Automatic brick rolling device for construction robots

Abstract

The present invention provides an automatic brick rolling device for a construction robot, comprising a guide platform and a brick rolling mechanism arranged opposite to each other on both sides of the guide platform; the guide platform comprises a horizontal section and a bending section, and the bending section is bent obliquely downward; the brick rolling mechanism comprises a side support assembly, a sliding adjustment assembly and a brick rolling assembly, the sliding adjustment assembly is adjustably mounted on the side support assembly, and the brick rolling assembly is fixedly mounted on the sliding adjustment assembly; the sliding adjustment assembly can move along the side support assembly so that the front end of the brick rolling assembly has two states: extending out of the side support assembly and retracting into the side support assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to an automatic brick rolling device of a construction robot. Background Art

[0002] In recent years, my country's construction industry has seen continuous expansion amidst accelerating urbanization. However, the traditional construction industry, characterized by high labor intensity, poor working environments, and high safety risks, has become less attractive to young people. This has led to increasing recruitment difficulties and a labor shortage in the construction industry. In this new era of digital transformation, the construction industry, as a key sector of the national economy, faces an urgent need for transformation and upgrading towards intelligent, information-based, and digital technologies.

[0003] Today, the artificial intelligence industry, represented by robotics, is booming. By fully leveraging intelligent and related technologies and developing and applying intelligent machinery and equipment, the construction process can be effectively made more intelligent and less reliant on manual labor. This has led to the emergence of construction robots. In hazardous and uncertain environments, as well as in highly repetitive tasks, construction robots can replace workers, freeing them from arduous, difficult, and unsafe labor, effectively improving construction efficiency and quality. During construction, bricks, a common foundational material, need to be transported to the bricklaying site. Traditional mechanical grippers, due to the rigid contact between the gripper and the bricks, are prone to breakage during handling, while flexible grippers are unable to overcome the limitations of heavy weights. Furthermore, during handling, bricks are placed at varying angles on the ground. Developing a flexible gripper that can handle bricks at any angle is crucial for reducing breakage and improving construction efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic brick rolling and delivering device for a construction robot, so as to realize the flexible handling of heavy, irregularly shaped and arbitrary angled bricks, thereby improving the handling efficiency and stability.

[0005] In order to achieve the above-mentioned object, the present invention provides an automatic brick rolling device for a construction robot, comprising a guide platform and brick rolling mechanisms disposed opposite to each other on both sides of the guide platform;

[0006] The guide platform includes a horizontal section and a bending section, and the bending section is bent obliquely downward;

[0007] The brick rolling mechanism includes a side support assembly, a sliding adjustment assembly and a brick rolling assembly, wherein the sliding adjustment assembly is adjustably mounted on the side support assembly, and the brick rolling assembly is fixedly mounted on the sliding adjustment assembly;

[0008] The sliding adjustment assembly can move along the side support assembly so that the front end of the brick rolling assembly has two states: extending out of the side support assembly and retracting into the side support assembly.

[0009] Furthermore, the side support assembly includes an angle connection block and a side plate, the angle connection block is fixedly connected to one end of the side plate, and a sliding hole is provided in the middle of the side plate. The end of the sliding hole close to the angle connection block is lower than the end away from the angle connection block and the sliding adjustment assembly is slidably installed in the sliding hole.

[0010] Furthermore, a distance sensor is provided at one end of the side plate away from the angle connection block.

[0011] Furthermore, the sliding adjustment assembly includes a roller frame plate and a frame cover plate respectively disposed opposite to each other on both sides of the side plate, and the roller frame plate and the frame cover plate are connected by four first bolt columns;

[0012] The roller frame plate is arranged on the outer side of the side plate, and four cross-shaped square grooves are opened on the inner side surface of the roller frame plate. The first roller is rotatably connected to each of the square grooves through a roller column. The roller column is arranged longitudinally, and the first roller rolls along the surface of the side plate;

[0013] The inner side surface of the roller frame plate has a protrusion protruding outward, and the protrusion is slidably installed in the sliding hole;

[0014] Second rollers are rotatably mounted on the four first bolt columns, two of which slide along the upper surface of the side plate; the remaining two slide along the lower surface of the sliding hole, and the remaining two are respectively located at both ends of the protrusion;

[0015] An angle bracket is fixedly mounted on the outer side surface of the roller frame plate, and the brick rolling assembly is mounted on the angle bracket.

[0016] Furthermore, a limiting block is fixedly installed at the front end of the sliding hole.

[0017] Furthermore, the brick rolling assembly includes a drive motor, a motor plate, a square tubular connector, an upper clamping plate, a lower support plate, a front support plate, a support plate frame, a first flexible wheel and a second flexible wheel. The drive motor is fixedly mounted on the motor plate, the drive motor is vertically arranged, and the shaft of the drive motor passes through the motor plate downward; the motor plate is fixedly mounted on the top surface of the angle bracket;

[0018] The top of the connecting member is fixedly mounted on the bottom of the motor plate, the connecting member is located at the top between the roller frame plate and the frame cover plate, and both sides of the connecting member are fixedly connected to the roller frame plate and the frame cover plate respectively;

[0019] The upper clamping plate is fixedly connected to the upper part of the motor plate through three upper columns surrounding the driving motor, and the lower support plate is fixedly connected to the lower part of the motor plate through three lower columns, and the front end of the upper clamping plate and the front end of the lower support plate both extend out of the motor plate.

[0020] The front end of the lower support plate is provided with a first long bolt, which is rotated from bottom to top to connect the front end of the lower support plate, the end of the front support plate, the first flexible wheel, the end of the support plate frame, the front end of the upper splint and the front end of the front support plate;

[0021] The first flexible wheel is rotatably mounted on the first long bolt, and the first flexible wheel is arranged between the end of the support plate frame and the end of the front support plate; the second flexible wheel is rotatably mounted between the front end of the front support plate and the front end of the support plate frame through the second long bolt; the axial direction of the first flexible wheel and the axial direction of the second flexible wheel are arranged parallel to each other;

[0022] The top of the end of the support plate frame is elastically connected to the end of the upper splint through an elastic leather strip, and the connection between the elastic leather strip and the top of the end of the support plate frame is eccentrically arranged with the first long bolt, and the elastic leather strip pulls the support plate frame inward;

[0023] The rotating shaft of the driving motor drives the first flexible wheel and the second flexible wheel to rotate synchronously.

[0024] Furthermore, a synchronous wheel is fixedly mounted on the rotating shaft of the driving motor, the synchronous wheel is transmission-connected to the first flexible wheel via a first synchronous belt, and the first flexible wheel is transmission-connected to the second flexible wheel via a second synchronous belt.

[0025] Furthermore, the upper surface of the end of the support plate frame has two limiting protrusions that cooperate with the side elevation of the front end of the upper splint to limit the rotation range of the support plate frame, and one end of the elastic leather strip is connected to the limiting protrusion set on the inner side.

[0026] Furthermore, the first flexible wheel and the second flexible wheel have the same structure, both comprising a hub, an elastic rim and a wheel cover, wherein the hub, the elastic rim and the wheel cover are coaxially fixedly connected;

[0027] The lower end of the hub is a pulley, and the upper end is provided with a chuck;

[0028] The elastic rim is provided with a slotted hole inside and is mounted on the chuck of the wheel hub through the slotted hole;

[0029] A wheel cover is fixedly installed above the elastic wheel rim, and the elastic wheel rim is made of flexible material.

[0030] Furthermore, the brick rolling mechanism further comprises a limiting assembly arranged opposite to the brick rolling assembly, wherein the limiting assembly is arranged outside the brick rolling assembly to limit the brick rolling assembly from freely extending outside the side support assembly;

[0031] The limiting assembly includes a limiting rod base and a limiting rod fixedly installed on the limiting rod base. The limiting rod is arranged axially parallel to the first flexible wheel, and the outer wall of the limiting rod is tightly attached to and pressed against the oblique front of the first flexible wheel.

[0032] The beneficial effects of the present invention are embodied in:

[0033] (1) The brick rolling assembly of the present invention uses flexible wheels instead of traditional mechanical clamps. Through two groups of four obliquely staggered flexible wheels, the flexible transportation of bricks is achieved by relying on the friction generated by the rotation of the elastic wheel rims and the clamping force provided by the elastic leather strips. At the same time, the flexible wheels are placed obliquely, so that the gravity generated by the bricks during transportation is decomposed and most of the force is decomposed to the inclined surface of the guide platform, so that heavy bricks can be easily transported.

[0034] (2) In the brick rolling assembly of the present invention, the second flexible wheel rotates with the rotation axis of the first flexible wheel as the center of rotation, and the opening and closing angles of the brick rolling assembly are automatically adjusted by an elastic leather strip. When transporting bricks, the two sides are pressed open, and the speed of the flexible wheel on the side with greater extrusion pressure is adjusted based on the differential principle, so that bricks placed at any angle can be absorbed and transported;

[0035] (3) The sliding adjustment component in the present invention can store the brick rolling component into the interior of the device through the limiting action of the limiting rod, which greatly reduces the space occupied by the construction robot during non-working hours and facilitates the turning and movement of the robot. At the same time, a distance sensor is added to the side support mechanism, which can effectively determine whether bricks are carried on the guide platform, so as to facilitate the subsequent handling work of the construction robot and help realize the fully automated control of the construction robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of a brick rolling device mounted on the mobile platform of a construction robot;

[0037] Figure 2 This is a front view of the brick rolling device;

[0038] Figure 3 It is a side view of the brick rolling device;

[0039] Figure 4 This is a schematic diagram of the angle connection block;

[0040] Figure 5 This is a schematic diagram of the assembly of the sliding adjustment component;

[0041] Figure 6 This is a schematic diagram of the disassembly of the sliding adjustment component;

[0042] Figure 7 Schematic diagram of the roller frame plate;

[0043] Figure 8 This is a side view of the brick rolling assembly;

[0044] Figure 9 This is a front view of the brick rolling assembly;

[0045] Figure 10 This is a schematic diagram of the top surface of the brick rolling assembly;

[0046] Figure 11 Schematic diagram of the support plate skeleton;

[0047] Figure 12 This is a schematic diagram of the splitting of the first flexible wheel;

[0048] Figure 13 This is a schematic diagram of the brick rolling device in the retracted state;

[0049] Figure 14 This is a schematic diagram of the brick rolling device in the extended state;

[0050] Figure 15 This is a schematic diagram of the working state of the brick rolling device when the bricks are arranged regularly;

[0051] Figure 16 This is a schematic diagram of the second working state of the brick rolling device when the bricks are regularly arranged;

[0052] Figure 17 Schematic diagram of the brick rolling device in working state when bricks are regularly placed;

[0053] Figure 18 This is a schematic diagram of the working state of the brick rolling device when the bricks are irregularly placed;

[0054] Figure 19 This is a second schematic diagram of the brick rolling device working state when bricks are irregularly placed;

[0055] Figure 20 Schematic diagram of the brick rolling device in working state when bricks are irregularly placed;

[0056] Figure 21 Schematic diagram of the brick rolling device in working state when bricks are irregularly placed;

[0057] Among them, 1. Brick rolling device; 2. Mobile platform; 4. Guide platform; 5. Side support assembly; 6. Sliding adjustment assembly; 7. Brick rolling assembly; 8. Bottom plate; 9. Connecting column; 10. Angle connecting block; 11. Side plate; 12. Fixed block; 13. Angle connector; 14. Front crossbeam; 15. Distance sensor; 16. Limit rod base; 17. Limit rod; 18. Roller frame plate; 19. Roller column; 20. First roller; 21. Frame cover; 22. First bolt; 23. Second roller; 24. Angle bracket; 25. Limit block ; 26. Second bolt; 27. Drive motor; 28. Motor plate; 29. ​​Connector; 30. Upper column; 31. Upper splint; 32. Lower column; 33. Lower support plate; 34. First long bolt; 35. Front support plate; 36. Support plate frame; 37. Elastic leather strip; 38. Synchronous wheel; 39. First synchronous belt; 40. First flexible wheel; 41. Second synchronous belt; 42. Second flexible wheel; 43. Second long bolt; 44. Wheel hub; 45. Elastic wheel rim; 46. Wheel cover; 47. Brick; 48. Slide hole; 49. Bump; 50. Limiting protrusion. DETAILED DESCRIPTION

[0058] The following is a more detailed description of the specific embodiments of the present invention with reference to schematic diagrams. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are not to exact scale, and are only used for the purpose of conveniently and clearly illustrating the embodiments of the present invention.

[0059] like Figure 1 2 and 3 , an embodiment of the present invention provides an automatic brick-rolling device for a construction robot. The brick-rolling device 1 can be mounted on a mobile platform 2 of the construction robot and move along with the mobile platform 2. The brick-rolling device 1 includes a guide platform 4 and brick-rolling mechanisms disposed opposite to each other on both sides of the guide platform 4.

[0060] The guide platform 4 comprises a horizontal section and a curved section. The angle between the curved section and the horizontal section is 155°, meaning the angle between the curved section and the horizontal plane is 25°. The horizontal section of the guide platform 4 is fixedly mounted to the base plate 8 of the mobile platform 2 via four connecting columns 9. The horizontal section is arranged parallel to the base plate 8, while the curved section is bent diagonally downward, with the lowest end of the curved section lower than the ground clearance of the base plate 8. This allows the curved section to rest closely on the bottom of the bricks during transport. Driven by the brick-rolling mechanism, the bricks can easily follow the inclined surface and enter the rear of the guide platform 4.

[0061] The brick-rolling mechanism includes a side support assembly 5, a sliding adjustment assembly 6, and a brick-rolling assembly 7. The sliding adjustment assembly 6 is adjustably mounted on the side support assembly 5, and the brick-rolling assembly 7 is fixedly mounted on the sliding adjustment assembly 6. The sliding adjustment assembly 6 can move along the side support assembly 5, so that the front end of the brick-rolling assembly 7 can have two states: extending outside the side support assembly 5 and retracting inside the side support assembly 5.

[0062] Specifically, such as Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 As shown, the side support assembly 5 includes an angle connection block 10 and a side plate 11. The bottom end of the angle connection block 10 is fixedly mounted on the base plate 8. The side of the angle connection block 10 is fixedly connected to the front end of the side plate 11 by bolts. A sliding hole 48 is provided in the middle of the side plate 11. The end of the sliding hole 48 close to the angle connection block 10 is lower than the end away from the angle connection block 10 and is tilted. The sliding adjustment assembly 6 is slidably mounted in the sliding hole 48.

[0063] The side panel 11 is bent and the front section of the panel at the bending point is perpendicular to the bottom panel 8. The outer side of the front section of the panel at the bending point of the side panel 11 is fixedly connected to a fixing block 12. The bottom end of the fixing block 12 is fixedly mounted on the bottom panel 8. The top end of the fixing block 12 is fixedly connected to the top of the front crossbeam 14 through an angle connector 13. The front crossbeam 14 is fixedly mounted on the bottom panel 8.

[0064] A distance sensor 15 is provided at one end of the side plate 11 away from the angle connection block 10. The distance sensor 15 is used to detect whether there are bricks on the guide platform 4 and send a feedback signal to the control system of the construction robot.

[0065] Furthermore, the sliding adjustment assembly 6 includes a roller frame plate 18 and a frame cover plate 21, positioned opposite each other on either side of the side panel 11. The roller frame plate 18 and the frame cover plate 21 are connected by four first bolts 22. The roller frame plate 18 is positioned outside the side panel 11. Its inner surface is defined by four symmetrical cross-shaped square slots. Each slot is rotatably connected to a first roller 20 via a roller post 19. The roller posts 19 are longitudinally arranged, allowing the first rollers 20 to roll along the surface of the side panel 11. The inner surface of the roller frame plate 18 has outwardly projecting bumps 49, which are slidably mounted within and slide along the slide holes 48.

[0066] Second rollers 23 are rotatably mounted on each of the four first bolt columns 22. Two of these second rollers 23 slide along the upper surface of the side panel 11. The remaining two second rollers 23 slide along the lower surface of the slide hole 48, and the remaining two second rollers 23 are located at either end of the protrusion 49. The first and second rollers 20, 23 cooperate to ensure stable sliding of the roller frame plate 18 and the frame cover plate 21 on the side panel 11. An angle bracket 24 is fixedly mounted on the outer surface of the roller frame plate 18, and the brick conveying assembly 7 is mounted on this angle bracket 24.

[0067] Furthermore, a limit block 25 is fixedly mounted at the front end of the slide hole 48. The limit block 25 is bolted to the side panel 11, and a portion of the limit block 25 extends into the front end of the slide hole 48. By replacing different types of limit blocks 25, the length of each type of limit block 25 extending into the front end of the slide hole 48 is different, which is used to adjust the extension length of the brick coiling assembly 7 in the working state to accommodate bricks of different specifications.

[0068] Further, if Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 and Figure 12 As shown, the brick rolling assembly 7 includes a drive motor 27, a motor plate 28, a square tubular connector 29, an upper clamping plate 31, a lower support plate 33, a front support plate 35, a support plate frame 36, a first flexible wheel 40, and a second flexible wheel 42. The drive motor 27 is fixedly mounted on the motor plate 28. The drive motor 27 is vertically arranged, and the shaft of the drive motor 27 is downwardly extended through the motor plate 28. The motor plate 28 is fixedly mounted on the top surface of the angle bracket 24.

[0069] The top of the connecting member 29 is fixedly installed on the bottom of the motor plate 28. The connecting member 29 is located at the top between the roller frame plate 18 and the frame cover plate 21, and the two sides of the connecting member 29 are respectively fixedly connected to the roller frame plate 18 and the frame cover plate 21 by screws. The connecting member 29 is located above the first roller 20.

[0070] An upper clamping plate 31 is fixedly connected above the motor plate 28 via three upper posts 30 surrounding the drive motor 27. A lower support plate 33 is fixedly connected below the motor plate 28 via three lower posts 32. The front ends of the upper clamping plate 31 and the lower support plate 33 both extend beyond the motor plate 28. A first long bolt 34 is mounted on the front end of the lower support plate 33. The first long bolt 34 rotatably connects the front end of the lower support plate 33, the end of the front support plate 35, the first flexible wheel 40, the end of the support plate frame 36, the front end of the upper clamping plate 31, and the front end of the front support plate 35 from bottom to top.

[0071] A first flexible wheel 40 is rotatably mounted on the first long bolt 34 and is positioned between the end of the support plate frame 36 and the end of the front support plate 35. A second flexible wheel 42 is rotatably mounted between the front end of the front support plate 35 and the front end of the support plate frame 36 via a second long bolt 43. The axial direction of the first flexible wheel 40 is parallel to the axial direction of the second flexible wheel 42.

[0072] The top end of the support plate frame 36 is elastically connected to the end of the upper clamping plate 31 through an elastic strap 37. The connection between the elastic strap 37 and the top end of the support plate frame 36 is eccentrically arranged with the first long bolt 34. The elastic strap 37 pulls the support plate frame 36 inward, providing an inward clamping force for the front end of the support plate frame 36, so that it can automatically adjust the opening and closing angle of the brick rolling assembly 7 to transport bricks placed at any angle.

[0073] The rotating shaft of the drive motor 27 drives the first flexible wheel 40 and the second flexible wheel 42 to rotate synchronously. Specifically, a synchronous wheel 38 is fixedly mounted on the rotating shaft of the drive motor 27. The synchronous wheel 38 is connected to the first flexible wheel 40 through a first synchronous belt 39, and the first flexible wheel 40 is connected to the second flexible wheel 42 through a second synchronous belt 41.

[0074] The first flexible wheel 40 and the second flexible wheel 42 have the same structure, each comprising a hub 44, an elastic rim 45, and a wheel cover 46. The hub 44, elastic rim 45, and wheel cover 46 are coaxially fixedly connected. The hub 44 has a pulley at its lower end and a chuck at its upper end. The elastic rim 45 has slots formed within it and is mounted on the chuck of the hub 44 through these slots. The wheel cover 46 is fixedly mounted above the elastic rim 45. The elastic rim 45 is made of a flexible material, such as elastic rubber, to increase friction with the brick 47 without damaging the brick's surface.

[0075] The upper surface of the end of the support plate frame 36 has two limiting protrusions 50 that cooperate with the side elevation of the front end of the upper splint 31 to limit the rotation range of the support plate frame 36. One end of the elastic leather strip 37 is connected to the limiting protrusion 50 set on the inner side.

[0076] Furthermore, the brick-rolling mechanism also includes a limiting assembly arranged opposite to the brick-rolling assembly 7. The limiting assembly is arranged outside the brick-rolling assembly 7 to limit the brick-rolling assembly 7 from freely extending outside the side support assembly 5. The limiting assembly includes a limiting rod base 16 and a limiting rod 17 fixedly mounted on the limiting rod base 16. The limiting rod base 16 is fixedly mounted on the bottom plate 8. The limiting rod 17 is arranged axially parallel to the first flexible wheel 40. The outer wall of the limiting rod 17 is in close contact with and pressed against the oblique front of the first flexible wheel 40, so that the brick-rolling assembly 7 can be stored inside the mobile platform 2 when it is not in operation, shortening the extended length of the brick-rolling assembly 7 and minimizing the space occupied by the construction robot when it is not in operation.

[0077] Working principle:

[0078] like Figure 13 and 14 As shown, when the brick winding device 1 is not working, the first flexible wheel 40 on the brick winding assembly 7 is located on the rear side of the limit rod 17 fixedly mounted on the base plate 8, limiting the brick winding assembly 7 from sliding downward, so that the brick winding assembly 7 is stored inside the mobile platform 2; when the brick winding device 1 starts to work, the drive motor 27 rotates counterclockwise to drive the first flexible wheel 40 to rotate counterclockwise through the first synchronous belt 39. Since the elastic wheel rim 45 is made of elastic material, the friction force generated by the outer ring of the elastic wheel rim 45 is used to give the brick winding assembly 7 a reverse thrust to break away from the restriction of the limit rod 17, and rely on gravity to slide obliquely downward through the sliding adjustment assembly 6 until the front end of the sliding adjustment assembly 6 contacts the limit plate 25 and stops sliding. At this time, the brick winding assembly 7 enters the working state; after the brick winding device 1 finishes working, the brick winding assembly 7 can be reset to the rear side of the limit rod 17 by external force.

[0079] like Figure 15 、 Figure 16 and Figure 17 As shown, when the brick 47 in front of the brick winding device 1 is placed opposite to the brick winding device 1, the driving motor 27 rotates clockwise, driving the first flexible wheel 40 to rotate clockwise through the first synchronous belt 39, and driving the second flexible wheel 42 to rotate clockwise through the second synchronous belt 41. With the help of friction, an inward winding force can be brought about. At this time, the second flexible wheel 42 first contacts the brick 47 and drives the brick 47 closer by relying on the winding force, so that the brick winding components 7 on both sides are forced to open, and the elastic leather strip 37 is in a tensioned state; then, Continue to rely on the winding force and the clamping force provided by the elastic leather strip 37 to drag the brick 47 onto the inclined surface of the guide platform 4 and move it inward; as the brick 47 continues to move, when the first flexible wheel 40 contacts the brick 47, it will provide a greater winding force to drag the brick 47 to continue to move inward until all the bricks 47 are separated from the first flexible wheel 40 and move to the rear plane of the guide platform 4. At this time, the distance sensor 15 located on the side panel 11 will detect the brick 47 and feed back the information to the control system of the construction robot.

[0080] like Figure 18 、 Figure 19 、 Figure 20 and Figure 21As shown, when the brick 47 in front of the brick coiling device 1 is not placed exactly opposite to the brick coiling device 1, the driving motor 27 rotates clockwise, driving the first flexible wheel 40 to rotate clockwise through the first synchronous belt 39, and driving the second flexible wheel 42 to rotate clockwise through the second synchronous belt 41. At this time, the second flexible wheels 42 on both sides will drag a corner of the brick 47 closer by relying on the inward coiling force, so that the brick coiling components 7 on both sides are pressed and opened. When the opening angle reaches the maximum, the second flexible wheel 42 close to the narrow side of the brick 47 will be squeezed to a greater extent. At this time, based on the differential principle, the narrow side of the brick 47 is first moved to the guide platform 4 by accelerating the rotation speed of the second flexible wheel 42 on the side with greater extrusion pressure, and the brick 47 continues to be dragged inward by the winding force and the clamping force provided by the elastic leather strip 37; when the first flexible wheel 40 contacts the brick 47, the placement angle of the brick 47 can also be adjusted through the differential principle so that its narrow side is facing the brick winding device 1, and finally it is moved to the rear plane of the guide platform 4 through the first flexible wheel 40 for subsequent transportation work.

[0081] The above description is merely a preferred embodiment of the present invention and does not limit the present invention in any way. Any person skilled in the art who, without departing from the scope of the present invention, makes any equivalent substitution, modification, or other changes to the technical solution and technical content disclosed in the present invention shall be deemed to be within the scope of the present invention and still fall within the scope of protection of the present invention.

Claims

1. An automatic brick rolling device for a construction robot, characterized in that: It comprises a guide platform (4) and brick rolling and conveying mechanisms arranged opposite to each other on both sides of the guide platform (4); The guide platform (4) comprises a horizontal section and a bending section, and the bending section is bent obliquely downward; The brick rolling mechanism comprises a side support assembly (5), a sliding adjustment assembly (6) and a brick rolling assembly (7), wherein the sliding adjustment assembly (6) is adjustably mounted on the side support assembly (5), and the brick rolling assembly (7) is fixedly mounted on the sliding adjustment assembly (6); The sliding adjustment assembly (6) is movable along the side support assembly (5) so that the front end of the brick rolling assembly (7) has two states: extending out of the side support assembly (5) and retracting into the side support assembly (5); The side support assembly (5) includes an angle connection block (10) and a side plate (11), the angle connection block (10) is fixedly connected to one end of the side plate (11), a sliding hole (48) is provided in the middle of the side plate (11), the sliding hole (48) is inclined at an end closer to the angle connection block (10) than at an end farther from the angle connection block (10), and the sliding adjustment assembly (6) is slidably mounted in the sliding hole (48); The sliding adjustment assembly (6) comprises a roller frame plate (18) and a frame cover plate (21) respectively disposed opposite to each other on both sides of the side plate (11), wherein the roller frame plate (18) and the frame cover plate (21) are connected via four first bolt columns (22); The roller frame plate (18) is arranged on the outer side of the side plate (11), and four cross-shaped square grooves are opened on the inner side surface of the roller frame plate (18) in a left-right symmetrical manner. A first roller (20) is rotatably connected to each of the square grooves via a roller column (19). The roller column (19) is arranged longitudinally, and the first roller (20) rolls along the surface of the side plate (11); The inner side surface of the roller frame plate (18) has a protrusion (49) protruding outward, and the protrusion (49) is slidably installed inside the sliding hole (48); The four first bolt columns (22) are all rotatably mounted with second rollers (23), wherein two of the second rollers (23) slide along the upper surface of the side plate (11); the remaining two of the second rollers (23) slide along the lower surface of the sliding hole (48), and the remaining two of the second rollers (23) are respectively arranged at both ends of the protrusion (49); An angle bracket (24) is fixedly mounted on the outer side of the roller frame plate (18), and the brick rolling assembly (7) is mounted on the angle bracket (24).

2. The automatic brick rolling device for a construction robot according to claim 1, characterized in that: A distance sensor (15) is provided at one end of the side plate (11) away from the angle connection block (10).

3. The automatic brick rolling device for a construction robot according to claim 1, characterized in that: A limiting block (25) is fixedly installed at the front end of the sliding hole (48).

4. The automatic brick rolling device for a construction robot according to claim 1, characterized in that: The brick rolling assembly (7) comprises a driving motor (27), a motor plate (28), a square tubular connector (29), an upper clamping plate (31), a lower support plate (33), a front support plate (35), a support plate frame (36), a first flexible wheel (40) and a second flexible wheel (42); the driving motor (27) is fixedly mounted on the motor plate (28); the driving motor (27) is vertically arranged, and the rotating shaft of the driving motor (27) passes through the motor plate (28) downward; the motor plate (28) is fixedly mounted on the top surface of the angle bracket (24); The top of the connecting member (29) is fixedly mounted on the bottom of the motor plate (28), the connecting member (29) is located at the top between the roller frame plate (18) and the frame cover plate (21), and both sides of the connecting member (29) are fixedly connected to the roller frame plate (18) and the frame cover plate (21) respectively; The upper clamping plate (31) is fixedly connected to the upper part of the motor plate (28) through three upper columns (30) arranged around the driving motor (27), and the lower support plate (33) is fixedly connected to the lower part of the motor plate (28) through three lower columns (32). The front end of the upper clamping plate (31) and the front end of the lower support plate (33) are both extended out of the motor plate (28); The front end of the lower support plate (33) is provided with a first long bolt (34), which is rotatably connected from bottom to top to the front end of the lower support plate (33), the end of the front support plate (35), the first flexible wheel (40), the end of the support plate frame (36), the front end of the upper clamping plate (31) and the front end of the front support plate (35); The first flexible wheel (40) is rotatably mounted on the first long bolt (34), and the first flexible wheel (40) is located between the end of the support plate frame (36) and the end of the front support plate (35); the second flexible wheel (42) is rotatably mounted between the front end of the front support plate (35) and the front end of the support plate frame (36) through the second long bolt (43); the first flexible wheel (40) and the second flexible wheel (42) are axially arranged parallel to each other; The top end of the support plate frame (36) is elastically connected to the end of the upper splint (31) through an elastic leather strip (37), and the connection between the elastic leather strip (37) and the top end of the support plate frame (36) is eccentrically arranged with the first long bolt (34), and the elastic leather strip (37) pulls the support plate frame (36) inward; The rotating shaft of the driving motor (27) drives the first flexible wheel (40) and the second flexible wheel (42) to rotate synchronously.

5. The automatic brick rolling device for a construction robot as claimed in claim 4, characterized in that: A synchronous wheel (38) is fixedly mounted on the rotating shaft of the driving motor (27). The synchronous wheel (38) is connected to the first flexible wheel (40) through a first synchronous belt (39). The first flexible wheel (40) is connected to the second flexible wheel (42) through a second synchronous belt (41).

6. The automatic brick rolling device for a construction robot as claimed in claim 4, characterized in that: The upper surface of the end of the support plate frame (36) has two limiting protrusions (50) that cooperate with the front end side elevation of the upper clamping plate (31) to limit the rotation range of the support plate frame (36), and one end of the elastic leather strip (37) is connected to the limiting protrusion (50) set on the inner side.

7. The automatic brick rolling device for a construction robot as claimed in claim 4, characterized in that: The first flexible wheel (40) and the second flexible wheel (42) have the same structure, and both include a wheel hub (44), an elastic wheel rim (45) and a wheel cover (46), wherein the wheel hub (44), the elastic wheel rim (45) and the wheel cover (46) are coaxially fixedly connected; The lower end of the wheel hub (44) is a pulley, and the upper end is provided with a chuck; The elastic wheel rim (45) has a slotted hole inside and is mounted on the chuck of the wheel hub (44) through the slotted hole; A wheel cover (46) is fixedly mounted above the elastic wheel rim (45), and the elastic wheel rim (45) is made of a flexible material.

8. The automatic brick rolling device for a construction robot as claimed in claim 4, characterized in that: The brick rolling mechanism further comprises a limiting component arranged opposite to the brick rolling component (7), wherein the limiting component is arranged outside the brick rolling component (7) to limit the brick rolling component (7) from freely extending outside the side support component (5); The limiting assembly comprises a limiting rod base (16) and a limiting rod (17) fixedly mounted on the limiting rod base (16); the limiting rod (17) is axially parallel to the first flexible wheel (40); and the outer wall of the limiting rod (17) is tightly attached to and pressed against the oblique front of the first flexible wheel (40).

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