Building robot brick handling manipulator

Abstract

The application provides a building robot brick carrying manipulator, which comprises a horizontal moving mechanism, a lifting mechanism installed on the horizontal moving mechanism and a clamping mechanism installed on the lifting mechanism; the lifting mechanism comprises a lifting support group and a lifting driving assembly for driving the lifting support group to lift; the lifting driving assembly is fixedly installed on the horizontal moving mechanism; the lifting support group comprises a plurality of lifting sections arranged longitudinally and side by side, the adjacent two lifting sections are longitudinally and slidably connected, the outer side of the lifting section arranged at one end is fixedly connected with the horizontal moving mechanism, and the clamping mechanism is longitudinally and slidably connected with the lifting section arranged at the other end; the lifting driving assembly drives the clamping mechanism to slide upward along the lifting section, and sequentially drives the adjacent lifting sections to continuously lift upward in sequence to lift the clamping mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building robots, and particularly relates to a building robot brick carrying manipulator. BACKGROUND

[0002] With the development of science and technology, traditional backward construction methods restrict the improvement of construction efficiency and quality, and intelligent construction taking building robots as the main body can effectively improve the safety, economy and reliability of the construction process.

[0003] In the construction process, the wall height will be continuously increased with the laying of bricks, and the manipulator needs to expand its working height through a lifting mechanism due to the limitation of the movement range. However, the traditional lifting mechanism adopts a single-stage lifting such as a cylinder or an electric push rod, and the maximum lifting height is limited by the length of the output shaft of the cylinder or the electric push rod, which is difficult to realize long-distance stretching and greatly limits the lifting height of the manipulator, which cannot meet the operation requirements. Therefore, it is particularly important to improve the construction efficiency and quality for the building robot to realize the long-distance stretching of the manipulator and accurately control the lifting height. SUMMARY

[0004] The present application aims to provide a building robot brick carrying manipulator, which has long-distance lifting capacity, can accurately control the lifting height, can realize stable and fast lifting effect, and occupies small space.

[0005] In order to achieve the above-mentioned purpose, the present application provides a building robot brick carrying manipulator, which comprises a horizontal moving mechanism, a lifting mechanism installed on the horizontal moving mechanism, and a clamping mechanism installed on the lifting mechanism.

[0006] The lifting mechanism comprises a lifting support group and a lifting driving assembly for driving the lifting support group to lift;

[0007] The lifting driving assembly is fixedly installed on the horizontal moving mechanism; the lifting support group comprises a plurality of lifting sections arranged longitudinally and side by side, the adjacent two lifting sections are longitudinally slidably connected, the outer side of the lifting section arranged at one end is fixedly connected with the horizontal moving mechanism, and the clamping mechanism is longitudinally slidably connected with the lifting section arranged at the other end.

[0008] The lifting driving assembly drives the clamping mechanism to slide upward along the lifting section, and sequentially drives the adjacent lifting sections to continuously lift upward to lift the clamping mechanism.

[0009] Further, the lifting section is square tubular, one side of the lifting section has a sliding hole extending in the axial direction, the other side of the lifting section is fixedly provided with a sliding body, the sliding body is arranged to slide up and down in the adjacent lifting section after passing through the sliding hole of the adjacent lifting section.

[0010] The clamping mechanism is also connected with the adjacent lifting section through the sliding body.

[0011] Further, the sliding body comprises a sliding block and a fixed block, the sliding block is cuboid, four first rollers are symmetrically arranged on the left and right side walls of the sliding block, two second rollers are rotatably arranged at the two ends of the sliding block, the second rollers at the two ends of the sliding block are respectively offset to the front and rear sides of the sliding block, two third rollers are arranged on the front and rear side walls of the sliding block, and the third rollers on the front and rear sides of the sliding block are arranged in an up and down interval.

[0012] The fixed block is fixedly connected with the front side or the rear side of the sliding block through bolts.

[0013] The fixed block is fixedly connected with the bottom of the lifting section.

[0014] Further, the lifting driving assembly comprises a mounting frame, a lifting wire disc rotatably arranged on the mounting frame, a lifting rope wound on the lifting wire disc, and a lifting motor for driving the lifting wire disc to rotate; the lifting wire disc is arranged on one side of the mounting frame; the lifting motor is fixedly arranged on the mounting frame; and the mounting frame is fixedly arranged on the transverse moving mechanism.

[0015] The lifting section is rotatably arranged on one side of the transverse moving mechanism; the lifting rope is fixedly connected with the clamping mechanism at the leading end; and the lifting rope is sequentially wound around the pulleys at the upper and lower ends of the lifting section.

[0016] Further, the lifting motor drives the lifting wire disc to rotate through a first synchronous belt.

[0017] Further, the transverse moving mechanism comprises a cross beam rail, a sliding seat slidably arranged on the cross beam rail, and a transverse moving driving assembly for driving the sliding seat to reciprocally move along the cross beam rail.

[0018] The sliding seat comprises two transverse moving support plates oppositely arranged on the left and right sides of the cross beam rail, the two transverse moving support plates are fixedly connected through four symmetrically distributed connecting rods, fourth rollers are rotatably arranged at the four corners of the transverse moving support plates, the fourth rollers roll along the left and right side walls of the cross beam rail, and four fifth rollers are arranged on the transverse moving support plates and roll along the upper and lower side walls of the cross beam rail.

[0019] The lifting driving assembly is fixedly connected at the top of the transverse moving support plate; the outer side of the lifting joint arranged at one end is fixedly connected with one of the transverse moving support plate surfaces.

[0020] Further, the transverse moving driving assembly comprises a transverse moving steering engine, a transverse moving wire reel, and a transverse moving pull rope wound on the transverse moving wire reel; two transverse moving rollers are rotatably arranged at the two ends of one side of the cross beam track; the transverse moving steering engine drives the transverse moving wire reel to rotate;

[0021] The two ends of the transverse moving pull rope are connected in a closed loop shape, the two ends of the transverse moving pull rope pass through the two transverse moving rollers, and the transverse moving pull rope is fixedly connected with one of the transverse moving support plates through a fixing nail.

[0022] Further, the clamping mechanism comprises a supporting arm, a turnover arm, and a carrying clamping jaw; wherein,

[0023] The supporting arm is slidably connected with the lifting joint through a connecting block; the supporting arm comprises two oppositely arranged supporting arm inner side plates and supporting arm outer side plates, the supporting arm inner side plates and the supporting arm outer side plates are fixedly connected through a connecting piece at the lower part and through two connecting columns at the upper part, a right-angle motor is fixedly installed at the middle part between the supporting arm inner side plates and the supporting arm outer side plates, a first speed reduction gear is fixedly installed on the motor shaft of the right-angle motor, the first speed reduction gear is engaged with a second speed reduction gear, the second speed reduction gear is fixedly installed on a first pulley shaft in a circumferential direction, a gear box is rotatably connected to the left end of the first pulley shaft through a bearing, the right end of the first pulley shaft is rotatably connected to the supporting arm inner side plate through a bearing, a third synchronous pulley fixedly installed on the first pulley shaft is arranged at the right of the second speed reduction gear, the third synchronous pulley is drivingly connected with a fourth synchronous pulley through a second synchronous belt, the fourth synchronous pulley is rotatably connected to a second pulley shaft through a first rolling bearing, the second pulley shaft is fixedly installed on the supporting arm inner side plate, and a fifth synchronous pulley fixedly installed on the second pulley shaft is arranged at the left of the fourth synchronous pulley.

[0024] The turnover arm comprises a turnover arm inner side plate, the turnover arm inner side plate is fixedly installed on the outer ring of the first rolling bearing, the right end of the turnover arm inner side plate is fixedly connected with the fourth synchronous pulley and a turnover arm outer side plate through four circumferentially distributed bolts, the middle part of the turnover arm inner side plate and the turnover arm outer side plate is fixedly connected through six upper and lower symmetrical turnover arm vertical columns, the right end of the turnover arm outer side plate is rotatably connected to the second pulley shaft through a second rolling bearing, the left end of the turnover arm inner side plate and the turnover arm outer side plate is rotatably connected to a sixth synchronous pulley through a bearing respectively, the sixth synchronous pulley is drivingly connected with the fifth synchronous pulley through a third synchronous belt.

[0025] The carrying clamp comprises a clamp fixing shell fixedly connected with the front end face of the sixth synchronous wheel, the clamp fixing shell is fixedly connected with a clamp inner side plate through three outer shell stand columns arranged in a triangular shape, the clamp inner side plate is fixedly provided with a clamp steering engine, the clamp inner side plate is fixedly connected with a clamp outer side plate through three clamp side plate stand columns, and the left end of the clamp inner side plate and the clamp outer side plate is rotatably provided with a front claw.

[0026] Further, the front claw and the rear claw are both fixedly provided with a plurality of rubber rings arranged in parallel.

[0027] Further, the clamping mechanism further comprises an arm limiting block, the arm limiting block is in an L shape, and the vertical section of the arm limiting block is fixedly installed on the lifting driving assembly.

[0028] In the initial state, the middle section bottom of the turnover arm is borne on the upper surface of the horizontal section of the arm limiting block.

[0029] The beneficial effects of the present application are embodied in:

[0030] (1) The lifting mechanism in the present application adopts a freely expandable lifting support group, and the sliding body is hidden in the lifting section, which occupies small space, and the effective lifting stroke of each lifting section is approximately equal to the height of the lifting section, thereby realizing maximum utilization of space and maximum height improvement, and the number of lifting sections can be expanded according to the required operation height in the later stage to improve the maximum lifting height, so that the adaptability is stronger, and the carrying efficiency is effectively improved.

[0031] (2) The lifting mechanism in the present application adopts a continuous lifting pull rope mode, and the clamping mechanism at the end of the lifting mechanism is lifted or lowered by controlling the clockwise or counterclockwise rotation of the lifting wire disc on the lifting mechanism, the rotation amount of the lifting wire disc is the lifting height of the clamping mechanism, thereby realizing accurate control of the lifting height of the brick, and the application range is wider.

[0032] (3) The horizontal movement mechanism in the present application controls the rotation of the horizontal movement wire disc by driving the horizontal movement steering engine, and drives the horizontal movement support plate to move left and right by means of the horizontal movement pull rope on the horizontal movement wire disc, thereby realizing accurate and slight adjustment control of the horizontal offset of the brick during the building operation, which is beneficial to more accurate adjustment of the falling point position of the brick by the building robot.

[0033] (4) The clamping mechanism in the application realizes that the carrying clamping jaw fixedly installed on the sixth synchronous wheel always keeps the initial state of the clamping jaw downward, so that the instability phenomenon of the clamping jaw due to the weight of the brick when the turnover arm rotates is effectively avoided, the stability of the mechanism is improved, and the safety and reliability of the automatic carrying manipulator are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The structure schematic view of the manipulator provided by the embodiment of the application is carried on the mobile platform;

[0035] Figure 2 The structure schematic view of the manipulator provided by the embodiment of the application is carried on the mobile platform;

[0036] Figure 3 The structure schematic view of the horizontal moving mechanism provided by the embodiment of the application is carried on the mobile platform;

[0037] Figure 4 The structure schematic view of the lifting mechanism and the clamping mechanism provided by the embodiment of the application is carried on the mobile platform;

[0038] Figure 5 The structure schematic view of the lifting mechanism and the clamping mechanism provided by the embodiment of the application is carried on the mobile platform;

[0039] Figure 6 The structure schematic view of the lifting mechanism and the clamping mechanism provided by the embodiment of the application is carried on the mobile platform;

[0040] Figure 7 The structure schematic view of the sliding body provided by the embodiment of the application is carried on the mobile platform;

[0041] Figure 8 The structure schematic view of the lifting driving assembly provided by the embodiment of the application is carried on the mobile platform; Figure 1 ;

[0042] Figure 9 The structure schematic view of the lifting driving assembly provided by the embodiment of the application is carried on the mobile platform; Figure 2 ;

[0043] Figure 10 The structure schematic view of the clamping mechanism provided by the embodiment of the application is carried on the mobile platform;

[0044] Figure 11 The structure schematic view of the clamping mechanism provided by the embodiment of the application is carried on the mobile platform;

[0045] Figure 12 The structure schematic view of the clamping mechanism provided by the embodiment of the application is carried on the mobile platform;

[0046] Figure 13A structure schematic view of the carrying gripper provided for the embodiment of the present application is shown in the figure;

[0047] Figure 14 A working state one of the brick carrying robot provided for the embodiment of the present application is shown in the figure;

[0048] Figure 15 A working state two of the brick carrying robot provided for the embodiment of the present application is shown in the figure;

[0049] Figure 16 A working state three of the brick carrying robot provided for the embodiment of the present application is shown in the figure;

[0050] Figure 17 A working state four of the brick carrying robot provided for the embodiment of the present application is shown in the figure;

[0051] Figure 18 A working state five of the brick carrying robot provided for the embodiment of the present application is shown in the figure;

[0052] Wherein, the horizontal moving mechanism 1, the lifting mechanism 2, the clamping mechanism 3, the lifting support group 4, the lifting driving assembly 5, the lifting joint 6, the sliding hole 7, the sliding body 8, the sliding block 9, the fixed block 10, the first roller 11, the second roller 12, the third roller 13, the mounting rack 14, the lifting wire reel 15, the lifting pull rope 16, the lifting motor 17, the pulley 18, the first synchronous belt 19, the cross beam rail 20, the sliding seat 21, the horizontal moving support plate 22, the fourth roller 24, the fifth roller 25, the horizontal moving steering engine 26, the horizontal moving wire reel 27, the horizontal moving pull rope 28, the horizontal moving roller 29, the fixed nail 30, the support arm 31, the overturning arm 32, the carrying gripper 33, the connecting block 34, the support arm inner side plate 35, the support arm outer side plate 36, the connecting piece 37, the right-angle motor 39, the first reduction gear 40, the second reduction gear 41, the gear box 42, the second synchronous belt 43, the third synchronous roller 44, the fourth synchronous roller 45, the fifth synchronous roller 46, the overturning arm inner side plate 47, the overturning arm outer side plate 49, the overturning arm stand 50, the second rolling bearing 51, the sixth synchronous roller 52, the third synchronous belt 53, the gripper fixed shell 54, the shell stand 55, the gripper inner side plate 56, the gripper steering engine 57, the gripper side plate stand 58, the gripper outer side plate 59, the front gripper 60, the steering engine gear 61, the rear gripper 62, the rubber ring 63, the arm limiting block 64, the moving platform 75, the bottom plate 76, the brick winding and feeding device 77, the robot 78, the near-end limiting switch 79, the far-end limiting switch 80, the steering engine support 81, the roller support 82, the steering engine connecting seat 83, the rear steering engine 84, the mounting rod 85, the distance sensor 86, the brick 87. DETAILED DESCRIPTION

[0053] The specific embodiments of the present application will be described in more detail below with reference to the accompanying drawings. The advantages and features of the present application will be more apparent from the following description. It should be noted that the drawings are very simplified and are not drawn to scale, and are only used to facilitate and clarify the purpose of illustrating the embodiments of the present application.

[0054] As shown in Figures 1-2 , the building robot brick carrying manipulator provided by the embodiments of the present application is mounted on the bottom plate 76 of the mobile platform 75 and carried by the mobile platform 75, the mobile platform 75 also carries a brick straightening and winding device 77 for straightening and winding the bricks onto the mobile platform 75, and the manipulator 78 is used to carry the bricks straightened and wound onto the mobile platform 75 by the brick straightening and winding device 77.

[0055] Specifically, as shown in Figure 2 , the manipulator 78 includes a horizontal movement mechanism 1, a lifting mechanism 2 mounted on the horizontal movement mechanism 1, and a clamping mechanism 3 mounted on the lifting mechanism 2.

[0056] As shown in Figure 3 , the horizontal movement mechanism 1 includes a beam rail 20, a sliding seat 21 slidingly mounted on the beam rail 20, and a horizontal movement driving assembly for driving the sliding seat 21 to reciprocally move along the beam rail 20. The beam rail 20 is fixedly mounted on the bottom plate 76.

[0057] The sliding seat 21 includes two horizontally opposite horizontal movement support plates 22, which are fixedly connected by four symmetrically distributed connecting rods. Fourth rollers 24 are rotatably mounted at four corners of the horizontal movement support plates 22, and the fourth rollers 24 roll along the left and right sidewalls of the beam rail 20. Four fifth rollers 25 are also provided on the horizontal movement support plates 22 and roll along the upper and lower sidewalls of the beam rail 20. In this embodiment, the fourth rollers 24 and the fifth rollers 25 can be bearings, which can reduce the friction when the sliding seat 21 slides on the beam rail 20.

[0058] In specific implementation, a proximal limit switch 79 can be fixedly installed at the left end of the beam rail 20 to limit the left end displacement of the sliding seat 21, and a distal limit switch 80 can be fixedly installed at the right part of the middle of the beam rail 20 to limit the right end displacement of the sliding seat 21.

[0059] The transverse driving assembly comprises a transverse steering engine 26, a transverse wire reel 27, a transverse pull rope 28 wound on the transverse wire reel 27, and two transverse rollers 29 rotatably installed at the two ends of one side of the beam rail 20 through roller supports 82, and the transverse steering engine 26 drives the transverse wire reel 27 to rotate. The transverse steering engine 26 is fixedly installed on the bottom plate 76 through a steering engine support 81. The two ends of the transverse pull rope 28 are connected in a closed loop, the two ends of the transverse pull rope 28 pass through the two transverse rollers 29, and the transverse pull rope 28 is fixedly connected to one of the transverse support plates 22 through a fixing nail 30.

[0060] When the transverse steering engine 26 drives the transverse wire reel 27 to rotate clockwise or counterclockwise, the sliding seat 21 slides left and right on the beam rail 20 through the transverse pull rope 28 on the transverse wire reel 27, thereby driving the lifting mechanism 2 and the clamping mechanism 3 fixedly installed on the sliding seat 21 to slide left and right, so as to realize the adjustment of the transverse displacement of the bricks during the conveying process of the mechanical arm.

[0061] As shown in Figure 4 , the lifting mechanism 2 comprises a lifting support group 4 and a lifting driving assembly 5 for driving the lifting support group 4 to lift. The lifting driving assembly 5 is fixedly installed on the sliding seat 21 of the transverse mechanism 1. The lifting support group 4 comprises a plurality of lifting sections 6 arranged longitudinally and side by side, and the adjacent two lifting sections 6 are longitudinally and slidably connected. The outer side of the lifting section 6 arranged at one end is fixedly connected to the plate surface of one of the transverse support plates 22 of the sliding seat 21. The clamping mechanism 3 is longitudinally and slidably connected to the lifting section 6 arranged at the other end. The lifting driving assembly 5 drives the clamping mechanism 3 to slide upward along the lifting section 6, and sequentially drives the adjacent lifting sections 6 to continuously lift in sequence to lift the clamping mechanism 3.

[0062] Specifically, as shown in Figures 5-6 , the lifting section 6 is in the shape of a square tube. One side of the lifting section 6 has an axial sliding hole 7, and the other side of the lifting section 6 is fixedly installed with a sliding body 8. The sliding body 8 is slidably arranged in the adjacent lifting section 6 after passing through the sliding hole 7 of the adjacent lifting section 6. The clamping mechanism 3 is also slidably connected to the adjacent lifting section 6 through the sliding body 8.

[0063] As shown in Figure 7 , the sliding body 8 comprises a sliding block 9 and a fixed block 10. The sliding block 9 is in the shape of a cube, and four first rollers 11 are symmetrically installed on the left and right side walls of the sliding block 9. Two second rollers 12 are rotatably installed at the two ends of the sliding block 9, and the second rollers 12 at the two ends of the sliding block 9 are biased to the front and rear sides of the sliding block 9, respectively. Two third rollers 13 are installed on the front and rear side walls of the sliding block 9, and the third rollers 13 on the front and rear side walls of the sliding block 9 are arranged in an up-down interval. The fixed block 10 is fixedly connected to the front or rear side of the sliding block 9 through bolts, and the fixed block 10 is fixedly connected to the bottom of the lifting section 6 through bolts.

[0064] In this embodiment, the first roller 11, the second roller 12, and the third roller 13 can all be bearings. The first roller 11, the second roller 12, and the third roller 13 roll along the inner wall of the lifting section 6, reducing the frictional resistance when the sliding body 8 moves up and down inside the lifting section 6.

[0065] like Figure 8 , Figure 9 As shown, the lifting drive assembly 5 includes a mounting frame 14, a lifting reel 15 rotatably mounted on the mounting frame 14, a lifting rope 16 wound around the lifting reel 15, and a lifting motor 17 for driving the lifting reel 15 to rotate. The lifting reel 15 is located on one side of the mounting frame 14. The lifting motor 17 is fixedly mounted on the mounting frame 14. The mounting frame 14 is fixedly mounted on the transverse mechanism 1. The lifting motor 17 drives the lifting reel 15 to rotate via a first synchronous belt 19.

[0066] The lifting section 6 has pulleys 18 installed at both the top and bottom ends on one side. The pull-out end of the lifting rope 16 is fixedly connected to the clamping mechanism 3. The lifting rope 16 passes around the pulleys 18 at both the top and bottom ends of the lifting section 6 in sequence.

[0067] A servo motor connector 83 is fixedly connected to the rear of the outer side of the mounting bracket 14. A rear servo motor 84 is fixedly installed behind the servo motor connector 83. The lower end of the mounting rod 85 is fixedly connected to the output shaft of the rear servo motor 84. A distance sensor 86 is fixedly installed at the end of the mounting rod 85. When carrying out handling operations, the mounting rod 85 is rotated and lowered by driving the rear servo motor 84. The distance sensor 86 at the end of the mounting rod 85 detects the required moving distance from the brick landing point and feeds it back to the control module.

[0068] like Figure 9 As shown, this embodiment takes the lifting support assembly 4 with three lifting sections 6 as an example to explain the lifting principle of the lifting support assembly 4 in detail. For ease of description, the lifting section 6 adjacent to the mounting frame 14 is named the fixed section, the lifting section 6 adjacent to the fixed section is named the first lifting section, and the remaining two lifting sections 6 are named the second lifting section, the third lifting section, and the fourth lifting section, respectively.

[0069] like Figure 9 As shown, the lifting rope 16 is wound clockwise around the lifting reel 15 from front to back. The front end of the lifting rope 16 is fixedly connected to the clamping mechanism 3 by a cable fixing nail. The rear end of the lifting rope 16 passes counterclockwise around the first pulley, clockwise around the lower pulley on the first lifting section, counterclockwise around the upper pulley on the first lifting section, clockwise around the lower pulley on the second lifting section, counterclockwise around the upper pulley on the second lifting section, clockwise around the lower pulley on the third lifting section, counterclockwise around the upper pulley on the third lifting section, and finally fixedly connected to the clamping mechanism 3 by a cable fixing nail.

[0070] When the lifting reel 15 rotates counterclockwise driven by the lifting motor 17, the rear end of the lifting rope 16 on the lifting reel 15 is taut, and through the pulley installed on the lifting section 6, it first pulls the clamping mechanism 3 upward along the adjacent lifting section 6; when the fixed block 10 fixedly installed on the clamping mechanism 3 is raised to the top of the sliding hole of the third lifting section, the continuous tension brought by the lifting rope 16 causes the sliding body in the second lifting section to begin to slide, driving the third lifting section to rise, and the clamping mechanism 3 continues to rise; when the fixed block 10 located between the second and third lifting sections is raised to touch the sliding hole of the second lifting section, the clamping mechanism 3 continues to rise; when the fixed block 10 located between the second and third lifting sections is raised to the point of touching the sliding hole of the second lifting section, the clamping mechanism 3 continues to rise. When the hole reaches the top, the continuous tension from the lifting rope 16 causes the sliding body in the first lifting section to slide, which in turn lifts the second lifting section, causing the clamping mechanism 3 to continue to lift. When the fixed block 10 located between the first and second lifting sections is lifted to touch the top of the sliding hole of the first lifting section, the continuous tension from the lifting rope 16 causes the sliding body in the fixed section 12 to slide, which in turn lifts the first lifting section, causing the clamping mechanism 3 to continue to lift. When the fixed block located between the fixed section 12 and the first lifting section is lifted to touch the top of the sliding hole of the fixed section 12, the clamping mechanism 3 reaches its maximum working height and stops lifting.

[0071] like Figure 10 , Figure 11 , Figure 12 , Figure 13 As shown, the clamping mechanism 3 includes a support arm 31, a tilting arm 32, a transport gripper 33, and an arm limiting block 64. The arm limiting block 64 is L-shaped, and its vertical section is fixedly mounted on the side wall of the mounting bracket 14 of the lifting drive assembly 5. The support arm 31 is fixedly connected to the fixing block 10 on the sliding body 8 via a connecting block 34. The sliding body 8 is slidably mounted within the adjacent lifting section 6.

[0072] The support arm 31 includes two opposing inner support arm plates 35 and outer support arm plates 36. The inner support arm plates 35 and outer support arm plates 36 are fixedly connected below by a connector 37 and above by two connecting posts. A right-angle motor 39 is fixedly installed in the middle between the inner support arm plates 35 and outer support arm plates 36. A first reduction gear 40 is fixedly installed on the motor shaft of the right-angle motor 39. The first reduction gear 40 meshes with a second reduction gear 41. The second reduction gear 41 is circumferentially fixed on a first pulley shaft. The left end of the axle is rotatably connected to the gearbox 42 via a bearing, and the right end is rotatably connected to the inner side plate 35 of the support arm via a bearing. To the right of the second reduction gear 41, a third synchronous pulley 44 is circumferentially fixed on the first pulley shaft. The third synchronous pulley 44 is connected to the fourth synchronous pulley 45 via the second synchronous belt 43. The fourth synchronous pulley 45 is rotatably connected to the second pulley shaft via the first rolling bearing. The second pulley shaft is fixedly installed on the inner side plate 35 of the support arm. To the left of the fourth synchronous pulley 45, a fifth synchronous pulley 46 is fixedly installed on the second pulley shaft.

[0073] The tilting arm 32 includes an inner tilting arm plate 47, which is fixedly mounted on the outer ring of a first rolling bearing. The right end of the inner tilting arm plate 47 is fixedly connected to a fourth synchronous pulley 45 and an outer tilting arm plate 49 via four circumferentially distributed bolts. The middle sections of the inner and outer tilting arm plates 47 and 49 are fixedly connected by six symmetrically positioned tilting arm columns 50. The right end of the outer tilting arm plate 49 is rotatably connected to a second pulley shaft via a second rolling bearing 51. The left ends of the inner and outer tilting arm plates 47 and 49 are rotatably connected to a sixth synchronous pulley 52 via bearings. The sixth synchronous pulley 52 is connected to a fifth synchronous pulley 46 via a third synchronous belt 53. In the initial state, the bottom of the middle section of the tilting arm 32 rests on the upper surface of the horizontal section of the arm limiting block 64, which limits the angle and posture of the tilting arm 32 in the initial state.

[0074] The transport gripper 33 includes a gripper fixing shell 54, which is fixedly connected to the front end face of the sixth synchronous pulley 52. ​​The gripper fixing shell 54 is fixedly connected to the inner side plate 56 of the gripper through three triangularly distributed outer shell columns 55. A gripper servo motor 57 is fixedly installed on the inner side plate 56. The inner side plate 56 is fixedly connected to the outer side plate 59 of the gripper through three gripper side plate columns 58. A front gripper 60 is rotatably installed on the left end of the inner side plate 56 and the outer side plate 59 of the gripper. The front gripper 60 is inverted T-shaped and has a cylindrical top with gear teeth. The gear teeth on the front gripper 60 mesh with the servo gear 61 fixedly installed on the gripper servo motor 57. A rear gripper 62 is fixedly installed on the lower right end of the inner side plate 56 and the outer side plate 59 of the gripper. The height of the rear gripper 62 is lower than the height of the front gripper 60, which is conducive to the smooth entry of the brick into the gripper and allows the right side of the brick to fully fit against the rear gripper 91. Both the front claw 60 and the rear claw 62 are fixedly installed with several parallel rubber rings 63, which helps to increase the friction when handling bricks.

[0075] Work process:

[0076] When a brick is detected on the brick conveying device, the gripper servo motor on the transport jaw drives the front jaw, which meshes with the servo gear, to rotate counterclockwise, so that the lower end of the front jaw is close to the left side of the brick and works with the rear jaw to clamp the brick.

[0077] Next, the lifting motor drives the lifting reel to rotate. The lifting cable pulls the clamping mechanism to a designated height, after which the tilting arm performs a tilting action. A right-angle motor drives a small reduction gear to rotate counter-clockwise, which in turn drives a large reduction gear, a third synchronous pulley, and a second synchronous belt to rotate a fourth synchronous pulley clockwise. This causes the inner and outer plates of the tilting arm, fixedly connected to the fourth synchronous pulley, to rotate clockwise, thus achieving clockwise rotation of the tilting arm. Meanwhile, because the fifth synchronous pulley is fixedly connected to the second pulley shaft fixedly mounted on the inner plate of the support arm, it does not rotate with the fourth synchronous pulley. Consequently, the sixth synchronous pulley, connected to the fourth synchronous pulley via the third synchronous belt, also does not rotate. Consequently, the clamping jaw housing, fixedly connected to the sixth synchronous pulley, also does not rotate, ensuring that the handling jaws remain in their initial downward-facing position, clamping the brick. By driving the right-angle motor to control the tilting angle of the tilting arm, precise adjustment of the longitudinal offset of the brick can be achieved.

[0078] Then, based on the distance information from the brick landing point detected and fed back by the distance sensor 86, the clamping mechanism is moved left and right laterally by controlling the rotation of the lateral servo motor in the lateral movement mechanism, so as to achieve precise adjustment of the lateral offset of the brick.

[0079] Finally, after the horizontal and vertical offset of the bricks is adjusted, the lifting motor is reversed, the clamping mechanism is lowered, and the bricks are lowered to the landing point. The gripper servo is then reversed to rotate the front gripper clockwise, releasing the clamped bricks and completing the bricklaying operation. Then, the horizontal movement servo and lifting motor are driven to control the horizontal movement mechanism and the lifting mechanism to reset. Finally, the right-angle motor is driven to control the clamping mechanism to reset and execute the next brick transportation operation.

[0080] like Figure 14 As shown, a schematic diagram is given of the state in which the clamping mechanism 3 clamps the brick 87 and lifts it through the lifting mechanism 2.

[0081] like Figure 15 , 16 As shown in Figure 17, a schematic diagram of the state in which the clamping mechanism 3 clamps the brick 87 and rotates the flipping arm 32 is given.

[0082] like Figure 18 As shown, a schematic diagram is given of the state of the automatic handling robot gripping the brick 87 and placing it at the landing position.

[0083] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A construction robot for handling bricks, characterized in that, The system includes a transverse mechanism (1), a lifting mechanism (2) mounted on the transverse mechanism (1), and a clamping mechanism (3) mounted on the lifting mechanism (2). The transverse mechanism (1) includes a crossbeam rail (20), a sliding seat (21) slidably mounted on the crossbeam rail (20), and a transverse drive assembly for driving the sliding seat (21) to reciprocate along the crossbeam rail (20). The crossbeam rail (20) is mounted on the mobile platform (75) via a base plate (76). The lifting mechanism (2) includes a lifting support group (4) and a lifting drive assembly (5) for driving the lifting support group (4) to lift. The lifting drive assembly (5) is fixedly installed on the transverse mechanism (1); the lifting bracket group (4) includes multiple longitudinally arranged lifting sections (6), two adjacent lifting sections (6) are longitudinally slidably connected, the outer side of the lifting section (6) located at one end is fixedly connected to the transverse mechanism (1), and the clamping mechanism (3) is longitudinally slidably connected to the lifting section (6) located at the other end; The lifting drive assembly (5) drives the clamping mechanism (3) to slide upward along the lifting section (6), and sequentially drives the adjacent lifting sections (6) to lift upward in sequence to raise the clamping mechanism (3); The lifting section (6) is in the shape of a square tube. One side of the lifting section (6) has a sliding hole (7) extending along the axial direction. A sliding body (8) is fixedly installed at the bottom of the other side of the lifting section (6). The sliding body (8) passes through the sliding hole (7) of the adjacent lifting section (6) and slides up and down in the adjacent lifting section (6). The clamping mechanism (3) is also slidably connected to the adjacent lifting section (6) via a sliding body (8); The sliding body (8) includes a slider (9) and a fixed block (10). The slider (9) is cubic in shape. Four first rollers (11) are symmetrically installed on the left and right side walls of the slider (9). Two second rollers (12) are rotatably installed at both ends of the slider (9). The second rollers (12) at both ends of the slider (9) are offset towards the front and rear sides of the slider (9). Two third rollers (13) are installed on the front and rear side walls of the slider (9). The third rollers (13) on the front and rear sides of the slider (9) are spaced vertically. The fixing block (10) is fixedly connected to the front or rear side of the slider (9) by bolts; The fixing block (10) is fixedly connected to the bottom of the lifting section (6).

2. The construction robot brick handling manipulator as described in claim 1, characterized in that, The lifting drive assembly (5) includes a mounting frame (14), a lifting reel (15) rotatably mounted on the mounting frame (14), a lifting pull rope (16) coiled on the lifting reel (15), and a lifting motor (17) for driving the lifting reel (15) to rotate; the lifting reel (15) is located on one side of the mounting frame (14); the lifting motor (17) is fixedly mounted on the mounting frame (14); the mounting frame (14) is fixedly mounted on the transverse mechanism (1); The lifting section (6) has pulleys (18) installed at both the top and bottom ends on one side; the pull-out end of the lifting rope (16) is fixedly connected to the clamping mechanism (3), and the lifting rope (16) passes around the pulleys (18) at both the top and bottom ends of the lifting section (6) in sequence.

3. The construction robot brick handling manipulator as described in claim 2, characterized in that, The lifting motor (17) drives the lifting reel (15) to rotate via the first synchronous belt (19).

4. The construction robot brick handling manipulator as described in claim 1, characterized in that, The lateral movement mechanism (1) includes a beam track (20), a sliding seat (21) slidably mounted on the beam track (20), and a lateral movement drive assembly for driving the sliding seat (21) to reciprocate along the beam track (20); The sliding seat (21) includes two transverse support plates (22) arranged opposite each other on the left and right sides of the crossbeam track (20). The two transverse support plates (22) are fixedly connected by four symmetrically distributed connecting rods. Fourth rollers (24) are rotatably installed at the four corners of the transverse support plates (22). The fourth rollers (24) roll along the left and right side walls of the crossbeam track (20). The transverse support plates (22) are also provided with four fifth rollers (25) that roll along the upper and lower side walls of the crossbeam track (20) respectively. The lifting drive assembly (5) is fixedly connected to the top of the transverse support plate (22); the outer side of the lifting section (6) located at one end is fixedly connected to one of the transverse support plates (22).

5. A construction robot brick handling manipulator as described in claim 4, characterized in that, The lateral movement drive assembly includes a lateral movement servo (26), a lateral movement reel (27), and a lateral movement pull rope (28) wound on the lateral movement reel (27). Lateral movement rollers (29) are rotatably installed at both ends of one side of the crossbeam track (20). The lateral movement servo (26) drives the lateral movement reel (27) to rotate. The two ends of the lateral pull rope (28) are connected in a closed loop. The two ends of the lateral pull rope (28) pass around the two lateral rollers (29). The lateral pull rope (28) is fixedly connected to one of the lateral support plates (22) by fixing nails (30).

6. The construction robot brick handling manipulator as described in claim 1, characterized in that, The clamping mechanism (3) includes a support arm (31), a flipping arm (32), and a transport gripper (33); wherein, The support arm (31) is slidably connected to the lifting section (6) via a connecting block (34); the support arm (31) includes two opposing inner side plates (35) and outer side plates (36), the inner side plates (35) and outer side plates (36) are fixedly connected below by a connector (37), and fixedly connected above by two connecting columns, a right-angle motor (39) is fixedly installed in the middle between the inner side plates (35) and outer side plates (36), a first reduction gear (40) is fixedly installed on the motor shaft of the right-angle motor (39), the first reduction gear (40) meshes with a second reduction gear (41), and the second reduction gear (41) meshes with the second reduction gear (42). 1) The first pulley shaft is circumferentially fixed. The left end of the first pulley shaft is rotatably connected to a gearbox (42) via a bearing, and the right end is rotatably connected to the inner side plate (35) of the support arm via a bearing. The right side of the second reduction gear (41) is equipped with a third synchronous pulley (44) circumferentially fixed on the first pulley shaft. The third synchronous pulley (44) is connected to the fourth synchronous pulley (45) via a second synchronous belt (43). The fourth synchronous pulley (45) is rotatably connected to the second pulley shaft via a first rolling bearing. The second pulley shaft is fixedly installed on the inner side plate (35) of the support arm. The left side of the fourth synchronous pulley (45) is equipped with a fifth synchronous pulley (46) fixedly installed on the second pulley shaft. The tilting arm (32) includes an inner tilting arm plate (47), which is fixedly mounted on the outer ring of the first rolling bearing. The right end of the inner tilting arm plate (47) is fixedly connected to the fourth synchronous wheel (45) and the outer tilting arm plate (49) by four circumferentially distributed bolts. The middle part of the inner tilting arm plate (47) and the outer tilting arm plate (49) is fixedly connected by six vertically symmetrical tilting arm columns (50). The right end of the outer tilting arm plate (49) is rotatably connected to the second pulley shaft by the second rolling bearing (51). The left ends of the inner tilting arm plate (47) and the outer tilting arm plate (49) are rotatably connected to the sixth synchronous wheel (52) by bearings. The sixth synchronous wheel (52) is connected to the fifth synchronous wheel (46) by the third synchronous belt (53). The transport gripper (33) includes a gripper fixing shell (54), which is fixedly connected to the front end face of the sixth synchronous pulley (52). The gripper fixing shell (54) is fixedly connected to the inner side plate (56) of the gripper via three triangularly distributed outer shell columns (55). A gripper servo motor (57) is fixedly installed on the inner side plate (56). The inner side plate (56) is fixedly connected to the outer side plate (59) of the gripper via three gripper side plate columns (58). A front claw (60) is rotatably mounted on the left end of the inner side plate (56) and outer side plate (59) of the gripper; the front claw (60) is inverted T-shaped and cylindrical at the top with gear teeth. The gear teeth on the front claw (60) mesh with the servo gear (61) fixedly mounted on the gripper servo (57). A rear claw (62) is fixedly mounted on the lower right end of the inner side plate (56) and outer side plate (59) of the gripper. The height of the rear claw (62) is lower than the height of the front claw (60).

7. A construction robot brick handling manipulator as described in claim 6, characterized in that, Both the front claw (60) and the rear claw (62) are fixedly installed with a number of parallel rubber rings (63).

8. A construction robot brick handling manipulator as described in claim 6, characterized in that, The clamping mechanism (3) also includes an arm limiting block (64), which is L-shaped, and the vertical section of the arm limiting block (64) is fixedly installed on the lifting drive assembly (5). In the initial state, the bottom of the middle section of the flipping arm (32) rests on the upper surface of the horizontal section of the arm limiting block (64).

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