11As shown, the gripping and transmission part 7000 is mainly composed of the seventh push rod motor mounting seat 7001; the seventh push rod motor mounting seat 7001 is installed on the first push rod motor 1004 and the fourth push rod motor 4005, and can be driven to move up and down by the first push rod motor 1004 in the middle and the two fourth push rod motors 4005 on both sides; the seventh push rod motor mounting seat 7001 is respectively provided with a seventh push rod motor 7002 and a second support rod 7004; the seventh push rod motor 7002 is connected to a vertical clamping plate 7003a, and the vertical clamping plate 7003a is connected to the seventh push rod motor 7002. A plurality of transverse clamping plates 7003b with gaps are provided at the bottom of the outer side of 3a; a transverse track mounting seat 7005 is provided above the second support rod 7004, and a transverse track seat 7005a longer than the transverse track mounting seat 7005 is connected to the inner side of the transverse track mounting seat 7005; a fifth rectangular track 7005b is provided on the transverse track seat 7005a, and a plurality of fifth electric trolleys 7006 are provided on the fifth rectangular track 7005b; an eighth push rod motor 7007 is installed on the fifth electric trolley 7006; an L-shaped clamping plate is installed on the outer side of the eighth push rod motor 7007; a fifth rectangular track 7005b is provided on the transverse track seat 7005a; a fifth rectangular track 7005b is provided on the fifth electric trolley 7006; an eighth push rod motor 7007 is provided on the outer side of the eighth push rod motor 7007; a fifth rectangular track 7005b is provided on the outer side of the fifth electric trolley 7006 ... The purpose of this structure is that the seventh push rod motor mounting seat 7001 can cooperate with the lifting push rod motor 5001 of the track rotating part 5000 to rise and fall, so that the masonry height can always cooperate with each other, and the height of the vertical clamping plate 7003a should be close to the wire rope 5009. When all the bricks fall on the wire rope 5009 and are arranged, they can be pushed inwardly from left to right by the seventh push rod motor 7002, and pushed inwardly from front to back by the fifth push rod motor 5006, thereby forming a rectangular clamping track for a whole brick, and the rectangular track can be adjusted according to actual needs. The length and width, that is, the size of the bricks and the length of the brick wall can be adjusted according to actual needs. The rectangular track has a certain adaptability. The horizontal clamping plate 7003b installed at the bottom of the vertical clamping plate 7003a can be used for switching support with the steel wire rope. The bricks can be vertically supported by the steel wire rope 5009 first. After the steel wire rope 5009 moves to the bottom of the horizontal clamping plate 7003b, the gravity support is switched to the horizontal clamping plate 7003b. At this time, the steel wire rope 5009 can be moved away by the first electric trolley 5005b, and then the brick wall can be lowered as a whole onto the upper brick wall;The upper L-shaped clamping plate 7008 can be used to receive the first process of the bricks sliding down from the transfer bucket 4001. The fifth electric trolley 7006 is controlled to drive the L-shaped clamping plates 7008 on both sides to move to the bottom of the sloped transport plate 4001d. The eighth push rod motor 7007 is controlled to drive the L-shaped clamping plate 7008 to catch the first brick that falls. The fifth electric trolley 7006 is then controlled to move so that the second brick falls to the other end of the L-shaped clamping plate 7008. The fifth push rod motor 5006 can be used to push the second brick to clamp the first brick, and the L-shaped clamping plates 7008 at both ends can be used to clamp the brick. After holding the two connected bricks, control the fifth electric trolley 7006 to control the L-shaped clamp to move to the middle of the track formed by the vertical clamp 7003a, cooperate with the steel wire rope 5009 to support at the bottom, loosen the two L-shaped clamps 7008, put down the two bricks, repeat the above process, and finally get a whole brick placed on the steel wire rope 5009, and then switch to the horizontal clamp 7003b support as described above, and finally put down a whole brick, and then carry out the compaction process. It should be noted here that if the movement between the clamps is affected by factors such as friction, bull's eye rollers and other mechanisms can be added according to actual conditions. Compared with the existing technology of manually taking and placing bricks for bricklaying, or mechanically clamping and placing bricks one by one, the three-layer track brick placement mechanism provided by this technology can clamp bricks through L-shaped clamping plates 7008 and move them on the track, and switch the bricks up and down and place them on the wire rope 5009, then place them on the horizontal clamping plates 7003b, and finally place them on the previous row of bricks. This one-time masonry structure can not only ensure the masonry efficiency, but also can be adjusted according to actual conditions, such as different brick sizes and masonry lengths, to adapt to more masonry scenarios. ;

[0096] An intelligent masonry spraying method, comprising Figure 1-12 As shown, the steps are:

[0097] S1. Brick adding process. Two different brick adding methods are provided. One is to put bricks into the storage unit 2200 through the input plates 2201 on both sides of the storage unit 2200 for storage. Since the switch unit 2300 can close and block the innermost bricks, the bricks put in can be tightly together, which effectively improves the space utilization of brick storage. The other is to put bricks directly into the transport bucket 3001 from above through the second rectangular opening 2103a in the middle of the special-shaped top plate 2103 on the top of the output unit 2100, and then the transport bucket 3001 transports the bricks to each storage unit 2200.

[0098] S2, determine the masonry area. The two walking base parts 1000 can be moved to the two ends of the laying site. At this time, the two walking base parts 1000 are independent units and are not connected together. After the position is determined, the two walking base parts 1000 are aligned, and then the two independent parts are fixedly connected through the chain 4007b, the connecting pin 4006 and other mechanisms to form a complete independent part. Finally, the special-shaped rotating seat 5004 is driven to rotate by the rotating motor 5003, so that the mechanism originally idle at the two ends forms a complete movable track through the combination of the special-shaped rotating convex component 5008a and the special-shaped rotating concave component 5008b, and then masonry can be started.

[0099] S3, brick taking process. The bricks pre-stored in the storage unit 2200 are quickly transported to the output unit 2100 through the transport bucket 3001, and then the first roller 2104a inside the output unit 2100 is actuated to transport the bricks 2202 to the outermost output plate 2105 to slide into the subsequent conveying and spraying part 4000; two brick taking methods are provided at the same time, one is to slide the bricks into the next mechanism for masonry preparation through the output plate 2105, and the other is to directly unload the stored bricks to the ground through the first rectangular opening 1002a at the bottom of the special-shaped walking seat 1002 through the middle conveying part 3000. It should be noted that the second brick unloading method can be used in the brick handling process, so when this brick unloading method is used, the entire robot can be used as a brick transport robot.

[0100] S4, spraying process. First, the front spraying port 4003a, the rear spraying port 4003b, and the upper spraying port 4003c provided on the transmission spraying part 4000 are connected to the existing mortar mixing and output mechanism so that the spraying operation can be performed. When the brick 2202 is pushed into the interior of the transfer bucket 4001 through the output plate 2105, it will be placed in the middle of the transfer bucket 4001 under the enclosure of the horizontal guardrail 4001b. The second push plate 4002b on it is controlled by the third push rod motor 4002a to push the brick 2202 horizontally to the right side of the transfer bucket 4001 under the rotation of the third roller 4001c, and finally output from the slope transport plate 4001d to the next part; when passing through the slope transport plate 4001d, the front spraying port 4003a, the rear spraying port 4003b, and the upper spraying port 4003c can be controlled as needed to spray the brick 2202, and then the next step of masonry is performed.

[0101] S5, brick arrangement process. The fifth electric trolley 7006 is controlled to drive the L-shaped clamping plates 7008 on both sides to move to the bottom of the sloped transport plate 4001d, and the eighth push rod motor 7007 is controlled to drive the L-shaped clamping plates 7008 to catch the first brick that falls, and then the fifth electric trolley 7006 is controlled to move so that the second brick falls to the other end of the L-shaped clamping plates 7008. The second brick can be pushed by the fifth push rod motor 5006 to clamp the first brick, and the L-shaped clamping plates 7008 at both ends are used to clamp the bricks. After clamping the two connected bricks, the fifth electric trolley 7006 is controlled to control the L-shaped clamping plates to move to the middle of the track formed by the vertical clamping plates 7003a, and the steel wire rope 5009 is used to support the bottom, and the two L-shaped clamping plates 7008 are loosened to put down the two bricks. The above process is repeated to finally obtain a whole brick on the steel wire rope 5009.

[0102] S6, brick placing process. The seventh push rod motor 7002 can push inwards from left to right, and the fifth push rod motor 5006 can push inwards from front to back, so as to form a rectangular clamping track for a whole brick. The length and width of the rectangular track can be adjusted according to actual needs, that is, the size of the brick and the length of the brick wall can be adjusted according to actual needs. The rectangular track has a certain adaptability. The horizontal clamping plate 7003b installed at the bottom of the vertical clamping plate 7003a can be used for switching support with the steel wire rope. The steel wire rope 5009 can first support the brick vertically. After the steel wire rope 5009 moves to the bottom of the horizontal clamping plate 7003b, the gravity support is switched to the horizontal clamping plate 7003b. At this time, the steel wire rope 5009 can be moved away by the first electric trolley 5005b, and then the brick wall is lowered as a whole onto the upper brick wall.

[0103] S7, brick pressing process. Control the special-shaped fixed convex component 6003a and the special-shaped fixed concave component 6003b to extend, and the special-shaped fixed convex component 6003a is inserted into the middle slot of the special-shaped fixed concave component 6003b to support the entire frame. The fourth rectangular track 6006 can also move to the top of the track formed by the wire rope 5009. At this time, the bricks below have been arranged in a whole line, and the sixth push rod motor 6008 is needed to push the roller 6009 to move onto the bricks, and then control the fourth electric trolley 6007 to roll back and forth on the fourth rectangular track 6006, thereby completing the compaction function of the masonry bricks. At this point, the entire masonry spraying work is completed.

[0104] It should be understood that the above description of the preferred embodiment is relatively detailed and cannot be regarded as limiting the scope of patent protection of the present invention. Under the enlightenment of the present invention, ordinary technicians in this field can also make substitutions or modifications without departing from the scope of protection of the claims of the present invention, which all fall within the scope of protection of the present invention. The scope of protection requested for the present invention shall be based on the attached claims.

Claims

1. An intelligent masonry spraying robot, characterized in that: include At least one group of walking base parts (1000), a middle conveying part (3000) installed in the middle of each group of the walking base parts (1000), and two side brick storage parts (2000) installed on both sides of each group of the walking base parts (1000), and a group of conveying spraying parts (4000) are provided on the inner sides of both ends of each group of the walking base parts (1000); wherein, Any one set of the walking base parts (1000) is used alone; or Any two groups of the walking base parts (1000) are connected for use through two groups of conveying spraying parts (4000) opposite to each other at the same end; The walking base part (1000) is mainly composed of a special-shaped walking seat (1002), and a first rectangular opening (1002a) is provided in the middle of the special-shaped walking seat (1002); Two wheels (1001) are provided at both ends of the outer side of the special-shaped walking seat (1002), a first push rod motor mounting seat (1003) is provided on the inner side, and another two wheels (1001) are provided on the inner side of the special-shaped walking seat (1002) in the front and rear directions of the first push rod motor mounting seat (1003); The wheels (1001) on the inner and outer sides are arranged asymmetrically, wherein the inner wheels (1001) are closer to the first rectangular opening (1002a) in the middle; The first push rod motor mounting seat (1003) is provided with a first push rod motor (1004).

2. The intelligent masonry spraying robot according to claim 1 is characterized in that: The brick storage parts (2000) on both sides include at least two groups of storage units (2200) arranged on both sides of the special-shaped walking seat (1002), a group of output units (2100) arranged on the uppermost storage unit (2200), a transmission unit (2400) in the middle connecting the upper and lower units, and a switch unit (2300) for controlling the bricks (2202) to enter and exit the transmission unit (2400); The output unit (2100) is mainly composed of a hollow frame (2101), the four corners of the hollow frame (2101) are provided with first support rods (2102) for supporting the special-shaped top plate (2103), and the middle of the special-shaped top plate (2103) is provided with a second rectangular opening (2103a) in a vertical position and the same size as the first rectangular opening (1002a); An output plate (2105) is provided on the outside of the hollow frame (2101), and one end of the output plate (2105) is inclined downward. A plurality of first rollers (2104a) are provided at intervals on the hollow frame (2101), and the first rollers (2104a) are driven to rotate by a first stepper motor (2104) installed on the outside of the bottom baffle of the hollow frame (2101). The storage unit (2200) is located below the output unit (2100), and its main structure is the same as that of the output unit (2100), except that both sides thereof are provided with input plates (2201), and the outward end of the input plate (2201) is inclined upward; The transmission unit (2400) comprises a transverse baffle (2401) connected to the output unit (2100) and the storage unit (2200) on both sides, and a middle baffle (2402) vertically connecting the transverse baffles (2401) on both sides; a third stepper motor (2406) is installed on the outer side of the middle baffle (2402), and is connected to the transmission shaft (2403) on the inner side through a coupling; a plurality of groups of transmission shafts (2403) are arranged on the inner side of the middle baffle (2402), and a first sprocket (2404) is arranged on both sides of the transmission shaft (2403), and the first sprocket (2404) is meshed with the conveying chain (2405); The switch unit (2300) is installed at the innermost side of the output unit (2100) and the storage unit (2200), and is mainly composed of a movable cover plate (2301); the movable cover plate (2301) is slightly larger than a third rectangular opening (2106a) provided in the middle of a transport port baffle (2106) inside the output unit (2100), and a rack track (2303) is provided on one side of the movable cover plate, and a second stepper motor (2302) installed on the outer side of the transport port baffle (2106) is meshed with the rack track (2303) via a gear on its output shaft.

3. The intelligent masonry spraying robot according to claim 1 is characterized in that: The middle conveying part (3000) comprises a conveying bucket (3001), wherein the conveying bucket (3001) is provided with an opening on one side and a transverse baffle on the other side, the upper end is open, and the lower end is provided with a plurality of second rollers (3003); two chain mounting seats (3002) are provided on the outer side of the transverse baffle for connecting with the conveying chain (2405) to drive the conveying bucket (3001) to move; A second push rod motor (3004) is provided in the middle of the inner side of the transverse baffle, and the second push rod motor (3004) is connected to the first push plate (3005).

4. The intelligent masonry spraying robot according to claim 1, characterized in that: The conveying spraying part (4000) is mainly composed of a main frame (4004), and the lower end of the main frame (4004) is installed on the inner sides of both ends of the special-shaped walking seat (1002); Two sets of opposite conveying spraying parts (4000) are connected by a chain (4007b), or by a connecting pin (4006) installed at the bottom of the main frame (4004); A transfer bucket (4001) is provided on the outward side of the main frame (4004), the transfer bucket (4001) is open toward one side of the output unit (2100) and corresponds to the output plate (2105), and a transverse guardrail (4001b) is provided on the side of the transfer bucket (4001) away from the output unit (2100); The transfer bucket (4001) is a closed structure at the top and bottom, a third roller (4001c) is provided at the bottom, a third push rod motor mounting seat (4001a) is provided on the outward side, a third push rod motor (4002a) is provided on the third push rod motor mounting seat (4001a), and an open structure is provided on the inward side, and a sloped transport plate (4001d) is provided on the outside; The sloped transport plate (4001d) is tilted downward and is provided with guardrails on both sides, and a front shotcrete port (4003a) and a rear shotcrete port (4003b) are respectively provided in the middle of the sides facing each other. The main frame (4004) is provided with a horizontally protruding irregular rectangular convex structure, and a downwardly directed upper spraying port (4003c) is provided on the downward side of the irregular rectangular convex structure, and the upper spraying port (4003c) is directly opposite to the sloped transport plate (4001d).

5. The intelligent masonry spraying robot according to claim 1, characterized in that: It also includes a rotating track portion (5000) installed on two opposite conveying shotcrete portions (4000), wherein the rotating track portion (5000) includes, from bottom to top, a lifting push rod motor (5001), a rotating motor mounting seat (5002), a rotating motor (5003), a special-shaped rotating seat (5004), a special-shaped track mounting seat (5005), and a fifth push rod motor (5006); The special-shaped rotating seats (5004) are L-shaped, and the middle of the bottom of the adjacent special-shaped rotating seats (5004) are respectively provided with special-shaped rotating convex components (5008a) and special-shaped rotating concave components (5008b) that can be engaged with each other; The special-shaped track mounting seat (5005) is mounted on the special-shaped rotating seat (5004), a first rectangular track (5005a) is provided in the middle thereof, and a first electric trolley (5005b) is provided on the first rectangular track (5005a); The first electric trolley (5005b) is connected to a turnbuckle bolt, and the turnbuckle bolt is connected to a steel wire rope (5009), and is used to connect the front and rear sets of rotating track parts (5000) through two steel wire ropes (5009); The fifth push rod motor (5006) is connected to the third push plate (5007).

6. The intelligent masonry spraying robot according to claim 1, characterized in that: It also includes a vertical rolling portion (6000) disposed on two opposite rotating track portions (5000), wherein the vertical rolling portion (6000) is supported by the second rectangular track (6001); The second rectangular track (6001) is installed on the closed top plate at the upper end of the transfer bucket (4001), and a second electric trolley (6002) is provided on the second rectangular track (6001); Two opposite second rectangular rails (6001) are respectively provided with a special-shaped fixing convex component (6003a) and a special-shaped fixing concave component (6003b) that can be inserted and connected; A third rectangular track (6004) is provided on the special-shaped fixed concave component (6003b), and a third electric trolley (6005) is installed on the third rectangular track (6004); A fourth vertical rectangular track (6006) is provided on the front and rear third electric trolleys (6005); a fourth electric trolley (6007) is provided at the lower end of the fourth rectangular track (6006); a sixth push rod motor (6008) is provided at the lower end of the fourth electric trolley (6007); and a roller (6009) is provided at the lower end of the sixth push rod motor (6008).

7. The intelligent masonry spraying robot according to claim 1, characterized in that: It also includes a gripping and transmitting part (7000), wherein the gripping and transmitting part (7000) is mainly composed of a seventh push rod motor mounting seat (7001); The seventh push rod motor mounting seat (7001) is mounted on the first push rod motor (1004) and the fourth push rod motor (4005) located on the same side, and the seventh push rod motor (7002) and the second support rod (7004) are respectively provided on the seventh push rod motor mounting seat (7001); The seventh push rod motor (7002) is connected to a vertical clamping plate (7003a), and a plurality of transverse clamping plates (7003b) with gaps are provided at the outer bottom of the vertical clamping plate (7003a); a transverse track mounting seat (7005) is provided above the second support rod (7004), and a transverse track seat (7005a) is connected to the inner side of the transverse track mounting seat (7005); A fifth rectangular track (7005b) is provided on the transverse track seat (7005a), a plurality of fifth electric trolleys (7006) are provided on the fifth rectangular track (7005b), an eighth push rod motor (7007) is installed on the fifth electric trolley (7006), and an L-shaped clamping plate (7008) is installed on the outer side of the eighth push rod motor (7007).

8. An intelligent masonry spraying method, characterized in that: The following steps are involved: S1, brick adding process: bricks are added by two different brick adding methods, one is to put bricks into the storage unit (2200) through the input plates (2201) on both sides of the storage unit (2200); the other is to directly add bricks from the top into the transport bucket (3001) through the second rectangular opening (2103a) in the middle of the special-shaped top plate (2103) on the top of the output unit (2100), and then the transport bucket (3001) transports the bricks to each storage unit (2200); S2, determining the masonry area: first, the two walking base parts (1000) can be moved to the two ends of the paving site. At this time, the two walking base parts (1000) are independent units. After the position is determined, the two walking base parts (1000) are aligned, and then the two independent parts are connected through the chain (4007b) and / or the connecting pin (4006) to form a complete independent part. Finally, the special-shaped rotating seat (5004) is driven to rotate by the rotating motor (5003), so that the mechanism originally idle at the two ends forms a complete movable track through the combination of the special-shaped rotating convex component (5008a) and the special-shaped rotating concave component (5008b), and then masonry can be started; S3, brick taking process: the bricks pre-stored in the storage unit (2200) are quickly transported to the output unit (2100) through the transport bucket (3001), and then the first roller (2104a) inside the output unit (2100) is actuated to transport the bricks (2202) to the outermost output plate (2105) and slide into the subsequent conveying spraying part (4000); S4, spraying process: the front spraying port (4003a), the rear spraying port (4003b), and the upper spraying port (4003c) are all connected to the existing mortar mixing output mechanism. When the brick (2202) is pushed into the transfer bucket (4001) through the output plate (2105), it will be placed in the middle of the transfer bucket (4001) under the enclosure of the horizontal guardrail (4001b), and the second push plate (4002a) on it is controlled by the third push rod motor (4002a). 2b) pushing the bricks (2202) laterally to move to the transfer bucket (4001) under the rotation of the third roller (4001c), and finally outputting to the next part from the sloped transport plate (4001d); when passing through the sloped transport plate (4001d), the front spraying port (4003a), the rear spraying port (4003b), and the upper spraying port (4003c) can be controlled as needed to spray the bricks (2202), and then proceed to the next step of masonry; S5, brick arrangement process: by controlling the fifth electric trolley (7006), the L-shaped clamping plates (7008) on both sides are moved to the bottom of the sloped transport plate (4001d), by controlling the eighth push rod motor (7007), the L-shaped clamping plates (7008) are driven to catch the first brick that falls, and then the fifth electric trolley (7006) is controlled to move, so that the second brick falls to the other end of the L-shaped clamping plates (7008), and the fifth push rod motor (5006) is used to push the second brick and The first brick is clamped, and the L-shaped clamps (7008) at both ends are used to clamp the bricks. After clamping the two bricks connected together, the fifth electric trolley (7006) is controlled to control the L-shaped clamps (7008) to move to the middle of the track formed by the vertical clamps (7003a), and the steel wire rope (5009) is used to support the bottom. The two L-shaped clamps (7008) are loosened, and the two bricks are put down. The above process is repeated, and finally a whole brick is placed on the steel wire rope (5009); S6, brick placing process: the seventh push rod motor (7002) pushes inwards in the left and right directions, and the fifth push rod motor (5006) pushes inwards in the front and back directions, thereby realizing a rectangular clamping track for a whole brick. The horizontal clamping plate (7003b) installed at the bottom of the vertical clamping plate (7003a) can be used for switching support with the steel wire rope. The brick can be vertically supported by the steel wire rope (5009). After the steel wire rope (5009) moves to the bottom of the horizontal clamping plate (7003b), the gravity support is switched to the horizontal clamping plate (7003b). At this time, the steel wire rope (5009) can be moved away by the first electric trolley (5005b), and then the brick wall is lowered as a whole onto the upper brick wall; S7, brick pressing process: control the special-shaped fixed convex component (6003a) and the special-shaped fixed concave component (6003b) to extend, and the special-shaped fixed convex component (6003a) is inserted into the middle slot of the special-shaped fixed concave component (6003b) to support the entire frame. The fourth rectangular track (6006) can also be moved to the top of the track formed by the wire rope (5009). At this time, the bricks below have been arranged in a whole row, and the sixth push rod motor (6008) is required to push the roller (6009) to move to the bricks, and then control the fourth electric trolley (6007) to roll back and forth on the fourth rectangular track (6006), thereby completing the compaction function of the masonry bricks. At this point, the entire masonry spraying work is completed.

9. The intelligent masonry spraying method according to claim 8, characterized in that: The step S3 provides two methods for taking bricks, namely, sliding the bricks into the next mechanism for masonry preparation through the output plate (2105), or directly unloading the stored bricks to the ground through the first rectangular opening (1002a) at the bottom of the special-shaped walking seat (1002) through the middle conveying part (3000).

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