A bricklaying system

Abstract

The present application relates to a bricklaying system, belonging to the technical field of construction machinery. The bricklaying system includes a bricklaying robot and a brick supply robot. The bricklaying robot includes a carrying platform, a fixture platform, a first reference plate, and a second reference plate. The fixture platform is movably arranged on the carrying platform along a first direction. The first reference plate is arranged on the carrying platform along a second direction. The second direction is perpendicular to the first direction and is arranged in the same direction as the height direction of the carrying platform. The first reference plate is used to cooperate with the distance measuring component of the brick supply robot so that the brick supply robot can control a first distance when supplying bricks to the fixture platform. The second reference plate is connected to the side of the first reference plate away from the carrying platform. The second reference plate is arranged perpendicular to the first reference plate. The second reference plate is used to cooperate with the distance measuring component of the brick supply robot so that the brick supply robot can control a second distance from the fixture platform in a second direction when supplying bricks to the fixture platform. This bricklaying robot can improve the brick supply accuracy of the brick supply robot when supplying bricks to the fixture platform.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and in particular to a bricklaying system. Background Art

[0002] Currently, during building construction, after the concrete frame is poured, non-load-bearing walls are typically laid manually or using automated bricklaying equipment. However, manual bricklaying often requires high technical skills, leads to inconsistent quality, poses risks, and is labor-intensive and inefficient. Existing brick-feeding robots often suffer from low brick-feeding accuracy when feeding bricks to bricklaying robots, as the robot's loading distance and height are pre-trained fixed values, and the docking between the robot and the bricklaying robot is prone to errors. Summary of the Invention

[0003] The purpose of this application is to provide a bricklaying system to address the above problems and improve them.

[0004] In a first aspect, an embodiment of the present application provides a bricklaying robot, which is used to cooperate with a brick-supplying robot. The bricklaying robot includes a carrying platform, a clamping platform, a first reference plate, and a second reference plate; the clamping platform is movably arranged on the carrying platform along a first direction, and the clamping platform is used to receive the bricks grasped by the brick-supplying robot and clamp the bricks; the first reference plate is arranged on the carrying platform along a second direction, the second direction is perpendicular to the first direction and is arranged in the same direction as the height direction of the carrying platform, the first reference plate is used to cooperate with the ranging component of the brick-supplying robot, so that the brick-supplying robot controls a first distance when supplying bricks to the clamping platform, and the first distance is the horizontal distance between the brick-supplying robot and the first reference plate; the second reference plate is connected to a side of the first reference plate away from the carrying platform, and the second reference plate extends along a third direction. The second reference plate is arranged perpendicular to the first reference plate so that the second reference plate is parallel to the carrying platform, and the second reference plate is used to cooperate with the ranging component of the brick-supplying robot, so that the brick-supplying robot controls a second distance from the clamping platform in the second direction when supplying bricks to the clamping platform.

[0005] In this solution, a first reference plate and a second reference plate are provided on the bricklaying robot. Since the first reference plate and the second reference plate are both fixed in position on the bricklaying robot, they can serve as reference systems for the ranging component on the brick-supplying robot. Therefore, the first reference plate and the second reference plate cooperate with the ranging component of the brick-supplying robot, that is, the ranging component cooperates with the first reference plate and the second reference plate respectively, so that the first distance information and the second distance information between the brick-supplying robot and the bricklaying robot can be obtained in real time. The first distance information and the second distance information can be used to obtain the exact position of the brick-supplying robot relative to the bricklaying robot in the horizontal and vertical directions, which then facilitates the corresponding adjustment of the brick-supplying robot to accurately control the vertical and horizontal distances between the brick-supplying robot and the bricklaying robot, thereby enabling the brick-supplying robot to control the brick-loading accuracy when loading bricks onto the bricklaying robot.

[0006] In addition, the bricklaying robot provided in the embodiment of the present application also has the following additional technical features:

[0007] In some embodiments, the bricklaying robot further includes a transverse movement mechanism, which is disposed on the supporting platform, and the fixture table is disposed on the transverse movement mechanism, and the transverse movement mechanism is used to drive the fixture table to reciprocate along the first direction on the supporting platform.

[0008] In the above technical solution, a transverse movement mechanism is provided on the carrier platform, which can drive the fixture platform to reciprocate in a first direction on the carrier platform, thereby enabling the fixture platform to have multiple workstations on the carrier platform, each of which is relatively independent. After the fixture platform receives a brick from the brick-feeding robot, the transverse movement mechanism can drive the fixture platform to transfer the brick to another workstation on the carrier platform, thereby facilitating subsequent operations such as mortaring and laying the bricks by the bricklaying robot.

[0009] In some embodiments, the clamping table includes a positioning table, two clamping arms and a first drive assembly, the positioning table is connected to the transverse movement mechanism; the two clamping arms are movably arranged on the positioning table, and the two clamping arms are spaced apart on both sides of the third direction of the positioning table, and the two clamping arms are used to clamp the bricks grasped by the brick supply robot; the first drive assembly is arranged on the positioning table, and the first drive assembly is used to drive the two clamping arms to move closer to or away from each other on the positioning table.

[0010] In the above technical solution, two clamping arms are arranged on the positioning table. When the brick supply robot places the bricks on the positioning table, the two clamping arms can move along the third direction on the positioning table under the action of the first driving component, thereby clamping the two sides of the bricks on the positioning table to prevent the bricks from shifting during the transfer process. At the same time, it is also convenient for the subsequent slurry mechanism to slurry the bricks on the clamp table, preventing the bricks from moving during the slurrying process and affecting the slurrying quality of the bricks.

[0011] In some embodiments, the bricklaying robot also includes a slurry spreading mechanism and a bricklaying manipulator. The slurry spreading mechanism is movably arranged on the supporting platform and is located on the moving path of the clamp platform on the supporting platform. The slurry spreading mechanism is used to apply slurry to the surface of the brick; the bricklaying manipulator is used to grab the brick after being slurried by the slurry spreading mechanism and move the brick to the laying position for bricklaying.

[0012] In the above technical solution, a slurry spreading mechanism is provided on the supporting platform, which can spread slurry on the bricks on the clamping platform. Under the action of the transverse movement mechanism, the bricks on the clamping platform after slurry spreading can be moved forward in the first direction to the waiting position for transfer. The bricklaying robot can then transfer the bricks on the clamping platform located at the waiting position for transfer to the masonry position, thereby achieving the stacking of the wall. Therefore, by arranging the slurry spreading mechanism on the moving path of the clamping platform, the bricks can be transported linearly along the first direction on the supporting platform, and the bricklaying robot can directly place the bricks on the wall, which is conducive to saving bricklaying time when placing the bricks on the wall.

[0013] In some embodiments, the trowel mechanism includes an actuator and a trowel head, the trowel head is mounted on the supporting platform through the actuator, the trowel head has a first position and a second position in the second direction, and the brick is located between the first position and the second position in the second direction; the actuator is used to drive the trowel head to move between the first position and the second position, and the actuator is also used to drive the trowel head to rotate around an axis extending along the third direction, so that the trowel end of the trowel head can abut against the upper surface of the brick located on the fixture table and the two end faces of the brick in the first direction.

[0014] In the above technical solution, the trowel head is connected to the supporting platform through an actuator, which can drive the trowel head to move in the second direction and can also drive the trowel head to rotate around an axis arranged along the third direction, so that the trowel end of the trowel head can be against the upper surface of the brick and the two end faces of the brick in the first direction during the process of the trowel head moving from the first position to the second position, thereby realizing troweling the upper surface and two end faces of the brick.

[0015] In second aspect, an embodiment of the present application provides a brick-supplying robot, which is used to provide bricks to a bricklaying robot. The bricklaying robot has a first reference plate and a second reference plate that are perpendicular to each other. The brick-supplying robot includes a mobile base, a first manipulator, a first ranging component and a second ranging component: the first manipulator is movably arranged on the mobile base, and the first manipulator is used to clamp the bricks and provide the bricks to the bricklaying robot; the first ranging component is arranged on the first manipulator, and the first ranging component is used to measure a first distance between the first manipulator and the first reference plate in a third direction; the second ranging component is arranged on the first manipulator, and the second ranging component is used to measure a second distance between the first manipulator and the second reference plate in a second direction, and the second direction is in the same direction as the height direction of the mobile base, and the second direction is perpendicular to the third direction.

[0016] In this solution, since the first reference plate and the second reference plate are fixed in position, they can serve as reference systems for the first ranging component and the second ranging component on the brick-supplying robot. The first ranging component and the second ranging component are provided on the first manipulator on the brick-supplying robot. The first ranging component and the second ranging component can cooperate with the first reference plate and the second reference plate on the brick-laying robot. That is, the first distance information between the first manipulator and the brick-laying robot can be obtained in real time through the cooperation of the first ranging component and the first reference plate. The horizontal position of the first manipulator can be obtained through the first distance information, and then the brick-supplying robot can adjust the distance between the first manipulator and the first reference plate to the first preset value accordingly, so that the horizontal distance between the first manipulator and the brick-laying robot can be accurately controlled. Similarly, the second distance measuring component cooperates with the second reference plate to obtain the second distance information between the first manipulator and the bricklaying robot in real time. The vertical position of the first manipulator can be obtained through the second distance information. Then the brick supply robot adjusts the distance between the first manipulator and the second reference plate to the second preset value accordingly, so that the vertical distance between the first manipulator and the bricklaying robot can be accurately controlled. As a result, when the brick supply robot puts bricks on the bricklaying robot, the brick loading accuracy can be controlled by the cooperation of the first distance measuring component and the second distance measuring component.

[0017] In some embodiments, the brick supply robot includes a lifting frame, a transverse frame, a second drive assembly and a third drive assembly. The lifting frame is arranged on the movable base along the second direction, and the lifting frame has a first guide rail extending along the second direction; the transverse frame is movably arranged on the lifting frame along the second direction, and the transverse frame is close to one end of the lifting frame and slides with the first guide rail, and the transverse frame has a second guide rail extending along the third direction; the first manipulator is movably arranged on the transverse frame along the third direction and slides with the second guide rail; the second drive assembly is arranged on the base, and the second drive assembly is used to drive the transverse frame to move along the second direction on the lifting frame; the third drive assembly is arranged on the transverse frame, and the third drive assembly is used to drive the first manipulator to move along the third direction on the transverse frame.

[0018] In the above technical solution, a lifting frame and a transverse frame are arranged on the movable base, and the first guide rail and the second guide rail mainly play a guiding role. Therefore, under the driving action of the second drive component, the transverse frame can be driven to move up and down in the height direction of the lifting frame, thereby realizing the height adjustment of the transverse frame, and then adjusting the height distance (second distance) with the fixture table of the bricklaying robot. The third drive component can be used to drive the first manipulator to move in the front and rear directions on the transverse frame, thereby adjusting the horizontal distance (first distance) between the first manipulator and the fixture table of the bricklaying robot. Therefore, the first manipulator can move in the second direction (vertical direction) and the third direction (horizontal direction) under the cooperation of the second drive component and the third drive component, so that the first manipulator can accurately transfer bricks to the fixture table of the bricklaying robot. The structure is simple and easy to implement.

[0019] In some embodiments, the first manipulator includes a first base and a first gripper, and the first base is slidably engaged with the second guide rail; the first gripper includes a first clamping portion and a second clamping portion, and the first clamping portion and the second clamping portion are movably arranged on the first base along a first direction so that the first clamping portion and the second clamping portion can approach or move away from each other in the first direction; the first clamping portion and the second clamping portion are used to cooperate in clamping the brick, and the first direction is arranged perpendicular to the second direction and the third direction.

[0020] In the above technical solution, the first gripper is provided with a first clamping part and a second clamping part, and the first clamping part and the second clamping part are both movably connected to the first base so that the first clamping part and the second clamping part can approach or move away from each other in the first direction, thereby achieving clamping of the bricks. The structure is simple and easy to operate.

[0021] In some embodiments, the first distance measuring component includes at least one first distance measuring sensor, and the first distance measuring sensor is disposed on a side of the first base away from the lifting frame.

[0022] In the above technical solution, by including at least one first ranging sensor in the first ranging component, if the number of first ranging sensors is large, the first distances measured by multiple first ranging sensors are averaged, so that the first distance information between the first manipulator and the first reference plate can be controlled more accurately in real time.

[0023] In some embodiments, the number of the first ranging sensors is set to two, and the two first ranging sensors are spaced apart and distributed along the first direction on the first base.

[0024] In the above technical solution, by setting the number of first distance measuring sensors to two, and disposing the two first distance measuring sensors at intervals on the first base, the two first distance measuring sensors simultaneously measure the distance and calculate the average value, thereby more accurately controlling the first distance between the first manipulator and the first reference plate. Furthermore, even if one of the first distance measuring sensors fails, the other first distance measuring sensor can still function normally, thereby ensuring that the brick-feeding robot can more stably and accurately feed bricks to the bricklaying robot.

[0025] In some embodiments, along the second direction, the projection of the first ranging sensor on the traverse frame is located within the projection range of the first base on the traverse frame.

[0026] In the above technical solution, by positioning the projection of the first ranging sensor on the transverse frame within the projection range of the first base on the transverse frame, that is, the first ranging sensor does not protrude from the side of the first base facing outside the first reference plate, the first base can provide a certain degree of protection for the first ranging sensor, thereby preventing the first ranging sensor from accidentally colliding with the first reference plate when the first manipulator approaches the first reference plate.

[0027] In some embodiments, the second ranging assembly includes a mounting portion, a sliding portion, and a second ranging sensor, the mounting portion is provided on the first base, the sliding portion is provided on the mounting portion for sliding along the second direction, the second ranging sensor is provided on the sliding portion, and the bottom of the sliding portion is used to contact the top surface of the brick; wherein, the sliding portion has a third position and a fourth position on the first base, and the sliding portion can move along the second direction under the lifting action of the brick, so as to drive the sliding portion to move from the third position to the fourth position.

[0028] In the above technical solution, the second ranging sensor is installed on the sliding part through the sliding cooperation between the sliding part and the mounting part along the second direction. The bottom of the sliding part can contact the top surface of the brick. The clamping state of the brick and the first manipulator will be fed back to the sliding part, causing the sliding part to move, so that the first manipulator can adjust the second distance between the first manipulator and the second reference plate in the vertical direction according to the clamping state of the brick, thereby ensuring the brick loading accuracy of the first manipulator in the vertical direction.

[0029] In some embodiments, a spherical abutment portion is provided on a side of the sliding portion away from the first base portion, and the abutment portion is used to contact the top surface of the brick.

[0030] In the above technical solution, a spherical abutment portion is provided at the bottom of the sliding portion, and the spherical abutment portion contacts the top surface of the brick in point contact, so that the state of the brick clamped by the first manipulator in the first direction can be more accurately transmitted to the sliding portion, thereby causing the position of the second ranging sensor to change accordingly, so that the first manipulator can adjust the second distance from the second reference plate in the vertical direction, so that the first manipulator can place the brick on the fixture table more accurately.

[0031] In some embodiments, on the first base, the number of groups of the second ranging components is set to at least two, and multiple groups of the second ranging components are spaced apart and distributed along the first direction on the first base.

[0032] In the above technical solution, by setting the number of groups of second ranging components to multiple groups, multiple groups of second ranging components are spaced apart along the first direction on the first base. In this way, when measuring the second distance between the first manipulator and the second reference plate, the second distances measured by the multiple groups of second ranging components can be averaged. This can more accurately reflect the vertical distance between the second manipulator and the second reference plate. Since the vertical distance between the fixture table and the second reference plate is a fixed value, the vertical distance between the second manipulator and the fixture table can be obtained, which facilitates the brick supply robot to place bricks on the fixture table more accurately and control the brick loading accuracy of the brick supply robot.

[0033] In some embodiments, the first base is provided with a contact switch on one side of the first clamping portion and the second clamping portion, and the contact switch is used to limit the travel of the brick in the second direction on the first gripper. When the brick contacts the contact switch, the first manipulator stops moving in the second direction.

[0034] In the above technical solution, the contact switch provided on the first base protects the second distance measuring assembly. Specifically, when the first manipulator grasps a brick, when the top surface of the brick contacts the contact switch, it indicates that the first manipulator has reached the desired grasping depth, preventing the first manipulator from continuing to grasp the brick downward, which could cause the sliding portion to slide upward beyond the sliding limit and damage the second distance measuring assembly.

[0035] In some embodiments, the brick supply robot also includes a third ranging component, which is arranged on the transverse frame and close to one side of the lifting frame. The third ranging component is used to measure the third distance between the brick clamped by the first gripper and the lifting frame.

[0036] In the above technical solution, by providing a third distance-measuring assembly on the transverse frame, when the first manipulator grasps a brick, the third distance-measuring assembly can measure the third distance between the brick and the lifting frame. This third distance-measuring assembly can also be used to determine whether the brick grasped by the first manipulator is offset in the third direction relative to the first manipulator. Because the distance between the lifting frame and the first reference plate is a fixed value, the third distance-measuring assembly can be used in conjunction with the first distance-measuring assembly to more precisely control the actual distance between the brick and the first reference plate, thereby more accurately controlling the horizontal loading accuracy of the bricks.

[0037] On the third aspect, an embodiment of the present application also provides a bricklaying system, which includes the aforementioned bricklaying robot and the aforementioned brick-supplying robot. The brick-supplying robot and the bricklaying robot are arranged at intervals. The brick-supplying robot is used to provide bricks to the bricklaying robot, and the bricklaying robot is used to receive the bricks, apply slurry to the bricks, and then transfer them to the laying position for laying.

[0038] In this solution, the first ranging component and the second ranging component on the brick supply robot cooperate with the first reference plate and the second reference plate on the bricklaying robot. The brick supply robot can clamp the bricks and accurately load them onto the clamping table on the bricklaying robot. The clamping table of the bricklaying robot then clamps the bricks to carry out subsequent mortaring and laying operations on the bricks.

[0039] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic diagram of the structure of a bricklaying robot provided in an embodiment of the present application;

[0042] Figure 2 for Figure 1 The schematic structural diagram of the bricklaying robot from another angle is shown;

[0043] Figure 3 for Figure 1 A front view of the bricklaying robot is shown;

[0044] Figure 4 A schematic diagram of the structure of a brick supply robot provided in an embodiment of the present application;

[0045] Figure 5 for Figure 4 The schematic diagram of the structure of the transverse frame and the first manipulator in the brick supply robot shown;

[0046] Figure 6 for Figure 4 A is an enlarged schematic diagram;

[0047] Figure 7 for Figure 4 The schematic diagram of the structure of the first manipulator of the brick supply robot grabbing bricks is shown;

[0048] Figure 8 A schematic structural diagram of a state in which a brick-feeding robot supplies bricks to a brick-laying robot in a brick-laying system provided by an embodiment of the present application;

[0049] Figure 9 A schematic structural diagram of another state in which a brick-feeding robot supplies bricks to a brick-laying robot in the brick-laying system provided by an embodiment of the present application;

[0050] Figure 10 A schematic diagram of a first state of a first manipulator and a first reference plate in a bricklaying system provided in an embodiment of the present application;

[0051] Figure 11 A schematic structural diagram of the cooperation between the first manipulator and the second reference plate in the bricklaying system provided in an embodiment of the present application;

[0052] Figure 12 A schematic diagram of a second state of the first manipulator and the first reference plate in the bricklaying system provided in an embodiment of the present application;

[0053] Figure 13 for Figure 4 A schematic structural diagram of the second distance measuring component of the brick supply robot shown;

[0054] Figure 14 for Figure 4 The schematic diagram of the structure of the first manipulator of the brick supply robot holding a brick;

[0055] Figure 15 for Figure 14 Schematic diagram of the first manipulator and the second reference plate of the bricklaying robot;

[0056] Figure 16 for Figure 4 The schematic diagram of the structure of the first manipulator of the brick supply robot shown is a vertical offset in gripping bricks;

[0057] Figure 17 for Figure 16 Schematic diagram of the first manipulator and the second reference plate of the bricklaying robot.

[0058] Icons: 100-bricklaying system; 10-bricklaying robot; 11-carrying platform; 12-clamping platform; 121-positioning platform; 122-clamping arm; 13-first reference plate; 14-second reference plate; 15-transverse movement mechanism; 16-slurry mechanism; 161-actuator; 162-slurry head; 17-bricklaying manipulator; 18-turning mechanism; 19-chassis; 191-lifting mechanism; 20-brick supply robot; 21-moving base; 211-support plate; 212-moving wheel; 22-first manipulator; 221-first base; 222-first gripper; 222a-first clamping part; 222b-second clamping part; 223-contact switch; 224-second slider; 23- First distance measuring component; 231-first distance measuring sensor; 24-second distance measuring component; 241-second distance measuring sensor; 242-mounting part; 243-sliding part; 244-abutting part; 245-guide seat; 246-third guide rail; 247-guide rod; 25-third distance measuring component; 251-third distance measuring sensor; 26-lifting frame; 261-first guide rail; 27-transverse frame; 271-first slider; 272-second guide rail; 200-brick; L1-first distance; L2-second distance; L3-third distance; X-first direction; Y-second direction; Z-third direction; a1-first laser emission line; a2-second laser emission line; a3-third laser emission line. DETAILED DESCRIPTION

[0059] The following detailed description of the embodiments of the present application is provided in conjunction with the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present application, but are not intended to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0060] In the description of this application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating directions or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0061] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0062] The present application embodiment provides a bricklaying system, see Figure 1 and Figure 4 The bricklaying system 100 includes a bricklaying robot 10 and a brick-feeding robot 20. The brick-feeding robot 20 is spaced apart from the bricklaying robot 10. The brick-feeding robot 20 provides bricks 200 to the bricklaying robot 10. The bricklaying robot 10 receives the bricks 200, applies mortar to the bricks, and then transfers them to the laying position for laying. The specific structure of the bricklaying system 100 is described in detail below with reference to the accompanying drawings. The bricklaying robot 10 receives the bricks 200 from the brick-feeding robot 20, applies mortar to the bricks 200, and then stacks multiple bricks 200 to form a wall.

[0063] See also Figure 1 、 Figure 2 and Figure 3The bricklaying robot 10 is used to cooperate with the brick supply robot 20. The bricklaying robot 10 includes a carrier 11, a fixture table 12, a first reference plate 13 and a second reference plate 14; the fixture table 12 is movably arranged on the carrier 11 along a first direction X, and the fixture table 12 is used to receive the brick 200 grabbed by the brick supply robot 20 and clamp the brick 200; the first reference plate 13 is arranged on the carrier 11 along a second direction Y, and the second direction Y is perpendicular to the first direction X and is arranged in the same direction as the height direction of the carrier 11. The first reference plate 13 is used to cooperate with the distance measuring component of the brick supply robot 20 to provide the brick supply machine The robot 20 controls the first distance L1 when supplying bricks to the fixture table 12. The first distance L1 is the horizontal distance between the brick supply robot 20 and the first reference plate 13; the second reference plate 14 is connected to the side of the first reference plate 13 away from the supporting platform 11, and the second reference plate 14 extends along the third direction Z. The second reference plate 14 is arranged perpendicular to the first reference plate 13 so that the second reference plate 14 is parallel to the supporting platform 11. The second reference plate 14 is used to cooperate with the ranging component of the brick supply robot 20 so that the brick supply robot 20 can control the second distance L2 with the fixture table 12 in the second direction Y when supplying bricks to the fixture table 12.

[0064] In this solution, a first reference plate 13 and a second reference plate 14 are provided on the bricklaying robot 10. Since the first reference plate 13 and the second reference plate 14 are both fixed in position on the bricklaying robot 10, they can be used as reference systems for the ranging components on the brick supply robot 20. Therefore, the first reference plate 13 and the second reference plate 14 cooperate with the ranging components of the brick supply robot 20, that is, the ranging components cooperate with the first reference plate 13 and the second reference plate 14 respectively, so that the first distance information and the second distance information between the brick supply robot 20 and the bricklaying robot 10 can be obtained in real time. The exact position of the brick supply robot 20 relative to the bricklaying robot 10 in the horizontal and vertical directions can be obtained through the first distance information and the second distance information, which can then facilitate the corresponding adjustment of the brick supply robot 20 to accurately control the vertical and horizontal distances between the brick supply robot 20 and the bricklaying robot 10, thereby enabling the brick supply robot 20 to control the brick loading accuracy when loading bricks onto the bricklaying robot 10.

[0065] In addition, the bricklaying robot 10 provided in the embodiment of the present application also has the following additional technical features:

[0066] In some embodiments, see Figure 1 and Figure 3 The bricklaying robot 10 further includes a transverse movement mechanism 15 , which is disposed on the carrier platform 11 , and the fixture platform 12 is disposed on the transverse movement mechanism 15 , and the transverse movement mechanism 15 is used to drive the fixture platform 12 to reciprocate along the first direction X on the carrier platform 11 .

[0067] By providing a transverse movement mechanism 15 on the carrier 11, the transverse movement mechanism 15 can drive the fixture table 12 to reciprocate along the carrier 11 in the first direction X, thereby enabling the fixture table 12 to have multiple workstations on the carrier 11, each of which is relatively independent. After the fixture table 12 receives a brick 200 from the brick-feeding robot 20, it can be driven by the transverse movement mechanism 15 to transfer the brick 200 to another workstation on the carrier 11, thereby facilitating subsequent operations such as mortaring and laying the brick 200 by the bricklaying robot 10.

[0068] The traverse mechanism 15 can be a variety of drive structures, including a synchronous belt drive structure. The synchronous belt drive structure can include a drive motor, a driving wheel, and a pulley mechanism. The fixture table 12 is connected to the pulley structure. The drive motor drives the driving wheel to rotate, thereby driving the pulley mechanism to move, thereby achieving movement of the fixture table 12 in the first direction X on the carrier platform 11. Of course, the traverse mechanism 15 can also be a screw-nut pair drive mechanism, or a gear rack or electric push rod drive mechanism. The specific structure of the traverse mechanism 15 is not further described here.

[0069] In some embodiments, please combine Figure 1 and Figure 3 The clamping table 12 includes a positioning table 121, two clamping arms 122 and a first driving assembly. The positioning table 121 is connected to the transverse movement mechanism 15; the two clamping arms 122 are movably arranged on the positioning table 121, and the two clamping arms 122 are spaced apart on both sides of the third direction Z of the positioning table 121. The two clamping arms 122 are used to clamp the bricks 200 grasped by the brick supply robot 20; the first driving assembly is provided on the positioning table 121, and the first driving assembly is used to drive the two clamping arms 122 to move closer to or away from each other on the positioning table 121.

[0070] Two clamping arms 122 are provided on the positioning table 121. When the brick supply robot 20 places the brick 200 on the positioning table 121, the two clamping arms 122 can move along the third direction Z on the positioning table 121 under the action of the first driving component, thereby clamping both sides of the brick 200 on the positioning table 121 to prevent the brick 200 from shifting during the transfer process. At the same time, it is also convenient for the subsequent slurry mechanism 16 to slurry the brick 200 on the clamp table 12, preventing the brick 200 from moving during the slurrying process and affecting the slurrying quality of the brick 200.

[0071] The first drive assembly can be a bidirectional cylinder, the two output ends of which are respectively connected to the two clamping arms 122, thereby being able to drive the two clamping arms 122 to move closer to or away from each other along the third direction Z. In other embodiments, the first drive assembly can also be other structures. For example, a motor, a rack, and two gears are provided on the positioning platform 121. The motor is mounted on the positioning platform 121, and the gear is connected to the output end of the motor. The motor is used to drive the gear to rotate. The two racks are respectively connected to the two clamping arms 122. The gear is located between the two racks and meshes with the two racks, so that the two clamping arms 122 are driven by the motor to move closer to or away from each other along the third direction Z.

[0072] In some embodiments, please combine Figure 1 and Figure 2 The bricklaying robot 10 also includes a slurry spreading mechanism 16, a chassis 19, a lifting mechanism 191 and a bricklaying manipulator 17. The slurry spreading mechanism 16 is movably arranged on the supporting platform 11 and is located on the moving path of the clamp platform 12 on the supporting platform 11. The slurry spreading mechanism 16 is used to apply slurry to the surface of the brick 200; the lifting mechanism 191 is arranged on the chassis 19 and is arranged adjacent to the supporting platform 11. The bricklaying manipulator 17 is arranged at the execution end of the lifting mechanism 191. The bricklaying manipulator 17 is used to grab the bricks 200 that have been slurried by the slurry spreading mechanism 16 and move the bricks 200 to the laying position for bricklaying.

[0073] The screeding mechanism 16 is provided on the carrier 11, and can screed the bricks 200 on the fixture table 12. Under the action of the transverse movement mechanism 15, the screeded bricks 200 on the fixture table 12 can be moved forward along the first direction X to the to-be-transferred position. The bricklaying robot 17 can, under the action of the lifting mechanism 191, transfer the bricks 200 on the fixture table 12 at the to-be-transferred position to the masonry position, thereby achieving the wall stacking. Therefore, by arranging the screeding mechanism 16 on the moving path of the fixture table 12, the bricks 200 can be transported linearly along the first direction X on the carrier 11, and the bricklaying robot 17 can directly place the bricks 200 on the wall, which helps to save bricklaying time when placing the bricks 200 on the wall.

[0074] Among them, the chassis 19 can be a mobile chassis with mobile rollers with driving functions at the bottom, so that the bricklaying robot 10 can move arbitrarily, and the lifting mechanism 191 can be a variety of driving structures. For example, the driving mechanism can be a cylinder or hydraulic cylinder transmission, or a gear rack type driving mechanism, which will not be repeated here. The bricklaying manipulator 17 is installed at the execution end of the lifting mechanism 191. The bricklaying manipulator 17 can be a four-axis robotic arm. The end of the four-axis robotic arm is equipped with a clamping claw for clamping the brick 200 to transport the brick 200 from the fixture table 12 to the bricklaying position of the wall to achieve bricklaying operations. The specific structure of the bricklaying manipulator 17 can be referred to the relevant technology and will not be repeated here.

[0075] In some embodiments, see Figure 1 The screeding mechanism 16 includes an actuator 161 and a screeding head 162. The screeding head 162 is installed on the supporting platform 11 through the actuator 161. The screeding head 162 has a first position and a second position in the second direction Y, and the brick 200 is located between the first position and the second position in the second direction Y; the actuator 161 is used to drive the screeding head 162 to move between the first position and the second position. The actuator 161 is also used to drive the screeding head 162 to rotate around an axis extending along the third direction Z, so that the screeding end of the screeding head 162 can abut against the upper surface of the brick 200 located on the fixture table 12 and the two end faces of the brick 200 in the first direction X.

[0076] The trowel head 162 is connected to the supporting platform 11 through the actuator 161. The actuator 161 can drive the trowel head 162 to move in the second direction Y, and can also drive the trowel head 162 to rotate around an axis arranged along the third direction Z, so that the trowel end of the trowel head 162 can be against the upper surface of the brick 200 and the two end faces of the brick 200 in the first direction X during the process of the trowel head 162 moving from the first position to the second position, thereby realizing troweling of the upper surface and the two end faces of the brick 200.

[0077] The actuator 161 can first drive the trowel head 162 to move from the first position along the second direction Y, so that the trowel end of the trowel head 162 abuts against an end surface of the brick 200 in the first direction X. The trowel mechanism 16 then trowels the brick 200. The actuator 161 then continues to drive the trowel head 162 to abut against the upper surface of the brick 200 and move to the second position along the second direction Y, so as to trowel the upper surface of the brick 200. The specific structure of the actuator 161 can be found in the relevant art and will not be described in detail here.

[0078] In some embodiments, see Figure 1 and Figure 2The bricklaying robot 10 further includes a flipping mechanism 18, which may include a rotary manipulator. The rotary manipulator is configured to pick up a brick 200 located on the fixture table 12 and flip the brick 200 so that the mortared surface of the brick 200 is flipped from the upper side to the lower side. The bricklaying robot 17 is configured to pick up the brick 200 flipped by the rotary manipulator and move the brick 200 to a stacking position. By providing a rotary manipulator above the carrier 11, the brick 200 placed on the fixture table 12 can be flipped by the rotary manipulator so that the mortared surface of the brick 200 is flipped from the upper side to the lower side. This facilitates the bricklaying robot 17 to grab the flipped brick 200 and directly place it in the stacking position of the wall. This eliminates the need for the bricklaying robot 17 to flip the brick 200 during the bricklaying process, and allows the bricklaying robot 17 to avoid the mortared surface of the brick 200 when grabbing the brick 200, thereby improving the efficiency of wall bricklaying.

[0079] In some embodiments, see Figure 4 、 Figure 5 and Figure 6 The brick-supplying robot 20 includes a mobile base 21, a first manipulator 22, a first ranging component 23 and a second ranging component 24. The first manipulator 22 is movably arranged on the mobile base 21. The first manipulator 22 is used to clamp bricks 200 and provide bricks 200 to the bricklaying robot 10; the first ranging component 23 is arranged on the first manipulator 22, and the first ranging component 23 is used to measure a first distance L1 between the first manipulator 22 and the first reference plate 13 in the third direction Z; the second ranging component 24 is arranged on the first manipulator 22, and the second ranging component 24 is used to measure a second distance L2 between the first manipulator 22 and the second reference plate 14 in the second direction Y. The second direction Y is in the same direction as the height direction of the mobile base 21, and the second direction Y is perpendicular to the third direction Z.

[0080] In this solution, since the first reference plate 13 and the second reference plate 14 are fixed in position, they can be used as reference systems for the first ranging component 23 and the second ranging component 24 on the brick supply robot 20. The first ranging component 23 and the second ranging component 24 are provided on the first manipulator 22 on the brick supply robot 20. The first ranging component 23 and the second ranging component 24 can cooperate with the first reference plate 13 and the second reference plate 14 on the bricklaying robot 10, that is, through the cooperation of the first ranging component 23 and the first reference plate 13, the first distance information between the first manipulator 22 and the bricklaying robot 10 can be obtained in real time, and the horizontal position of the first manipulator 22 can be obtained through the first distance information, and then the brick supply robot 20 can adjust the distance between the first manipulator 22 and the first reference plate 13 to the first preset value, so that the horizontal distance between the first manipulator 22 and the bricklaying robot 10 can be accurately controlled. Similarly, the second distance measuring component 24 cooperates with the second reference plate 14 to obtain the second distance information between the first manipulator 22 and the bricklaying robot 10 in real time. The vertical position of the first manipulator 22 can be obtained through the second distance information. Then the brick supply robot 20 adjusts the distance between the first manipulator 22 and the second reference plate 14 to the second preset value accordingly, so that the vertical distance between the first manipulator 22 and the bricklaying robot 10 can be accurately controlled, and then when the brick supply robot 20 puts bricks on the bricklaying robot 10, the first distance measuring component 23 and the second distance measuring component cooperate to control the brick loading accuracy.

[0081] Among them, the bottom of the mobile base 21 is provided with a supporting plate 211 for stacking bricks 200, and the supporting plate 211 can be used to place bricks 200. The bottom of the mobile base 21 also has a mobile roller with a driving function, so that the brick supply robot 20 can move arbitrarily.

[0082] In some embodiments, see Figure 4 、 Figure 5 and Figure 6 The brick-supplying robot 20 includes a lifting frame 26, a transverse frame 27, a second drive assembly and a third drive assembly. The lifting frame 26 is arranged on the movable base 21 along the second direction Y, and the lifting frame 26 has a first guide rail 261 extending along the second direction Y; the transverse frame 27 is movably arranged on the lifting frame 26 along the second direction Y, and the transverse frame 27 is close to one end of the lifting frame 26 and slides with the first guide rail 261, and the transverse frame 27 has a second guide rail 272 extending along the third direction Z; the first manipulator 22 is movably arranged on the transverse frame 27 along the third direction Z and slides with the second guide rail 272; the second drive assembly is arranged on the base, and the second drive assembly is used to drive the transverse frame 27 to move along the second direction Y on the lifting frame 26; the third drive assembly is arranged on the transverse frame 27, and the third drive assembly is used to drive the first manipulator 22 to move along the third direction Z on the transverse frame 27.

[0083] By arranging a lifting frame 26 and a transverse frame 27 on the movable base 21, the first guide rail 261 and the second guide rail 272 mainly play a guiding role. Therefore, under the driving action of the second driving component, the transverse frame 27 can be driven to move up and down in the height direction of the lifting frame 26, thereby realizing the height adjustment of the transverse frame 27, and then adjusting the height distance (second distance L2) with the clamp table 12 of the bricklaying robot 10. The third driving component can drive the first manipulator 22 to move in the front and rear directions on the transverse frame 27, thereby adjusting the horizontal distance (first distance L1) between the first manipulator 22 and the clamp table 12 of the bricklaying robot 10. Therefore, the first manipulator 22 can move in the second direction Y (vertical direction) and the third direction Z (horizontal direction) under the cooperation of the second driving component and the third driving component, so that the first manipulator 22 can accurately transfer the bricks 200 to the clamp table 12 of the bricklaying robot 10. The structure is simple and easy to implement.

[0084] Among them, see Figure 5 The traversing frame 27 has a first slider 271 on the side near the lifting frame 26, and the first slider 271 slides in engagement with the first slide rail. The first manipulator 22 may have a second slider 224, and the second slider 224 slides in engagement with the second slide rail. Furthermore, the second drive assembly and the third drive assembly may have various drive structures. The drive mechanism may be a rack-and-pinion drive mechanism, and the second drive assembly may include a motor, a gear, and a rack. The motor is mounted on the movable base 21, the gear is connected to the output shaft of the motor, the rack is mounted on the lifting frame 26 and extends in the second direction Y, the rack engages with the gear, and the traversing frame 27 is connected to the rack and slides in engagement with the first guide rail 261 on the lifting frame 26, thereby driving the traversing frame 27 to move along the first guide rail 261 in the second direction Y via the motor. In other embodiments, the second drive assembly may also have other structures, for example, a pneumatic cylinder or an electric push rod. Similarly, the third drive assembly may have the same drive structure as the second drive assembly, which will not be described in detail here.

[0085] In addition, the number of the first guide rails 261 and the second guide rails 272 can be one or more. For example, the number of the first guide rails 261 is set to two, and the two first guide rails 261 are arranged on the lifting frame 26 at intervals along the first direction X. The two first guide rails 261 have a better guiding effect on the transverse frame 27, thereby making the transverse frame 27 more stable when moving up and down on the lifting frame 26.

[0086] In some embodiments, see Figure 5The first manipulator 22 includes a first base 221 and a first gripper 222, and the first base 221 slides with the second guide rail 272; the first gripper 222 includes a first clamping portion 222a and a second clamping portion 222b, and the first clamping portion 222a and the second clamping portion 222b are movably arranged on the first base 221 along the first direction X, so that the first clamping portion 222a and the second clamping portion 222b can approach or move away from each other in the first direction X; the first clamping portion 222a and the second clamping portion 222b are used to cooperate in clamping the brick 200, and the first direction X is perpendicular to the second direction Y and the third direction Z.

[0087] The first gripper 222 is provided with a first clamping portion 222a and a second clamping portion 222b. The first clamping portion 222a and the second clamping portion 222b are both movably connected to the first base 221 so that the first clamping portion 222a and the second clamping portion 222b can approach or move away from each other in the first direction X, thereby clamping the brick 200. The structure is simple and easy to operate.

[0088] The first base 221 is provided with a driving mechanism to drive the first clamping portion 222a and the second clamping portion 222b to move closer to or farther from each other on the first base 221, thereby clamping the brick 200. The driving mechanism can be a bidirectional cylinder, the two output ends of which are respectively connected to the first clamping portion 222a and the second clamping portion 222b, thereby driving the first clamping portion 222a and the second clamping portion 222b to move closer to or farther from each other along the first direction X.

[0089] In some embodiments, see Figure 6 The first distance measuring assembly 23 includes at least one first distance measuring sensor 231, which is disposed on a side of the first base 221 away from the lifting frame 26. By including at least one first distance measuring sensor 231 in the first distance measuring assembly 23, and if a greater number of first distance measuring sensors 231 are present, the first distances L1 measured by the plurality of first distance measuring sensors 231 can be averaged, thereby enabling more accurate real-time control of the first distance L1 between the first manipulator 22 and the first reference plate 13.

[0090] In some embodiments, see Figure 5 and Figure 6The number of first ranging sensors 231 is set to two, and the two first ranging sensors 231 are spaced apart on the first base 221 along the first direction X. By setting the number of first ranging sensors 231 to two and spacing the two first ranging sensors 231 on the first base 221, the two first ranging sensors 231 simultaneously measure the distance and calculate the average value, thereby more accurately controlling the first distance L1 between the first manipulator 22 and the first reference plate 13. Furthermore, even if one of the first ranging sensors 231 malfunctions, the other first ranging sensor 231 can still function normally, thereby ensuring that the brick-feeding robot 20 can more stably and accurately feed bricks to the bricklaying robot 10.

[0091] In some embodiments, along the second direction Y, the projection of the first ranging sensor 231 on the transverse frame 27 is located within the projection range of the first base 221 on the transverse frame 27. By locating the projection of the first ranging sensor 231 on the transverse frame 27 within the projection range of the first base 221 on the transverse frame 27, the first ranging sensor 231 does not protrude beyond the side of the first base 221 facing outward from the first reference plate 13. Thus, the first base 221 can provide a certain degree of protection for the first ranging sensor 231, thereby preventing the first ranging sensor 231 from accidentally colliding with the first reference plate 13 as the first manipulator 22 approaches the first reference plate 13.

[0092] For details, please refer to Figure 7 、 Figure 8 and Figure 9 The diagram shows the movement of the first manipulator 22 relative to the bricklaying robot 10 when laying bricks. Figure 7 , the first manipulator 22 grabs the brick 200, see Figure 8 Then, under the action of the lifting frame 26 and the transverse frame 27, the first manipulator 22 is driven to approach the bricklaying robot 10. When the first manipulator 22 approaches the first reference plate 13, the first distance measuring component 23 can be used to monitor the change of the first distance L1 in real time. When the first distance L1 meets the first preset value preset by the control system of the brick supply robot 20, the first manipulator 22 can be stopped from continuing to move towards the first reference plate 13. Please refer to Figure 9 and Figure 11 Then, the second ranging component 24 is used to emit a second laser emission line a2, monitor the second distance L2, and adjust the vertical position of the first manipulator 22 until the second distance L2 meets the second preset value of the brick supply robot 20. Then, the first manipulator 22 can accurately load bricks onto the fixture table 12.

[0093] In some embodiments, the brick supply robot 20 also includes a third ranging component 25, which is arranged on the transverse frame 27 and close to one side of the lifting frame 26. The third ranging component 25 is used to measure the third distance L3 between the brick 200 clamped by the first gripper 222 and the lifting frame 26.

[0094] By arranging the third distance measuring component 25 on the transverse frame 27, when the first manipulator 22 grabs the brick 200, since the third distance measuring component 25 can measure the third distance L3 between the brick 200 and the lifting frame 26, the third distance measuring component 25 can be used to measure whether the brick 200 grabbed by the first manipulator 22 is offset relative to the first manipulator 22 in the third direction Z. Figure 10 and Figure 12 Because the distance between the lifting frame 26 and the first reference plate 13 is fixed, the third distance L3 measured by the third laser beam a3 emitted by the third distance measuring component 25 and the first distance L1 measured by the first laser beam a1 emitted by the first distance measuring component 23 can be used in conjunction with each other to more accurately control the actual distance between the brick 200 on the first robot 22 and the first reference plate 13, thereby more accurately controlling the horizontal placement accuracy of the brick 200. The third distance measuring component 25 may include at least one third distance measuring sensor 251.

[0095] In some embodiments, see Figure 13 The second ranging component 24 includes a mounting portion 242, a sliding portion 243 and a second ranging sensor 241. The mounting portion 242 is arranged on the first base 221, the sliding portion 243 is arranged on the mounting portion 242 for sliding along the second direction Y, the second ranging sensor 241 is arranged on the sliding portion 243, and the bottom of the sliding portion 243 is used to contact the top surface of the brick 200; wherein, the sliding portion 243 has a third position and a fourth position on the first base 221, and the sliding portion 243 can move along the second direction Y under the lifting action of the brick 200, so as to drive the sliding portion 243 to move from the third position to the fourth position.

[0096] The second distance measuring sensor 241 is installed on the sliding part 243 through the sliding cooperation between the sliding part 243 and the mounting part 242 along the second direction Y. The bottom of the sliding part 243 can contact the top surface of the brick 200. The clamping state of the brick 200 and the first manipulator 22 will be fed back to the sliding part 243, so that the sliding part 243 moves, so that the first manipulator 22 can adjust the second distance L2 between the first manipulator 22 and the second reference plate 14 in the vertical direction according to the clamping state of the brick 200, thereby ensuring the brick-loading accuracy of the first manipulator 22 in the vertical direction.

[0097] The first base portion 221 is provided with a corresponding avoidance opening for the sliding portion 243 to slide, so that the sliding portion 243 can slide along the second direction Y. In addition, the mounting portion 242 is provided with a third guide rail 246 for the sliding portion 243 to slide.

[0098] In some embodiments, please refer to Figure 13 A spherical abutting portion 244 is provided on a side of the sliding portion 243 away from the first base portion 221 , and the abutting portion 244 is used to contact the top surface of the brick 200 .

[0099] By providing a spherical abutment portion 244 at the bottom of the sliding portion 243, the spherical abutment portion 244 is in point contact with the top surface of the brick 200, so that the state of the brick 200 clamped by the first manipulator 22 in the first direction X can be more accurately transmitted to the sliding portion 243, so that the position of the second ranging sensor 241 changes accordingly, so that the first manipulator 22 can adjust the second distance L2 in the vertical direction with the second reference plate 14, so that the first manipulator 22 can place the brick 200 on the fixture table 12 more accurately.

[0100] A guide seat 245 is installed on the mounting portion 242, and the guide seat 245 has a guide groove. The sliding portion 243 has a guide rod 247, and the guide rod 247 slides with the guide groove of the guide seat 245 to guide the sliding portion 243 to slide along the second direction Y on the mounting portion 242.

[0101] In some embodiments, the number of groups of second distance measuring assemblies 24 on the first base 221 is set to at least two, and the multiple groups of second distance measuring assemblies 24 are spaced apart on the first base 221 along the first direction X. By setting the number of groups of second distance measuring assemblies 24 to be multiple, the multiple groups of second distance measuring assemblies 24 are spaced apart on the first base 221 along the first direction X. Thus, when measuring the second distance L2 between the first manipulator 22 and the second reference plate 14, the second distance L2 measured by the multiple groups of second distance measuring assemblies 24 can be averaged. This can more accurately reflect the vertical distance between the second manipulator and the second reference plate 14. Since the vertical distance between the fixture table 12 and the second reference plate 14 is a fixed value, the vertical distance between the second manipulator and the fixture table 12 can be determined, thereby facilitating the brick-feeding robot 20 to more accurately place the bricks 200 on the fixture table 12 and control the brick-loading accuracy of the brick-feeding robot 20.

[0102] Illustratively, in this embodiment, the number of the second distance measuring components 24 is set to two, and the two second distance measuring components 24 are arranged on the first base 221 along the first direction X at intervals.

[0103] Specifically, when the number of groups of the second distance measuring assembly 24 is set to two, when the first manipulator 22 clamps the brick 200, the top surface of the brick 200 can contact the bottom surface of the sliding portion 243. Figure 14 and Figure 15 As shown, if the brick 200 is in an ideal state on both sides of the first direction X, that is, the two sides of the brick 200 are in a horizontal state in the horizontal direction, but the first manipulator 22 has a different clamping depth for the brick 200 each time, the top surface of the brick 200 may still lift the sliding part 243 in the second distance measuring component 24, but since the total height value of the second reference plate 14 and the fixture table 12 is fixed, even if the position of the second distance measuring sensor 241 and the second reference plate 14 changes, it will not affect the second distance L2.

[0104] Please combine Figure 16 and Figure 17 As shown, if the brick 200 is offset on both sides of the first direction X, that is, the two sides of the brick 200 are offset in the horizontal direction (that is, tilted), the top surface of the brick 200 will lift the sliding part 243 in the second distance measuring component 24, so that the sliding part 243 slides upward, driving the height of the second distance measuring sensor 241 to change, so that the height value of the second distance measuring sensor 241 when measuring the distance with the second reference plate 14 will also change. The average value of the second distances measured by the two groups of second distance measuring sensors 241 is taken as the second distance L2, so that the first robot 22 can release the brick 200 onto the fixture table 12 more accurately.

[0105] In some embodiments, see Figure 14 and Figure 16 The first base 221 is provided with a contact switch 223 on one side of the first clamping part 222a and the second clamping part 222b. The contact switch 223 is used to limit the travel of the brick 200 in the second direction Y on the first gripper 222. When the brick 200 contacts the contact switch 223, the first manipulator 22 stops moving in the second direction Y.

[0106] The contact switch 223 provided on the first base 221 protects the second distance measuring assembly 24. Specifically, when the first manipulator 22 grasps a brick 200, when the top surface of the brick 200 contacts the contact switch 223, it indicates that the first manipulator 22 has grasped the brick 200 to the desired depth, preventing the first manipulator 22 from continuing to grasp downward, thereby causing the brick 200 to press against the sliding portion 243 and slide upward beyond the limit of the sliding portion 243, thereby damaging the second distance measuring assembly 24.

[0107] The first distance measuring sensor 231, the second distance measuring sensor 241 and the third distance measuring sensor 251 may all be laser distance measuring sensors. In other embodiments, the first distance measuring sensor 231, the second distance measuring sensor 241 and the third distance measuring sensor 251 may also be infrared distance measuring sensors or ultrasonic distance measuring sensors.

[0108] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and components may be substituted with equivalents without departing from the scope of the present application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A bricklaying system, characterized in that: It includes a bricklaying robot and a brick supplying robot, the brick supplying robot and the bricklaying robot are arranged at intervals, the brick supplying robot is used to provide bricks to the bricklaying robot, and the bricklaying robot is used to receive the bricks, apply slurry to the bricks, and then transfer them to the laying position for laying; The bricklaying robot comprises: Loading platform; a clamping platform, movably provided on the carrying platform along a first direction, the clamping platform being used to receive the bricks grasped by the brick-feeding robot and clamp the bricks; a first reference plate, arranged on the carrying platform along a second direction, the second direction being perpendicular to the first direction and being arranged in the same direction as the height direction of the carrying platform, the first reference plate being used to cooperate with the distance measuring component of the brick-feeding robot so as to enable the brick-feeding robot to control a first distance when feeding bricks to the fixture table, the first distance being the horizontal distance between the brick-feeding robot and the first reference plate; a second reference plate connected to a side of the first reference plate away from the carrying platform, the second reference plate extending along a third direction, the second reference plate being perpendicularly arranged to the first reference plate so as to be parallel to the carrying platform, the second reference plate being used to cooperate with the distance measuring component of the brick-feeding robot so as to control a second distance between the brick-feeding robot and the clamping platform in the second direction when the brick-feeding robot feeds bricks to the clamping platform; The brick supply robot comprises: Mobile base; a first manipulator, movably disposed on the mobile base, the first manipulator being used to clamp the bricks and provide the bricks to the bricklaying robot; a first distance measuring component, provided on the first manipulator, for measuring a first distance between the first manipulator and the first reference plate in a third direction; a second distance measuring assembly, provided on the first manipulator, for measuring a second distance between the first manipulator and the second reference plate in a second direction, wherein the second direction is in the same direction as the height direction of the movable base and is perpendicular to the third direction; a lifting frame, disposed on the movable base along the second direction, the lifting frame having a first guide rail extending along the second direction; a transverse frame movably disposed on the lifting frame along the second direction, wherein one end of the transverse frame close to the lifting frame is slidably engaged with the first guide rail, and the transverse frame has a second guide rail extending along the third direction; The first manipulator is movably provided on the transverse frame along the third direction and is slidably engaged with the second guide rail; a second driving assembly, disposed on the base, for driving the transverse frame to move along a second direction on the lifting frame; a third drive assembly, provided on the transverse frame, and configured to drive the first manipulator to move along the third direction on the transverse frame; The first manipulator includes a first base and a first gripper, wherein the first base is in sliding engagement with the second guide rail; The first gripper includes a first clamping portion and a second clamping portion, the first clamping portion and the second clamping portion are movably arranged on the first base along a first direction so that the first clamping portion and the second clamping portion can move closer to or farther from each other in the first direction; the first clamping portion and the second clamping portion are used to cooperate to clamp the brick, and the first direction is perpendicular to the second direction and the third direction; The second distance measuring assembly includes a mounting portion, a sliding portion, and a second distance measuring sensor, wherein the mounting portion is provided on the first base portion, the sliding portion is provided on the mounting portion for sliding along the second direction, and the second distance measuring sensor is provided on the sliding portion, wherein the bottom of the sliding portion is used to contact the top surface of the brick; The sliding portion has a third position and a fourth position on the first base, and the sliding portion can move along the second direction under the lifting action of the brick, so as to drive the sliding portion to move from the third position to the fourth position.

2. The bricklaying system according to claim 1, characterized in that The bricklaying robot also includes: The transverse movement mechanism is provided on the bearing platform, the fixture platform is provided on the transverse movement mechanism, and the transverse movement mechanism is used to drive the fixture platform to reciprocate along the first direction on the bearing platform.

3. The bricklaying system according to claim 2, characterized in that The fixture table includes: a positioning platform connected to the transverse movement mechanism; Two clamping arms are movably provided on the positioning platform, the two clamping arms are spaced apart and arranged on both sides of the positioning platform in the third direction, and the two clamping arms are used to clamp the bricks grasped by the brick supply robot; A first driving component is provided on the positioning platform, and the first driving component is used to drive the two clamping arms to move closer to or away from each other on the positioning platform.

4. The bricklaying system according to claim 1, characterized in that The bricklaying robot also includes: a slurry spreading mechanism, movably disposed on the carrying platform and located on a moving path of the fixture platform, the slurry spreading mechanism being used to spread slurry on the surface of the brick; The bricklaying robot is used to grab the bricks that have been smeared by the smearing mechanism and move the bricks to the laying position for bricklaying.

5. The bricklaying system according to claim 4, characterized in that The trowel mechanism includes an actuator and a trowel head, the trowel head is mounted on the supporting platform through the actuator, the trowel head has a first position and a second position in the second direction, and the brick is located between the first position and the second position in the second direction; the actuator is used to drive the trowel head to move between the first position and the second position, and the actuator is also used to drive the trowel head to rotate around an axis extending along the third direction, so that the trowel end of the trowel head can abut against the upper surface of the brick located on the fixture table and the two end faces of the brick in the first direction.

6. The bricklaying system according to claim 1, characterized in that The first distance measuring component includes at least one first distance measuring sensor, and the first distance measuring sensor is arranged on a side of the first base away from the lifting frame.

7. The bricklaying system according to claim 6, characterized in that The number of the first distance measuring sensors is set to two, and the two first distance measuring sensors are spaced apart and distributed along the first direction on the first base.

8. The bricklaying system according to claim 7, characterized in that Along the second direction, the projection of the first distance measuring sensor on the traverse frame is located within the projection range of the first base on the traverse frame.

9. The bricklaying system according to claim 1, characterized in that A spherical abutting portion is provided on a side of the sliding portion away from the first base portion, and the abutting portion is used to contact the top surface of the brick.

10. The bricklaying system according to claim 9, characterized in that On the first base, the number of groups of the second distance measuring components is set to at least two, and the multiple groups of the second distance measuring components are spaced apart and distributed along the first direction on the first base.

11. The bricklaying system according to claim 1, characterized in that The first base is provided with a contact switch on one side of the first clamping part and the second clamping part, and the contact switch is used to limit the travel of the brick in the second direction on the first gripper. When the brick contacts the contact switch, the first manipulator stops moving in the second direction.

12. The bricklaying system according to claim 1, characterized in that The brick supply robot also includes a third distance measuring component, which is arranged on the transverse frame and close to one side of the lifting frame. The third distance measuring component is used to measure the third distance between the brick clamped by the first gripper and the lifting frame.

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