A turning mechanism and a bricklaying device

Abstract

The present application provides a flipping mechanism and bricklaying equipment, which belong to the field of construction equipment. Among them, the flipping mechanism includes a main body, a rotating seat, a first driving member, a first gripper and a cable bundle. The rotating seat is rotatably connected to the main body around a first axis, and the rotation center of the rotating seat is provided with a center hole. The first driving member is installed on the rotating seat, and the first driving member is used to drive the rotating seat to rotate around the first axis. The first gripper is connected to the rotating seat, and the first gripper is used to grab bricks, and the first gripper has a second driving member. The cable bundle passes through the center hole from the first side of the rotating seat in the arrangement direction of the first axis to the second side, and forms a first cable and a second cable on the second side, the first cable is connected to the first driving member, and the second cable is connected to the second driving member. The flipping mechanism of this structure can reduce the phenomenon of shaking, entanglement or repeated pulling of the cable bundle, which is beneficial to improving the service life of the cable bundle and can expand the scope of application of the flipping mechanism.

Description

Technical Field

[0001] The present application relates to the field of construction equipment, and in particular to a turning mechanism and bricklaying equipment. Background Art

[0002] During the construction of a building, after the concrete frame is poured, the non-load-bearing walls of the building are usually constructed using a bricklaying robot with automated bricklaying to improve construction efficiency. In the process of the bricklaying robot stacking bricks, slurry is usually first applied to the top and end surfaces of the bricks by a slurrying mechanism, and then the bricks are flipped by a flipping mechanism to flip the slurry surface of the bricks from the upper side to the lower side, so as to facilitate the bricklaying robot to pick up the bricks and stack them on the wall. However, in the process of flipping the bricks, the existing flipping mechanism is very likely to cause the slurry surface of the bricks to be scratched by the cables due to the shaking of the flipping mechanism cables, resulting in poor bricklaying quality of the wall, and is very likely to cause the cables to be entangled and repeatedly pulled, resulting in a short service life of the flipping mechanism, thereby limiting the use environment and scope of application of the flipping mechanism, and thus being unfavorable for the promotion and expansion of the flipping mechanism. Summary of the Invention

[0003] The embodiments of the present application provide a turnover mechanism and bricklaying equipment to improve the problems of the existing turnover mechanism having a narrow usage environment and a narrow scope of application.

[0004] In the first aspect, an embodiment of the present application provides a flipping mechanism for flipping bricks, the flipping mechanism comprising a main body, a rotating seat, a first driving member, a first gripper and a cable bundle; the rotating seat is rotatably connected to the main body around a first axis, and the rotation center of the rotating seat is provided with a center hole; the first driving member is installed on the rotating seat, and the first driving member is used to drive the rotating seat to rotate around the first axis; the first gripper is connected to the rotating seat, and the first gripper is used to grip the brick, and the first gripper has a second driving member; the cable bundle passes through the center hole from the first side of the rotating seat in the arrangement direction of the first axis to the second side, and forms a first cable and a second cable on the second side, the first cable is connected to the first driving member, and the second cable is connected to the second driving member.

[0005] In the above technical solution, a rotating seat is rotatably connected to the main body along a first axis, and the rotating seat can be driven to rotate relative to the main body by a first driving member, thereby driving the first gripper to flip about the first axis to flip the brick, thereby realizing the flipping and switching of the spatial orientation of the brick to meet different bricklaying requirements. In particular, a central hole is opened at the rotation center of the rotating seat, and the central hole passes through the first side and the second side of the rotating seat along the arrangement direction of the first axis, so that a cable bundle can pass through the central hole to form a first cable electrically connected to the first driving member and a second cable electrically connected to the second driving member, thereby meeting the power supply requirements of the first driving member and the second driving member. When the first driving member drives the rotating seat to flip relative to the main body, the flipping mechanism with this structure can effectively reduce the shaking of the cable bundle relative to the rotating seat, thereby reducing the risk of collision and interference between the brick and the cable bundle. On the other hand, it can effectively alleviate the entanglement and repeated pulling of the cable bundle, thereby improving the service life of the cable bundle, without limiting the flipping direction of the rotating seat, thereby facilitating the expansion of the application scope and use environment of the flipping mechanism, and facilitating the promotion and expansion of the flipping mechanism.

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

[0007] In some embodiments, the flipping mechanism also includes a third driving member; the third driving member is installed on the rotating seat, and the first gripper is connected to the rotating seat through the third driving member, and the third driving member is used to drive the first gripper to rotate around a second axis relative to the rotating seat, and the second axis is perpendicular to the first axis; the cable bundle also forms a third cable on the second side, and the third cable is connected to the third driving member.

[0008] In the above technical solution, the flipping mechanism is further provided with a third drive element, which is capable of driving the first gripper to rotate about a second axis perpendicular to the first axis, thereby enabling the flipping mechanism to cause the bricks to flip in multiple directions, making the flipping mechanism suitable for a variety of different construction work environments. In addition, after the cable bundle passes through the central hole, a third cable is formed on the second side of the rotating base. This third cable is used to meet the power requirements of the third drive element, thereby effectively reducing the phenomenon of the third cable shaking or entanglement when the rotating base is flipped relative to the main body.

[0009] In some embodiments, the rotating seat includes a first seat body and a second seat body connected perpendicularly to each other, the first seat body is perpendicular to the first axis, and the second seat body is perpendicular to the second axis; the first seat body is rotatably connected to the main body around the first axis, the center hole is provided in the first seat body, and the first seat body has the first side and the second side; wherein, the first driving member is installed on the first seat body, and the third driving member is installed on the second seat body.

[0010] In the above technical solution, the rotating seat is provided with a first seat body and a second seat body that are connected to each other and perpendicular to each other, so that the rotating seat has an L-shaped structure, and the first axis is perpendicular to the first seat body, and the second axis is perpendicular to the second seat body, and the center hole is provided on the first seat body, so that by installing the first driving member on the first seat body and the third driving member on the second seat body, the rotating seat with this structure is convenient for assembling and setting the first driving member and the third driving member on the one hand, and on the other hand, it is convenient for the first driving member to drive the rotating seat to flip relative to the main body, and it is convenient for the third driving member to drive the first gripper to rotate relative to the rotating seat.

[0011] In some embodiments, the first driving member is installed on the second side of the first base, and the first driving member is spaced apart from the central hole.

[0012] In the above technical solution, the first driving member is installed on the second side of the first base body and the first driving member is spaced apart from the center hole, that is, the first driving member is installed on the second side of the first base body, deviating from the rotation center of the first base body. This facilitates the installation of the first driving member on the one hand, and can effectively reduce the interference between the first driving member and the cable bundle or the main body when the rotating base is flipped relative to the main body. On the other hand, it can effectively shorten the length of the first cable used to power the first driving member, which is beneficial to reducing the manufacturing cost of the flipping mechanism.

[0013] In some embodiments, the second cable has a fixed section and a movable section; the fixed section is fixed on the second base; one end of the movable section is connected to the fixed section, and the other end is connected to the second driving member.

[0014] In the above technical solution, by fixing the fixed section of the second cable on the second seat body and connecting the fixed section and the second driving member through the movable section of the second cable, when the first gripper rotates around the second axis relative to the rotating seat, only the movable section of the second cable follows the movement of the first gripper, which helps to reduce the risk of interference or entanglement with the first gripper due to excessive shaking of the second cable.

[0015] In some embodiments, the first gripper further includes a clamping claw connected to the rotating seat, and the clamping claw is used to clamp the brick; the second driving member is installed on the clamping claw, and the second driving member is used to drive the clamping claw to clamp the brick to grab the brick.

[0016] In the above technical solution, the first gripper is provided with a clamping claw, which can be driven by the second driving member to clamp the brick to realize the function of grabbing the brick. The first gripper of this structure has a simple structure and high stability in grabbing the brick, which is beneficial to reduce the risk of bricks falling off during the flipping process.

[0017] In some embodiments, the clamp includes a base plate, a first clamping portion and a second clamping portion; the base plate is connected to the rotating seat; the first clamping portion and the second clamping portion are both movably connected to the base plate, and the second driving member is used to drive the first clamping portion and the second clamping portion to move closer to each other to clamp the brick or move away from each other to release the brick.

[0018] In the above technical solution, the clamping claw 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 base plate, so that the first clamping part and the second clamping part can approach or move away from each other under the drive of the second driving member, thereby achieving the clamping of the bricks. The structure is simple and easy to operate.

[0019] In some embodiments, the main body includes a lifting assembly, and the lifting assembly is used to drive the rotating seat to move in an up and down direction.

[0020] In the above technical solution, the main body is provided with a lifting assembly, which can drive the rotating seat to move in the up and down directions through the lifting assembly, thereby driving the first gripper to move in the up and down directions, so that the first gripper can pick up bricks. The flipping mechanism with this structure, on the one hand, enables the first gripper to pick up bricks of different heights, which is conducive to improving the applicability of the flipping mechanism. On the other hand, it is conducive to reducing the risk of interference between the first gripper and the bricks, thereby facilitating the first gripper to grab the bricks.

[0021] In some embodiments, the lifting assembly includes a frame, a lifting seat and a first drag chain cable; the lifting seat is movably arranged on the frame along the up and down directions, and the rotating seat is rotatably connected to the lifting seat around the first axis; the first drag chain cable is arranged on the frame along the up and down directions, and the first drag chain cable has a first movable end, which is fixed to the lifting seat and connected to the cable bundle.

[0022] In the above technical solution, a first drag chain cable is arranged in the up-down direction on the frame, and the first movable end of the first drag chain cable is fixed on the lifting seat, so that the power supply of the cable bundle can be realized by connecting one end of the cable bundle with the first movable end of the first drag chain cable, so that the first movable end can move with the lifting seat when the lifting seat moves in the up-down direction, thereby reducing the shaking of the cable bundle relative to the lifting seat, and is conducive to reducing the twisting or entanglement of the cable bundle when the lifting seat drives the rotating seat to move up and down.

[0023] In some embodiments, the main body also includes a fixing seat and a second drag chain cable; the fixing seat is used to be fixed to a fixed object, and the rack is movably arranged on the fixing seat along the left and right directions; the second drag chain cable is arranged on the fixing seat along the left and right directions, and the second drag chain cable has a second movable end, and the second movable end is fixed to the rack and connected to the first drag chain cable.

[0024] In the above technical solution, by movably arranging the frame of the lifting assembly on the fixed seat in the left and right directions, the position adjustment of the lifting assembly and the first gripper in the left and right directions can be achieved. On the one hand, this enables the flipping mechanism of this structure to cooperate with bricklaying robots of different sizes and different operation requirements. On the other hand, it can realize the storage and deployment functions of the flipping mechanism, so as to facilitate the storage and transfer of the flipping mechanism, which is beneficial to improve the passing performance of the flipping mechanism during the transfer process.

[0025] In the second aspect, an embodiment of the present application also provides a bricklaying equipment, which is used to stack multiple bricks into a wall, and each brick forms a corresponding stacking position on the wall. The bricklaying equipment includes a mobile chassis, a bricklaying robot and the above-mentioned flipping mechanism; the flipping mechanism is installed on the mobile chassis; the bricklaying robot is installed on the mobile chassis, and the bricklaying mechanism is used to pick up the bricks after being flipped by the flipping mechanism and move the bricks to the stacking position.

[0026] In the above technical solution, the bricklaying equipment with such a flipping mechanism can effectively reduce the shaking of the cable bundle relative to the rotating seat, thereby reducing the risk of collision and interference between bricks and the cable bundle, and can effectively alleviate the phenomenon of entanglement and repeated pulling of the cable bundle, thereby improving the service life of the cable bundle, and will not restrict the flipping direction of the rotating seat, so as to facilitate the operation of the bricklaying equipment.

[0027] In addition, the flip mechanism provided in the embodiment of the present application also has the following additional technical features:

[0028] In some embodiments, the mobile chassis includes a chassis body and an electrical control cabinet; the chassis body is used to move in the working space; the electrical control cabinet is installed on the chassis body, the flipping mechanism is installed on the upper surface of the electrical control cabinet, and the cable bundle is used to be electrically connected to the electrical control cabinet.

[0029] In the above technical solution, the mobile chassis is provided with a chassis body and an electrical control cabinet. The chassis body can drive the bricklaying equipment to move within the work space, thereby improving the degree of automation of the bricklaying equipment, thereby meeting the needs of the bricklaying equipment for construction in different work spaces and saving labor. In addition, by installing the flipping mechanism on the upper surface of the electrical control cabinet, on the one hand, it is convenient for the bricklaying robot to pick up the bricks flipped by the flipping mechanism, thereby facilitating the optimization of the movement trajectory of the bricklaying robot, and on the other hand, it is convenient to electrically connect the cable harness of the flipping mechanism to the electrical control cabinet, facilitating production and assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 A schematic structural diagram of a bricklaying device provided in an embodiment of the present application;

[0032] Figure 2 for Figure 1 A schematic diagram of a partial structure of a bricklaying device is shown;

[0033] Figure 3 for Figure 1 A schematic structural diagram of a flipping mechanism of a bricklaying device is shown;

[0034] Figure 4 for Figure 3 A schematic diagram of a partial structure of the flip mechanism shown;

[0035] Figure 5 for Figure 3 A front view of the flip mechanism shown;

[0036] Figure 6 It is a schematic diagram of the partial structure of the flip mechanism in the prior art.

[0037] Icons: 100-bricklaying equipment; 10-mobile chassis; 11-chassis body; 12-electrical control cabinet; 20-bricklaying manipulator; 21-second gripper; 22-mechanical arm; 30-turning mechanism; 31-main body; 311-lifting assembly; 3111-frame; 3111a-third slide rail; 3112-lifting seat; 3113-first drag chain cable; 3113a-first movable end; 3114-fourth driving member; 312-fixed seat; 3121-third slider; 313-second drag chain cable; 3131-second movable end; 32-rotating seat; 321-center hole; 322-first side; 323-second side; 3 24-first base; 325-second base; 33-first driving member; 34-first gripper; 341-second driving member; 342-clamping claw; 3421-base plate; 3422-first clamping part; 3423-second clamping part; 35-cable bundle; 351-first cable; 352-second cable; 3521-fixed section; 3522-movable section; 353-third cable; 36-third driving member; 40-pasteurizing mechanism; 41-clamping table; 42-pasteurizing unit; 50-lifting mechanism; 51-movable seat; R1-first axis; R2-second axis; X-front-back direction; Y-left-right direction; Z-up-down direction. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0041] In the description of the embodiments of the present application, it should be noted that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are merely for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present application. In addition, the terms "first," "second," "third," etc. are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] Example

[0043] An embodiment of the present application provides a bricklaying device, which can improve the problem that the flipping mechanism of the existing bricklaying device is very likely to cause the mortar surface of the brick to be scratched by the cable due to the shaking of the flipping mechanism cable during the flipping process of the brick, resulting in poor bricklaying quality of the wall, and is very likely to cause the cable to be entangled and repeatedly pulled, resulting in a short service life of the flipping mechanism, thereby limiting the use environment and scope of application of the flipping mechanism, and thus being unfavorable for the promotion and expansion of the flipping mechanism. The specific structure of the bricklaying device is described in detail below with reference to the accompanying drawings.

[0044] Bricklaying equipment is used to stack multiple bricks into a wall, with each brick forming a corresponding stacking position on the wall.

[0045] Combine Figure 1 and Figure 2 As shown, bricklaying equipment 100 includes a mobile chassis 10, a bricklaying robot 20, and a turning mechanism 30. The turning mechanism 30 is mounted on the mobile chassis 10 and is used to turn bricks. The bricklaying robot 20 is mounted on the mobile chassis 10 and is used to pick up bricks turned by the turning mechanism 30 and move them to a stacking position. In bricklaying equipment 100 equipped with this turning mechanism 30, the bricklaying robot 20 can pick up bricks turned by the turning mechanism 30 and stack them on a wall, thereby achieving automated bricklaying operations.

[0046] The mobile chassis 10 includes a chassis body 11 and an electrical control cabinet 12. The chassis body 11 is used for moving within the workspace. The electrical control cabinet 12 is mounted on the chassis body 11. The tilting mechanism 30 is mounted on the upper surface of the electrical control cabinet 12 and is electrically connected to the electrical control cabinet 12.

[0047] The chassis 11 can be used to drive the bricklaying equipment 100 within the workspace, thereby improving the automation level of the bricklaying equipment 100, thereby meeting the needs of the bricklaying equipment 100 for construction in different workspaces, and facilitating labor savings. In addition, by mounting the flipping mechanism 30 on the upper surface of the electrical control cabinet 12, on the one hand, it is convenient for the bricklaying robot 20 to pick up bricks flipped by the flipping mechanism 30, thereby facilitating the optimization of the movement trajectory of the bricklaying robot 20, and on the other hand, it is convenient for the cable harness 35 of the flipping mechanism 30 to be electrically connected to the electrical control cabinet 12, thereby facilitating production and assembly.

[0048] Exemplarily, the chassis body 11 is an AGV (Automated Guided Vehicle).

[0049] Optionally, the bricklaying robot 20 includes a second gripper 21 and a robotic arm 22. The second gripper 21 is connected to the output end of the robotic arm 22. The robotic arm 22 is used to drive the second gripper 21 to move, so as to pick up bricks flipped by the flipping mechanism 30 and drive the bricks to be moved to the stacking position.

[0050] For example, the robotic arm 22 is a four-axis manipulator, and the second gripper 21 is a clamping jaw 342 connected to the end of the robotic arm 22. The clamping jaw 342 is used to grasp bricks. The specific structure of the clamping jaw 342 and the four-axis manipulator can be found in the relevant art and will not be described in detail here. Of course, in other embodiments, the robotic arm 22 can also be a six-axis manipulator, etc., and the corresponding second gripper 21 can also be a suction cup, etc.

[0051] In this embodiment, combined with Figure 2 、 Figure 3 and Figure 4 As shown, the tilting mechanism 30 includes a main body 31, a rotating base 32, a first driving member 33, a first gripper 34, and a cable harness 35. The rotating base 32 is rotatably connected to the main body 31 about a first axis R1. A center hole 321 is provided at the center of rotation of the rotating base 32. The first driving member 33 is mounted on the rotating base 32 and is used to drive the rotating base 32 to rotate about the first axis R1. The first gripper 34 is connected to the rotating base 32 and is used to grasp bricks. The first gripper 34 has a second driving member 341. The cable harness 35 is electrically connected to the electrical control cabinet 12. The cable harness 35 passes through the center hole 321 from a first side 322 of the rotating base 32 in the direction of the first axis R1 to a second side 323. On the second side 323, a first cable 351 and a second cable 352 are formed. The first cable 351 is connected to the first driving member 33, and the second cable 352 is connected to the second driving member 341.

[0052] The rotating seat 32 is rotatably connected to the main body 31 along the first axis R1. The first driving member 33 can drive the rotating seat 32 to rotate relative to the main body 31, thereby driving the first grab to flip around the first axis R1 to realize the flipping of the brick, and then the flipping and switching of the spatial orientation of the brick can be realized to meet different bricklaying requirements. Among them, a center hole 321 is opened at the rotation center of the rotating seat 32, and the center hole 321 passes through the first side 322 and the second side 323 of the rotating seat 32 along the arrangement direction of the first axis R1, so that the cable bundle 35 can pass through the center hole 321 to form a first cable 351 electrically connected to the first driving member 33 and a second cable 352 electrically connected to the second driving member 341, thereby realizing the power supply requirements of the first driving member 33 and the second driving member 341. When the first driving member 33 drives the rotating seat 32 to flip relative to the main body 31, the flip mechanism 30 with such a structure can, on the one hand, effectively reduce the shaking of the cable bundle 35 relative to the rotating seat 32, thereby reducing the risk of collision and interference between the bricks and the cable bundle 35, and on the other hand, effectively alleviate the entanglement and repeated pulling of the cable bundle 35, thereby improving the service life of the cable bundle 35, and will not limit the flipping direction of the rotating seat 32, thereby helping to expand the scope of application and use environment of the flip mechanism 30, so as to facilitate the promotion and expansion of the flip mechanism 30. (See Figure 6 As shown, one end of the cable bundle 35 in the prior art is connected to the main body 31, and the other end is directly connected to the first driving member 33, which causes the cable bundle 35 to easily shake and get entangled when the first driving member 33 drives the first gripper 34 to rotate relative to the main body 31 around the first axis R1).

[0053] For example, in Figure 3 , the first axis R1 is arranged along the front-rear direction X.

[0054] It should be noted that the cable bundle 35 passes through the center hole 321 from the first side 322 of the rotating seat 32 in the arrangement direction of the first axis R1 to the second side 323, and forms a first cable 351 and a second cable 352 on the second side 323, that is, the cable bundle 35 located on the first side 322 of the rotating seat 32 is a fixed integral structure, and the cable bundle 35 located on the second side 323 of the rotating seat 32 is divided into multiple different cables in order to be able to be connected to different electrical components, such as a first cable 351 for connecting to the first driving member 33 and a second cable 352 for connecting to the second driving member 341.

[0055] Further, see Figure 3 、 Figure 4 and Figure 5As shown, the flipping mechanism 30 further includes a third drive member 36. The third drive member 36 is mounted on the rotating base 32. The first gripper 34 is connected to the rotating base 32 via the third drive member 36. The third drive member 36 is used to drive the first gripper 34 to rotate relative to the rotating base 32 about the second axis R2. The second axis R2 is perpendicular to the first axis R1. The cable harness 35 further includes a third cable 353 formed on the second side 323. The third cable 353 is connected to the third drive member 36.

[0056] The flipping mechanism 30 is also equipped with a third drive member 36, which drives the first gripper 34 to rotate about a second axis R2 perpendicular to the first axis R1. This allows the flipping mechanism 30 to flip bricks in multiple directions, making it suitable for use in a variety of different construction environments. Furthermore, after the cable harness 35 passes through the central hole 321, a third cable 353 is formed on the second side 323 of the rotating base 32. This third cable 353 is used to power the third drive member 36, effectively reducing the risk of the third cable 353 shaking or tangling when the rotating base 32 is flipped relative to the main body 31.

[0057] Exemplarily, the third driving member 36 is a motor mounted on the rotating base 32, and the first gripper 34 is connected to the output shaft of the motor. This allows the third driving member 36 to drive the first gripper 34 to rotate relative to the rotating base 32 about the second axis R2, thereby satisfying the requirement for flipping the brick. Of course, in other embodiments, the third driving member 36 can also be a hydraulic motor, etc.

[0058] In this embodiment, see Figure 3 and Figure 4 As shown, the rotating base 32 includes a first base body 324 and a second base body 325, which are perpendicularly connected to each other. The first base body 324 is perpendicular to the first axis R1, and the second base body 325 is perpendicular to the second axis R2. The first base body 324 is rotatably connected to the main body 31 about the first axis R1. The center hole 321 is provided in the first base body 324. The first base body 324 has a first side 322 and a second side 323. The first driving member 33 is mounted on the first base body 324, and the third driving member 36 is mounted on the second base body 325.

[0059] The rotating seat 32 is provided with a first seat body 324 and a second seat body 325 that are connected to each other and perpendicular to each other, so that the rotating seat 32 has an L-shaped structure, and the first axis R1 is perpendicular to the first seat body 324, and the second axis R2 is perpendicular to the second seat body 325, and the center hole 321 is set on the first seat body 324, so that by installing the first driving member 33 on the first seat body 324 and installing the third driving member 36 on the side of the second seat body 325 close to the first seat body 324, the rotating seat 32 with this structure is convenient for assembling and setting the first driving member 33 and the third driving member 36 on the one hand, and on the other hand, it is convenient for the first driving member 33 to drive the rotating seat 32 to flip relative to the main body 31, and it is convenient for the third driving member 36 to drive the first gripper 34 to rotate relative to the rotating seat 32.

[0060] Among them, the first seat body 324 is rotatably connected to one side of the main body 31 in the front-to-back direction X along the first axis R1, the first side 322 of the first seat body 324 is the side facing the main body 31 along the front-to-back direction X, and the second side 323 of the first seat body 324 is the side away from the main body 31 along the front-to-back direction X.

[0061] Optionally, the first driving member 33 is mounted on the second side 323 of the first base 324, and the first driving member 33 is spaced apart from the center hole 321. By mounting the first driving member 33 on the second side 323 of the first base 324 and spacing the first driving member 33 apart from the center hole 321, that is, the first driving member 33 is mounted on the second side 323 of the first base 324 offset from the rotation center of the first base 324, the first driving member 33 is easily mounted and interference with the cable bundle 35 or the main body 31 is effectively reduced when the rotating base 32 is flipped relative to the main body 31. Furthermore, the length of the first cable 351 used to power the first driving member 33 can be effectively shortened, thereby facilitating a reduction in the manufacturing cost of the flipping mechanism 30.

[0062] Among them, Figure 4 In the embodiment, the first driving member 33 and the central hole 321 are arranged at intervals along the left-right direction Y.

[0063] Exemplarily, the first driving member 33 is a motor mounted on the second side 323 of the first base 324. The output end of the motor is connected to the main body 31 via a transmission structure, so that the first driving member 33 can drive the first base 324 of the rotating base 32 to rotate relative to the main body 31 about the first axis R1. For example, the transmission structure can be a planetary gear transmission structure or a multi-gear transmission structure. Of course, in other embodiments, the first driving member 33 can also be a hydraulic motor, etc.

[0064] Further, see Figure 3 and Figure 4As shown, the second cable 352 has a fixed section 3521 and a movable section 3522. The fixed section 3521 is fixed to the second base 325. One end of the movable section 3522 is connected to the fixed section 3521, and the other end is connected to the second driving member 341. By fixing the fixed section 3521 of the second cable 352 to the second base 325 and connecting the fixed section 3521 and the second driving member 341 through the movable section 3522 of the second cable 352, when the first gripper 34 rotates around the second axis R2 relative to the rotating base 32, only the movable section 3522 of the second cable 352 moves with the first gripper 34, thereby helping to reduce the risk of interference or entanglement between the second cable 352 and the first gripper 34 due to excessive shaking of the second cable 352.

[0065] Among them, the fixed section 3521 is fixed on the second base body 325, one end of the movable section 3522 is connected to the fixed section 3521, and the other end is connected to the second driving member 341, that is, the part of the second cable 352 close to the center hole 321 is fixed on the second base body 325, and the part of the second cable 352 close to the second driving member 341 can swing relative to the second base body 325.

[0066] Exemplarily, the fixed section 3521 of the second cable 352 is fixed to the second base 325 by binding or bonding.

[0067] In this embodiment, combined with Figure 4 and Figure 5 As shown, the first gripper 34 further includes a clamping jaw 342. The clamping jaw 342 is connected to the rotating base 32 and is used to clamp the brick. A second driving member 341 is installed on the clamping jaw 342 and is used to drive the clamping jaw 342 to clamp the brick to grab the brick.

[0068] The second driving member 341 can drive the clamping claw 342 to clamp the brick to achieve the function of grabbing the brick. The first gripper 34 of this structure is simple in structure and has high stability in grabbing the brick, which is beneficial to reducing the risk of bricks falling off during the flipping process.

[0069] The clamping jaw 342 includes a base plate 3421, a first clamping portion 3422, and a second clamping portion 3423. The base plate 3421 is connected to the rotating base 32. The first clamping portion 3422 and the second clamping portion 3423 are both movably connected to the base plate 3421. The second driving member 341 is used to drive the first clamping portion 3422 and the second clamping portion 3423 toward each other to clamp the brick or away from each other to release the brick.

[0070] The clamping jaw 342 is provided with a first clamping portion 3422 and a second clamping portion 3423, and the first clamping portion 3422 and the second clamping portion 3423 are both movably connected to the base plate 3421, so that the first clamping portion 3422 and the second clamping portion 3423 can approach or move away from each other under the drive of the second driving member 341, thereby achieving clamping of bricks. The structure is simple and easy to operate.

[0071] Exemplarily, the first clamping portion 3422 and the second clamping portion 3423 are movably connected to the base plate 3421 along the front-to-back direction X, so as to clamp the brick on both sides in the front-to-back direction X.

[0072] Optionally, two first slide rails are provided on a side of the second base body 325 of the rotating base 32 facing away from the third driving member 36 . The two first slide rails are spaced apart in the left-right direction Y and extend in the front-to-back direction X. Correspondingly, the first clamping portion 3422 is provided with a first slider that cooperates with the first slide rail, and the second clamping portion 3423 is provided with a second slider that cooperates with the first slide rail, so that the second driving member 341 can drive the first clamping portion 3422 and the second clamping portion 3423 toward or away from each other in the front-to-back direction X.

[0073] Exemplarily, the second driving member 341 is mounted on the base plate 3421. The second driving member 341 can be a bidirectional electric push rod. Of course, in other embodiments, the second driving member 341 can also be other structures. For example, the second driving member 341 includes a motor, a gear and two racks. The motor is mounted on the base plate 3421, the gear is connected to the output shaft of the motor, and the two racks are respectively connected to the first clamping portion 3422 and the second clamping portion 3423. The two racks are arranged opposite to each other and mesh with both sides of the gear, so that the second driving member 341 can drive the first clamping portion 3422 and the second clamping portion 3423 to approach or move away from each other along the front-to-back direction X.

[0074] In this embodiment, combined with Figure 3 and Figure 5 As shown, the main body 31 includes a lifting assembly 311, which is used to drive the rotating base 32 to move in the up-down direction Z. The main body 31 is provided with the lifting assembly 311, which can drive the rotating base 32 to move in the up-down direction Z, thereby driving the first gripper 34 to move in the up-down direction Z, so that the first gripper 34 can pick up bricks. The flipping mechanism 30 with this structure, on the one hand, enables the first gripper 34 to pick up bricks of different heights, which is conducive to improving the applicability of the flipping mechanism 30, and on the other hand, it helps to reduce the risk of interference between the first gripper 34 and the bricks, thereby facilitating the first gripper 34 to grab bricks.

[0075] The lifting assembly 311 includes a frame 3111, a lifting base 3112, and a first drag cable 3113. The lifting base 3112 is movably mounted on the frame 3111 along the vertical direction Z. The rotating base 32 is rotatably connected to the lifting base 3112 about a first axis R1. The first drag cable 3113 is mounted on the frame 3111 along the vertical direction Z. The first drag cable 3113 has a first movable end 3113a, which is fixed to the lifting base 3112 and connected to the cable harness 35. The specific structure of the first drag cable 3113 can be found in related art and will not be further described here.

[0076] By arranging a first drag chain cable 3113 arranged along the up-down direction Z on the frame 3111, and fixing the first movable end 3113a of the first drag chain cable 3113 on the lifting seat 3112, the power supply of the cable bundle 35 can be realized by connecting one end of the cable bundle 35 to the first movable end 3113a of the first drag chain cable 3113, so that the first movable end 3113a can move with the lifting seat 3112 when the lifting seat 3112 moves along the up-down direction Z, thereby reducing the shaking of the cable bundle 35 relative to the lifting seat 3112, and helping to reduce the twisting or entanglement of the cable bundle 35 when the lifting seat 3112 drives the rotating seat 32 to rise and fall along the up-down direction Z.

[0077] The frame 3111 is provided with two second slide rails extending in the vertical direction Z, and the two slide rails are spaced apart in the horizontal direction Y. The lifting seat 3112 is provided with a third slider 3121 that cooperates with the second slide rails to enable the lifting seat 3112 to move in the vertical direction Z relative to the frame 3111.

[0078] Optionally, the lifting assembly 311 further includes a fourth driving member 3114 , which is mounted on the frame 3111 and configured to drive the lifting seat 3112 to move along the up-down direction Z, thereby driving the first gripper 34 to lift and lower along the up-down direction Z.

[0079] Illustratively, the fourth driving member 3114 includes a motor, a screw, and a screw sleeve. The motor is mounted on the frame 3111, and the screw is arranged along the vertical direction Z. The motor is used to drive the screw to rotate. The screw sleeve is mounted on the outside of the screw and connected to the lifting base 3112, so that the forward and reverse rotation of the motor can drive the lifting base 3112 to move relative to the frame 3111 in the vertical direction Z. Of course, in other embodiments, the fourth driving member 3114 can also have other structures. For example, the fourth driving member 3114 can be an electric push rod, which is mounted on the frame 3111, and the output end of the electric push rod is connected to the lifting base 3112 to drive the lifting base 3112 to move relative to the frame 3111 in the vertical direction Z.

[0080] For further information, please see Figure 3 and Figure 5 As shown, the main body 31 also includes a fixing base 312 and a second drag chain cable 313. The fixing base 312 is used to be fixed to the electrical control cabinet 12 of the mobile chassis 10. The frame 3111 is movably mounted on the fixing base 312 along the left-right direction Y. The second drag chain cable 313 is mounted on the fixing base 312 along the left-right direction Y. The second drag chain cable 313 has a second movable end 3131, which is fixed to the frame 3111 and connected to the first drag chain cable 3113. The specific structure of the second drag chain cable 313 can be found in related art and will not be further described here.

[0081] By movably arranging the frame 3111 of the lifting assembly 311 on the fixed seat 312 along the left-right direction Y, the position adjustment of the lifting assembly 311 and the first gripper 34 in the left-right direction Y can be achieved. On the one hand, this structure of the flipping mechanism 30 can be used with bricklaying robots 20 of different sizes and different operating requirements. On the other hand, the storage and deployment functions of the flipping mechanism 30 can be achieved to facilitate the storage and transfer of the flipping mechanism 30, which is beneficial to improving the passing performance of the flipping mechanism 30 during the transfer process.

[0082] Among them, a third slide rail 3111a extending along the left-right direction Y is provided at the bottom of the rack 3111, and a third slider 3121 cooperating with the third slide rail 3111a is provided on the upper surface of the fixed seat 312 to enable the rack 3111 to move along the left-right direction Y relative to the fixed seat 312.

[0083] In this embodiment, combined with Figure 1 and Figure 2 As shown, the bricklaying equipment 100 may further include a slurry spreading mechanism 40 , which is mounted on the upper surface of the electric control cabinet 12 of the mobile chassis 10 , and is used to spread slurry on the bricks.

[0084] The slurry spreading mechanism 40 includes a fixture 41 and a slurry spreading unit 42. The fixture 41 is movably disposed on the electrical control cabinet 12 along the left-right direction Y. The fixture 41 is used to place and clamp bricks. The fixture 41 has a first position and a second position in the left-right direction Y. The fixture 41 is used to drive the bricks to move between the first position and the second position. The first gripper 34 is used to grab the brick on the fixture 41 in the second position. The slurry spreading unit 42 is arranged with intervals from the turning mechanism 30 along the left-right direction Y. The slurry spreading unit 42 is used to apply slurry to the first and second slurry spreading surfaces of the bricks during the process of the fixture 41 moving from the first position to the second position along the left-right direction Y. The specific structure of the fixture 41 and the slurry spreading unit 42 can be found in the relevant art and will not be repeated here.

[0085] Alternatively, as Figure 1 As shown, the bricklaying equipment 100 may further include a lifting mechanism 50, which is mounted on the chassis body 11 of the mobile chassis 10 and is located on one side of the electric control cabinet 12 in the front-to-back direction X, that is, located on the front side of the electric control cabinet 12 in the front-to-back direction X. The mechanical arm 22 of the bricklaying robot 20 is connected to the side of the lifting mechanism 50 that is away from the electric control cabinet 12 in the front-to-back direction X. The lifting mechanism 50 is used to drive the mechanical arm 22 to lift and lower along the up-down direction Z, so that the bricklaying robot 20 can stack walls of different heights and facilitate the bricklaying robot 20 to pick up bricks on the flipping mechanism 30. The lifting mechanism 50 has a movable seat 51 that lifts and lowers along the up-down direction Z, and the second gripper 21 is connected to the movable seat 51 through the mechanical arm 22. The lifting mechanism 50 can be a single-stage lifting structure or a multi-stage lifting structure. The specific structure of the lifting mechanism 50 can be referred to the relevant technology and will not be repeated here.

[0086] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0087] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A turning mechanism for turning over bricks, characterized in that: The turning mechanism comprises: main body; a rotating seat rotatably connected to the main body about a first axis, the rotating seat comprising a first seat body, the first seat body being perpendicular to the first axis, the first seat body being rotatably connected to the main body about the first axis, and the first seat body having a first side facing the main body and a second side facing away from the main body in the arrangement direction of the first axis, a center hole being provided at the rotation center of the first seat body, the center hole penetrating the first side and the second side along the arrangement direction of the first axis; a first driving member, the first driving member being mounted on the rotating base and configured to drive the rotating base to rotate about the first axis; a first gripper connected to the rotating base, the first gripper being used to grip the brick, the first gripper having a second driving member, and the second driving member and the first driving member being both located on the second side of the first base body in the arrangement direction of the first axis; and A cable bundle passes through the center hole from the first side of the first seat body in the arrangement direction of the first axis to the second side, and forms a first cable and a second cable on the second side, the first cable is connected to the first drive member, and the second cable is connected to the second drive member.

2. The turning mechanism according to claim 1, characterized in that: The flipping mechanism further includes a third driving member; The third driving member is mounted on the rotating base, and the first gripper is connected to the rotating base via the third driving member. The third driving member is used to drive the first gripper to rotate relative to the rotating base around a second axis, where the second axis is perpendicular to the first axis. The cable bundle further includes a third cable on the second side, and the third cable is connected to the third driving member.

3. The turning mechanism according to claim 2, characterized in that: The rotating seat further includes a second seat body, the second seat body is perpendicular to and connected to the first seat body, and the second seat body is perpendicular to the second axis; Wherein, the first driving member is installed on the first base body, and the third driving member is installed on the second base body.

4. The turning mechanism according to claim 3, characterized in that: The first driving member is installed on the second side of the first base, and the first driving member is spaced apart from the central hole.

5. The turning mechanism according to claim 3, characterized in that: The second cable has a fixed section and a movable section; The fixing section is fixed on the second base; One end of the movable section is connected to the fixed section, and the other end is connected to the second driving member.

6. The turning mechanism according to claim 1, characterized in that: The first gripper also includes a clamping claw; The clamping claw is connected to the rotating seat, and the clamping claw is used to clamp the brick; The second driving member is installed on the clamping claw, and the second driving member is used to drive the clamping claw to clamp the brick so as to grab the brick.

7. The turning mechanism according to claim 6, characterized in that: The clamping jaw includes a base plate, a first clamping portion and a second clamping portion; The base plate is connected to the rotating seat; The first clamping portion and the second clamping portion are both movably connected to the base plate, and the second driving member is used to drive the first clamping portion and the second clamping portion to move closer to each other to clamp the brick or to move away from each other to release the brick.

8. The turning mechanism according to any one of claims 1 to 7, characterized in that: The main body includes a lifting assembly, and the lifting assembly is used to drive the rotating seat to move in the up and down directions.

9. The turning mechanism according to claim 8, characterized in that: The lifting assembly includes a frame, a lifting seat and a first drag chain cable; The lifting seat is movably provided on the frame along the up-down direction, and the rotating seat is rotatably connected to the lifting seat around the first axis; The first drag chain cable is arranged on the frame along the up-down direction. The first drag chain cable has a first movable end. The first movable end is fixed to the lifting seat and connected to the cable bundle.

10. The turning mechanism according to claim 9, characterized in that: The main body also includes a fixing seat and a second drag chain cable; The fixing seat is used to be fixed to a fixed object, and the frame is movably arranged on the fixing seat along the left and right directions; The second drag chain cable is arranged on the fixing seat along the left-right direction. The second drag chain cable has a second movable end. The second movable end is fixed to the rack and connected to the first drag chain cable.

11. A bricklaying device for stacking a plurality of bricks into a wall, wherein each brick forms a corresponding stacking position on the wall, characterized in that: The bricklaying equipment comprises: Mobile chassis; The turning mechanism according to any one of claims 1 to 10, wherein the turning mechanism is mounted on the mobile chassis; and A bricklaying robot is installed on the mobile chassis, and the bricklaying mechanism is used to pick up the bricks turned over by the turning mechanism and move the bricks to the stacking position.

12. The bricklaying equipment according to claim 11, characterized in that The mobile chassis includes a chassis body and an electric control cabinet; The chassis body is used for walking in the working space; The electric control cabinet is installed on the chassis body, the turning mechanism is installed on the upper surface of the electric control cabinet, and the cable bundle is used to be electrically connected to the electric control cabinet.

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