Brick supply assembly, bricklaying system and bricklaying method

Abstract

The present application provides a brick supply assembly and a bricklaying system and bricklaying method including the brick supply assembly. The brick supply assembly includes: a support mechanism with an installation space provided thereon; a moving platform provided in the installation space, the moving platform having a positioning mechanism that reciprocates between a first position and a second position, the first position being used to receive bricks and the second position being used to deliver bricks; a slurrying mechanism provided in the installation space, the slurrying mechanism having a slurrying operation end for applying slurry to the surface of the brick, the brick after slurrying forming a non-slurrying surface and a slurrying surface, the slurrying operation end being located on the moving path of the brick from the first position to the second position; a flipping mechanism provided in the installation space, the flipping mechanism having a flipping manipulator for picking up bricks from the second position and flipping the spatial orientation of the non-slurrying surface and the slurrying surface, so that the bricklaying operation mechanism can pick up bricks along the non-slurrying surface, thereby achieving a high degree of integration of brick supply and bricklaying.

Description

Technical Field

[0001] The present application relates to a brick supply assembly, in particular to a brick supply assembly with a compact operation rhythm and high integration, as well as a bricklaying system and a bricklaying method using the brick supply assembly. Background Art

[0002] Currently, bricklaying is often done manually, with mortar applied to the bricks before they are manually laid into the wall. Alternatively, the bricks are manually laid into the wall and then mortared. Because walls are currently constructed with aerated bricks, each weighing up to 18 kg, this manual bricklaying process is slow, time-consuming, and labor-intensive, resulting in high operating costs and a lack of manpower.

[0003] In the prior art, in order to free up manpower, automatic equipment is used to replace manual masonry operations. Please refer to Chinese patent application number CN202110730651.6, which discloses an automatic bricklaying operation, in which a first robot for bricklaying and a second robot for mortaring and supplying bricks work together. The second robot mortars the bricks and transports them to the supporting platform of the first robot. The first robot picks up the mortared bricks on its self-supporting platform and then lays them on the wall, thereby completing the bricklaying operation.

[0004] However, when two robots are operating, the transition requires multiple people to coordinate and complete the transition, which results in high time and labor costs. Furthermore, when the two robots are operating, the position accuracy of both robots must be adjusted to ensure the accuracy of brick supply and to ensure that the first robot can accurately transport the mortared bricks to the support platform. If the second robot is to complete the masonry of the entire wall, it will need to pass through multiple stations. When the second robot switches stations, the first robot also follows the second robot, and the position accuracy of both robots must be readjusted to confirm the accuracy of the brick supply. This not only slows down the masonry pace, but also involves the recalibration of the first and second robots each time the mortared bricks are placed on the support platform, which can easily lead to position errors. Multiple position accuracy adjustments of the two robots will lead to the accumulation of multiple position errors, which is not conducive to bricklaying accuracy.

[0005] Therefore, in order to solve the above problems, it is necessary to provide a new technical solution. Summary of the Invention

[0006] The invention aims to provide a brick supply assembly and a bricklaying system and a bricklaying method including the brick supply assembly, which can integrate brick laying, mortar spreading and brick turning into one, with a compact operation rhythm and high operation precision.

[0007] The technical solution adopted by the present invention to solve the problem is:

[0008] A brick supply assembly comprises: a supporting mechanism provided with an installation space; a moving platform provided in the installation space, the moving platform having a positioning mechanism, the positioning mechanism reciprocating between a first position and a second position, the first position being used to receive a brick, and the second position being used to deliver the brick; a slurrying mechanism provided in the installation space, the slurrying mechanism having a slurrying operating end for applying slurry to the surface of the brick, the brick after slurrying being formed with a slurrying surface and a non-slurrying surface, the slurrying operating end being located on a moving path of the brick from the first position to the second position; a flipping mechanism provided in the installation space, the flipping mechanism having a flipping manipulator for picking up the brick from the second position and flipping the spatial orientation of the slurrying surface and the non-slurrying surface.

[0009] The beneficial effects of the above-mentioned brick supply assembly are as follows: compared with the prior art, the brick supply assembly in the present invention integrates brick loading, brick transportation, mortaring and brick flipping on a supporting mechanism, with a high degree of integration, and in the process of transporting bricks, the action of brick mortaring is completed. Compared with the prior art in which the two actions of brick transportation and mortaring are performed separately, the brick supply assembly of the present invention completes the entire brick supply process in a shorter time, thereby speeding up the brick supply rhythm and reducing the time cost of brick supply; at the same time, the process of receiving bricks and the process of transferring the mortared bricks to the flipping mechanism are both completed by the moving platform, so that the first position for receiving bricks and the second position for delivering bricks can use the coordinate system of the same mechanism, which makes it easier to control the position accuracy in each process of brick loading-mortaring-delivering bricks, thereby increasing the accuracy of picking up by the flipping mechanism.

[0010] Furthermore, the slurry spreading mechanism includes a first mounting frame installed on the supporting mechanism, and a hopper installed on the first mounting frame by a first pivot mechanism, the lower end of the hopper is formed with a slurry spreading operation end, and the first rotation axis of the first pivot mechanism extends forward and backward; the flipping mechanism includes a second mounting frame installed on the supporting mechanism, the second mounting frame is spaced apart from the first mounting frame, the flipping robot is installed on the second mounting frame by a second pivot mechanism, and the second rotation axis of the second pivot mechanism extends forward and backward; the moving platform, the hopper and the flipping robot are all located in the space between the first mounting frame and the second mounting frame.

[0011] The beneficial effects of the above-mentioned brick supply assembly are: compared with the existing technology, the turning robot, hopper and moving platform are installed between the first mounting frame and the second mounting frame, so that the transportation of bricks, the screeding of bricks, and the turning of bricks can all be carried out in the space between the first mounting frame and the second mounting frame, effectively utilizing the limited space to expand the required functions.

[0012] Furthermore, the coordinates of the positioning mechanism at the first position are fixed, and the coordinates of the brick at the second position are fixed.

[0013] The beneficial effects of the above-mentioned brick supply assembly are as follows: compared with the existing technology, the position of the upper brick is the positioning mechanism at the first position, and the coordinates of the positioning mechanism at the first position are fixed, so that the position of the upper brick is fixed. If the position of the upper brick is not fixed, then a position detection process must be performed before the brick is placed to determine the position of the upper brick, which is not conducive to saving time and economic costs; secondly, the coordinates of the bricks at the second position are fixed, so that the picking targets of the flipping robot all have the same position, so the flipping robot does not need to perform an additional position detection process, which speeds up the operation rhythm; thirdly, compared with the prior art of transporting the robot to the carrying platform, the coordinates of the positioning mechanism at the first position and the bricks at the second position are all within the same coordinate system, which is conducive to the control of motion accuracy, thereby increasing the position accuracy of the bricks reaching the second position, which is conducive to the picking accuracy of the flipping robot.

[0014] Furthermore, the brick supply assembly has a position detection device, which is used to detect the deviation of the coordinates of the brick at the first position compared with the coordinates of the positioning mechanism at the first position along a first direction, and the first direction is the direction of movement of the brick.

[0015] The beneficial effect of the above-mentioned brick supply assembly is: under ideal conditions, when the brick is placed on the positioning mechanism at the first position, the coordinates of the brick overlap with the coordinates of the positioning mechanism. However, this ideal brick placement requires a high degree of accuracy in brick placement, which will have a certain impact on the operating rhythm during the calibration process. In order not to affect the operating rhythm, a position detection device is provided in the brick supply assembly. When the brick is placed on the positioning mechanism at the first position, the position detection device detects the actual coordinate value of the side of the brick, and compares it with the ideal coordinate value of the side of the brick under ideal conditions to obtain the deviation value of the brick at the first position, thereby controlling the transportation distance of the moving platform so that each brick that reaches the second position stops at a fixed coordinate, so that the coordinates of the picking target of the flipping robot are fixed, thereby increasing the picking accuracy of the flipping robot.

[0016] Furthermore, the positioning mechanism includes two synchronously movable clamps, which respectively clamp and position the brick along the second direction, so that the coordinates of the brick along the second direction overlap with the coordinates of the positioning mechanism along the second direction, and the second direction is set perpendicular to the first direction.

[0017] The beneficial effects of the above-mentioned brick supply assembly are: through two synchronously moving clamps, the two clamps are synchronously moved away from each other by the same distance to have sufficient space to receive bricks, and the two clamps are synchronously moved close to each other by the same distance so that the two clamps can place the center of the brick and the coordinates of the positioning mechanism on the same vertical plane; furthermore, the two clamps that are synchronously moved away from or close to each other can also position bricks of different widths on the same vertical plane, so that the brick supply assembly can maintain good positioning accuracy for the brick supply and mortaring of bricks of different widths.

[0018] Furthermore, the position detection device is installed on the slurry spreading mechanism.

[0019] The beneficial effect of the above-mentioned brick supply assembly is: by installing the position detection device on the mortar mechanism, the position detection device is closer to the bricks in the first position than the flipping mechanism, so that the position detection device can detect the deviation of the bricks in the first position before the bricks are transported to the second position, which is conducive to accurately controlling the accuracy of transporting the bricks to the second position.

[0020] Furthermore, the coordinates of the flipping robot on the horizontal plane overlap with the coordinates of the brick at the second position on the horizontal plane.

[0021] The beneficial effect of the above-mentioned brick supply assembly is: by overlapping the coordinates of the flipping robot with the coordinates of the bricks in the second position, the flipping robot can pick up the bricks downward along the minimum vertical path, which is conducive to speeding up the operation rhythm.

[0022] Furthermore, the slurry spreading mechanism includes a first mounting frame, the lower end of the first mounting frame is mounted on the supporting mechanism, and the upper end of the first mounting frame has a transverse driving mechanism; a hopper, the lower end of the hopper forms the slurry spreading operation end, and the hopper is connected to the output end of the transverse driving mechanism; in the process of the brick moving from the first position toward the second position, the transverse driving mechanism drives the slurry spreading operation end transversely to spread slurry on the upper surface of the brick, and the transverse driving direction is opposite to the moving direction of the brick.

[0023] The beneficial effects of the above-mentioned brick supply assembly are as follows: when applying slurry at the slurry working end, by moving the slurry working end and the brick in opposite directions relative to each other, the slurry working end can complete the slurrying on the upper surface of the brick with a relatively small lateral movement path. Under the premise of maintaining the same slurrying speed, compared with the case where the brick is stationary and slurried, the slurrying time of this embodiment is shorter and the operation rhythm is faster; furthermore, the lateral movement path of the slurry working end is required to be shorter, so the lateral size requirement of the lateral movement drive mechanism is also smaller, which is conducive to miniaturized design.

[0024] Furthermore, the first mounting frame also includes a first lifting mechanism, which is arranged at the output end of the transverse driving mechanism, and the hopper is arranged at the output end of the first lifting mechanism; in the process of moving from the first position toward the second position, the positioning mechanism carries the brick and pauses at a third position; when the brick is in the third position, the slurry operation end smears the slurry on the side of the brick from bottom to top by means of the first lifting mechanism.

[0025] The beneficial effects of the above-mentioned brick supply assembly are: by keeping the bricks in a stationary state, the motion control strategy only requires the first lifting mechanism to drive the slurry operation end upward in the vertical direction. The control strategy is relatively simple, and the slurry layer formed by the slurry is uniform.

[0026] Furthermore, either the plastering mechanism or the flipping mechanism can move away from or approach the other to form a working state and a storage state, wherein a portion of either the plastering mechanism or the flipping mechanism in the working state moves beyond the structural edge of the support mechanism, and the flipping mechanism and the plastering mechanism in the storage state are located within the structural edge of the support mechanism.

[0027] The beneficial effects of the above-mentioned brick supply assembly are: by the fact that the flipping mechanism and the mortaring mechanism in the storage state are both located within the structural edge of the support mechanism, the overall size in the storage state is smaller, which is conducive to passing through a narrow space; and in the working state, by partially moving either the mortaring mechanism or the flipping mechanism beyond the structural edge of the support mechanism, the interval between the mortaring mechanism and the flipping mechanism is increased, so that the mortaring mechanism and the flipping mechanism both have sufficient working space and will not collide with each other during operation.

[0028] Further, either the flipping mechanism or the plastering mechanism can be moved away from the other in the front-to-back direction to form a working state, and the flipping mechanism or the plastering mechanism that moves away from each other exceeds the structural edge of the support mechanism in the front-to-back direction; or, either the flipping mechanism or the plastering mechanism can be moved away from the other in the left-right direction to form a working state, and the flipping mechanism or the plastering mechanism that moves away from each other exceeds the structural edge of the support mechanism in the left-right direction.

[0029] The beneficial effect of the above-mentioned brick supply assembly is that either the flipping mechanism or the slurry mechanism can be moved away from the other in the front-to-back direction to form a working state, so that the interval between the flipping mechanism and the slurry mechanism increases in the front-to-back direction, so that the action of the flipping robot flipping the flipping bricks and the action of the slurry mechanism slurrying the bricks are separated in the front-to-back space, so that when planning the movement and obstacle avoidance of the slurry mechanism, there is no need to consider the obstruction caused by the flipping mechanism when flipping the bricks. Similarly, when planning the movement and obstacle avoidance of the flipping mechanism, there is no need to consider the obstruction caused by the slurry mechanism during the slurrying operation, so that the two have relatively more motion control strategies.

[0030] Either the flipping mechanism or the slurrying mechanism can be moved away from the other in the left and right directions to form a working state, so that the flipping mechanism and the slurrying mechanism are arranged in the left and right directions, thereby making the transportation distance of the bricks from the first position to the second position relatively short, which is conducive to speeding up the rhythm of brick supply.

[0031] Furthermore, either the flipping mechanism or the plastering mechanism can be moved away from the other in the front-to-back direction to form a working state; when in the working state, along the left-right direction, the positioning mechanism of the first position is located on either side of the plastering working end, and along the front-to-back direction, the vertical projection of the plastering mechanism and the vertical projection of the flipping mechanism are spaced apart from each other and do not overlap.

[0032] The beneficial effects of the above-mentioned brick supply assembly are as follows: the first position can be set on either side of the left and right directions of the mortar working end, thereby increasing the flexibility of the brick loading position of the brick supply mechanism; in addition, the vertical projection of the mortaring mechanism and the vertical projection of the flipping mechanism are spaced apart from each other and do not overlap, so that the action of the flipping mechanism flipping the bricks and the action of the mortaring working end mortaring the bricks in the path are spaced apart in the front-to-back direction, so that no matter whether the first position of loading the bricks is on the left or on the right, it will not affect the action of the flipping mechanism flipping the bricks.

[0033] Furthermore, the support mechanism includes a first guide member extending along the front-to-back direction; one of the smearing mechanism and the flipping mechanism is fixed to the support mechanism, and the other is movably adapted to the first guide member to form the working state.

[0034] The beneficial effect of the above-mentioned brick supply assembly is that, through the guidance of the first guide member, the moving accuracy of the mover in the slurry spreading mechanism or the turning mechanism is good, and there will be no directional deviation in the moving direction.

[0035] Furthermore, the supporting mechanism includes a second guide member arranged parallel to the first guide member; the moving platform also includes a base movably arranged on the second guide member, and a moving mechanism arranged on the base, and the output end of the moving mechanism is connected to the positioning mechanism; when in working state, the slurry working end is located on the first vertical plane, the flipping robot is located on the second vertical plane, the second vertical plane and the first vertical plane extend in the left and right directions and are arranged in parallel with each other in the front and back directions; the positioning mechanism at the first position is located on the first vertical plane, and the positioning mechanism at the second position is located on the second vertical plane, and the second guide guides the base and the positioning mechanism thereon to move from one of the first vertical plane and the second vertical plane to the other.

[0036] The beneficial effect of the above-mentioned brick supply assembly is: by moving the positioning mechanism from one of the first vertical surface and the second vertical surface to the other, the positioning mechanism can be moved between the slurry working end and the flipping robot, so that the positioning mechanism carries the bricks on the first vertical surface and interacts with the slurry working end to complete the slurrying. Then, along the precise guidance of the second guide member, the positioning mechanism carries the bricks to the second vertical surface, which is convenient for the flipping robot to pick up the bricks.

[0037] Furthermore, by means of the movement mechanism, the positioning mechanism moves from the first position along the first vertical plane through the screeding operation end to screed the surface of the brick.

[0038] The beneficial effect of the above-mentioned brick supply assembly is: by moving the brick along the first vertical plane through the mortar working end, the mortar working end is also located on the first vertical plane, so that when the brick passes through the mortar working end, the mortar width applied by the mortar working end to the surface of the brick remains the same, which is conducive to forming a mortar layer of uniform width on the surface of the brick, thereby ensuring the firmness of the wall adhesion and good bricklaying quality.

[0039] Furthermore, the movement mechanism includes at least one plate-like portion, a first space is formed between the at least one plate-like portion and the base, and a second space is formed between the at least one plate-like portion and the positioning mechanism; a first driving component and a first sliding component are provided in the first space, the first sliding component includes guide rails and guide blocks that adapt to each other, the first driving component drives at least one plate-like portion to move along the left and right directions, and the first sliding component guides at least one plate-like portion to move along the left and right directions; a second driving component and a second sliding component are provided in the second space, the second sliding component includes guide rails and guide blocks that adapt to each other, the second driving component drives the positioning mechanism to move along the left and right directions, and the second sliding component guides the positioning mechanism to move along the left and right directions.

[0040] The beneficial effects of the above-mentioned brick supply assembly are as follows: by arranging the driving component and the sliding component in the first space and the second space respectively, at least one plate-like portion can move left and right relative to the base, and the positioning mechanism can move left and right relative to at least one plate-like portion, so that the installation space occupied by the moving mechanism is smaller when it is in the retracted state, which is conducive to adding other mechanisms to the limited space of the supporting mechanism, thereby achieving miniaturization and multifunctionality; at the same time, when the moving mechanism is in the extended state, the driving directions of the two first driving components and the second driving components are parallel, so that the positioning mechanism can extend a longer distance relative to the base, which is conducive to loading bricks at the first position.

[0041] Furthermore, the positioning mechanism includes: a base plate, which is connected to the output end of the motion mechanism; two clamping plates, which are respectively arranged on the front and rear sides of the base plate, and at least one of the clamping plates can move away from or closer to the other clamping plate relative to the base plate.

[0042] The beneficial effects of the above-mentioned brick supply assembly are: the bricks are clamped and fixed by two clamps, which increases the positioning stability of the bricks. By positioning the clamps on both sides in the front and rear directions, the center lines of the bricks extending left and right are parallel to the first vertical plane, which is beneficial to the positioning accuracy of brick transportation.

[0043] Furthermore, either the flipping mechanism or the smearing mechanism can be moved away from the other in the left-right direction to form a working state, and the distance between the flipping mechanism and the smearing mechanism in the working state in the left-right direction can allow the flipping robot to flip the brick; the brick in the first position and the brick in the second position are located in the same vertical plane, and the vertical plane extends in the left-right direction.

[0044] The beneficial effect of the above-mentioned brick supply assembly is that either the flipping mechanism or the smearing mechanism can be moved away from the other in the left and right directions to form a working state, and the distance between the two can allow the flipping robot to flip the bricks. On the premise of ensuring that the flipping robot can operate without obstacles, the bricks in the first position and the bricks in the second position are located in the same vertical plane, so that the transportation distance of the bricks from the first position to the second position is relatively short, which is conducive to speeding up the rhythm of brick supply.

[0045] Furthermore, the moving platform includes: a base, fixed to the supporting mechanism, and when viewed from the front-to-back direction, the base is arranged to overlap at least partially with the smearing mechanism; a moving mechanism, arranged on the base, and the output end of the moving mechanism drives the positioning mechanism to move along the left-right direction away from the smearing mechanism to the first position.

[0046] The beneficial effects of the above-mentioned brick supply assembly are: by overlapping the base and at least part of the slurry mechanism along the front-to-back direction and driving the positioning movement to move left and right by the motion mechanism, the positioning mechanism can have a longer extension path while maintaining a smaller installation space.

[0047] Furthermore, the movement mechanism includes at least one plate-like portion, a first space is formed between the at least one plate-like portion and the base, and a second space is formed between the at least one plate-like portion and the positioning mechanism; a first driving component and a first sliding component are provided in the first space, the first sliding component includes guide rails and guide blocks that adapt to each other, the first driving component drives at least one plate-like portion to move along the left and right directions, and the first sliding component guides at least one plate-like portion to move along the left and right directions; a second driving component and a second sliding component are provided in the second space, the second sliding component includes guide rails and guide blocks that adapt to each other, the second driving component drives the positioning mechanism to move along the left and right directions, and the second sliding component guides the positioning mechanism to move along the left and right directions.

[0048] The beneficial effects of the above-mentioned brick supply assembly are as follows: by arranging the driving component and the sliding component in the first space and the second space respectively, at least one plate-like portion can move left and right relative to the base, and the positioning mechanism can move left and right relative to at least one plate-like portion, so that the installation space occupied by the moving mechanism is smaller when it is in the retracted state, which is conducive to adding other mechanisms to the limited space of the supporting mechanism, thereby achieving miniaturization and multifunctionality; at the same time, when the moving mechanism is in the extended state, the driving directions of the two first driving components and the second driving components are parallel, so that the positioning mechanism can extend a longer distance relative to the base, which is conducive to loading bricks at the first position.

[0049] Furthermore, the positioning mechanism includes: a base plate connected to the output end of the motion mechanism; two clamping plates, respectively arranged on the front and rear sides of the base plate, and at least one of the clamping plates can move away from or closer to the other clamping plate relative to the base plate.

[0050] The beneficial effects of the above-mentioned brick supply assembly are: the bricks are clamped and fixed by two clamps, which increases the positioning stability of the bricks. By positioning the clamps on both sides in the front and rear directions, the center lines of the bricks extending left and right are parallel to the first vertical plane, which is beneficial to the positioning accuracy of brick transportation.

[0051] Furthermore, the slurry spreading mechanism includes a first mounting frame, the lower end of the first mounting frame is fixed to the support mechanism and is located on one side of the movable platform in the front-to-back direction, the first mounting frame is rotatably connected to a hopper by a first pivot mechanism, the lower end of the hopper is constructed to form the slurry spreading working end, and the first rotation axis of the first pivot mechanism extends along the front-to-back direction.

[0052] The beneficial effects of the above-mentioned brick supply assembly are as follows: the hopper is mounted on the first mounting frame and can rotate along the first rotation axis extending forward and backward, and the lower end of the hopper forms a slurry working end, so that the first pivot mechanism can drive the hopper to rotate along the first rotation axis so as to rotate the hopper to form a slurry angle with the surface of the brick to be slurried.

[0053] Furthermore, the first mounting frame includes a first lifting mechanism, which drives the hopper to rise and fall; in the process of moving from the first position toward the second position, the positioning mechanism carries the bricks and pauses at a third position; when in the third position, the slurry operation end slurries the side of the stationary brick from bottom to top by means of the first lifting mechanism.

[0054] The beneficial effects of the above-mentioned brick supply assembly are: by keeping the bricks in a stationary state, the motion control strategy only requires the first lifting mechanism to drive the slurry operation end upward in the vertical direction. The control strategy is relatively simple, and the slurry layer formed by the slurry is uniform.

[0055] Furthermore, in the process of moving from the first position toward the second position, the brick is carried by the positioning mechanism to move in the direction away from the hopper, and the slurry operation end maintains a fixed position and slurries the horizontal upper surface of the moving brick in the left and right directions.

[0056] The beneficial effects of the above-mentioned brick supply assembly are: by keeping the hopper fixed, the motion control strategy only moves the brick positioning mechanism along the left and right directions, the control strategy is relatively simple, and the slurry working end is in a fixed posture, so that when the brick moves relative to the slurry working end, the slurry working end forms a uniform slurry layer on the surface of the brick.

[0057] Furthermore, the flipping mechanism includes a second mounting frame, which is movably mounted on the support mechanism along the left and right directions. The second mounting frame is rotatably connected to the flipping robot via a second pivot mechanism, and the second rotation axis of the second pivot mechanism extends along the front and rear directions.

[0058] The beneficial effects of the above-mentioned brick supply assembly are as follows: the flipping robot is mounted on the support mechanism via the second mounting frame, and the flipping robot can be driven to flip bricks up and down via the second pivot mechanism.

[0059] In the second aspect, the present invention also provides a bricklaying system capable of building walls in a working space, comprising: a mobile chassis, which moves in the working space to a predetermined station, and the wall to be built is located in front of the predetermined station; the brick supply assembly as described above, which is installed on the mobile chassis; a bricklaying mechanism, which is installed on the mobile chassis and is located in front of the brick supply assembly, and the bricklaying mechanism includes a bricklaying robot claw, and the bricklaying robot picks up the bricks from the flipping robot backward along the non-mortared surface, and transports the bricks forward to the building position of the wall to be built.

[0060] The beneficial effects of the above-mentioned bricklaying system are as follows: the present invention integrates brick loading, brick transportation, mortaring, brick flipping and brick laying on a mobile chassis, with a high degree of integration, and the brick supply assembly completes the brick mortaring action in the process of transporting bricks. Compared with the prior art in which the two actions of brick transportation and mortaring are performed separately, the brick supply assembly of the present invention completes the entire brick supply process in a shorter time, thereby speeding up the brick supply rhythm and reducing the time cost of brick supply; at the same time, the process of receiving bricks and the process of transferring the mortared bricks to the flipping mechanism are both completed by the moving platform, so that the first position for receiving bricks and the second position for delivering bricks can use the coordinate system of the same mechanism, which makes it easier to control the position accuracy in each process of brick loading-mortaring-delivering bricks, thereby increasing the accuracy of picking up by the flipping mechanism. On the basis of the brick supply assembly speeding up the brick supply rhythm, the bricklaying mechanism also speeds up the operation rhythm, thereby shortening the bricklaying operation time; and because the bricklaying mechanism picks up bricks from the flipping mechanism to lay bricks, the accuracy of the flipping mechanism picking is increased, and the bricklaying accuracy is also improved.

[0061] Furthermore, the bricklaying system also includes a control module, which includes a vertical cabinet. A control element is provided in the vertical cabinet to control the movement of the brick supply assembly and the bricklaying mechanism. The vertical cabinet is installed on the mobile chassis and is located behind the bricklaying mechanism. The brick supply assembly is installed on the vertical cabinet.

[0062] The beneficial effects of the above bricklaying system are: the vertical cabinet raises the height of the brick supply assembly, shortens the transportation distance of the bricklaying mechanism from picking up bricks from the brick supply assembly to placing bricks at the masonry position, which is conducive to speeding up the operation rhythm.

[0063] Furthermore, the supporting structure is the upper surface of the cabinet; or, the supporting mechanism is a flat plate installed on the upper surface of the cabinet.

[0064] The beneficial effect of the above bricklaying system is that the supporting structure is installed on the upper surface of the cabinet with an independent flat plate, and the area of ​​the flat plate can be set larger than the area of ​​the upper surface of the cabinet, thereby increasing the installation space of the brick supply assembly while ensuring the overall miniaturization of the bricklaying system.

[0065] Furthermore, the bricklaying mechanism includes: a column, which is installed on the mobile chassis; a robotic arm, the proximal end of which is rotatably connected to the column, and the distal end of which is connected to the robotic claw, and the robotic arm has multiple joints to form different postures.

[0066] The beneficial effects of the above-mentioned bricklaying system are as follows: the columns are installed on the mobile chassis, so that the bricklaying mechanism and the brick supply assembly are integrated into a mobile chassis, so that the bricklaying mechanism and the brick supply assembly can be within the coordinate system of the bricklaying system, which is beneficial to increase the position accuracy of the bricks transferred between the bricklaying mechanism and the brick supply assembly when planning the motion strategy.

[0067] In a third aspect, the present invention also provides a bricklaying method, which includes: providing a positioning mechanism, which can move between a first position and a second position; allowing the positioning mechanism to move to the first position and place the brick on the positioning mechanism; after receiving the brick, the positioning mechanism carries the brick from the first position toward the second position; providing a slurrying mechanism, in the process of the positioning mechanism carrying the brick from the first position to the second position, allowing the slurrying operation end of the slurrying mechanism to slurry the surface of the brick to form a slurrying surface and a non-slurrying surface; providing a flipping robot, after the positioning mechanism carries the brick and stops at the second position, allowing the flipping robot to pick up the slurry-coated brick from the positioning mechanism, and then flip the spatial orientation of the slurrying surface and non-slurrying surface of the brick; providing a mechanical claw, allowing the mechanical claw to pick up the brick from the flipping robot along the non-slurrying surface, and then transporting the brick to the masonry position of the wall to be built, so that the slurrying surface sticks to the brick surface at the masonry position.

[0068] The beneficial effects of the above-mentioned bricklaying method are as follows: compared with the prior art in which the two actions of transporting bricks and applying mortar are performed separately, the bricklaying method of the present invention completes the mortaring action while transporting bricks from the first position to the second position, thereby shortening the time to complete the entire brick supply process, thereby speeding up the brick supply rhythm and reducing the time cost of brick supply; at the same time, the process of receiving bricks and the process of transferring the mortared bricks to the flipping mechanism are both completed by the moving platform, so that the first position for receiving bricks and the second position for delivering bricks can use the coordinate system of the same mechanism, thereby facilitating the control of the position accuracy in each process of loading bricks-applying mortar-delivering bricks, thereby increasing the accuracy of the flipping mechanism picking up, and on the basis of the brick supply assembly speeding up the brick supply rhythm, the bricklaying mechanism also speeds up the operation rhythm, thereby shortening the time of the masonry operation; and since the bricklaying mechanism picks up bricks from the flipping mechanism for bricklaying, the accuracy of the flipping mechanism picking up is increased, and the bricklaying accuracy is also improved.

[0069] Furthermore, before the step of "moving the positioning mechanism to the first position", the slurrying mechanism is driven to move backward relative to the flipping mechanism so that the slurrying operation end is located on a first vertical plane extending left and right, and the flipping robot is located on a second vertical plane extending left and right. The first vertical plane and the second vertical plane extend in the left and right directions and are arranged in parallel with a front-to-back interval. The first position is located on the first vertical plane, and the second position is located on the second vertical plane.

[0070] The beneficial effects of the above-mentioned bricklaying method are as follows: the mortar working end and the first position are both located on a first vertical plane extending left and right, and the flipping manipulator and the second position are located on a second vertical plane extending left and right, so that the bricks from the top to the mortar are located on the same vertical plane, which is conducive to forming a mortar layer of uniform width; the flipping manipulator and the second position are both located on the second vertical plane, so that the path for the flipping manipulator to pick up the bricks in the second position is relatively short, and the picking accuracy is relatively high.

[0071] Furthermore, the step of "moving the positioning mechanism to the first position" includes: providing a front and rear driving member and a motion mechanism, the front and rear driving member drives the positioning mechanism to move backward to the second position, and the motion mechanism drives the positioning mechanism along the left and right direction to move the positioning mechanism to the second position.

[0072] The beneficial effect of the above bricklaying method is that the positioning mechanism can move in the front-to-back direction and the left-to-right direction through the motion mechanism and the front-to-back driving members.

[0073] Furthermore, when the positioning mechanism moves along the first vertical plane, it passes through the slurry operation end to smear slurry on the surface of the brick.

[0074] The beneficial effect of the above bricklaying method is: by moving the brick along the first vertical plane through the mortar working end, the mortar working end is also located on the first vertical plane, so that when the brick passes through the mortar working end, the mortar width applied by the mortar working end to the brick surface remains the same, which is conducive to forming a mortar layer of uniform width on the brick surface, thereby ensuring the firmness of the wall adhesion and good bricklaying quality.

[0075] Furthermore, after the screeding operation end completes screeding the surface of the brick, the front and rear driving members drive the positioning mechanism to move from the first vertical surface to the second vertical surface for the flipping mechanism to pick up.

[0076] The beneficial effect of the above bricklaying method is that the slurry spreading end is set on the first vertical plane, and the flipping robot arm for picking up bricks is set on the second vertical plane, so that the working actions of the two will not cause each other's movement obstacles.

[0077] Furthermore, when the mortar operation end completes mortaring the bricks, the bricks have not reached the second position along the left-right direction. While the front and rear driving members drive the positioning mechanism to move from the first vertical plane to the second vertical plane, the motion mechanism drives the positioning mechanism to move along the left-right direction to the second position.

[0078] The beneficial effect of the above bricklaying method is: in order to ensure that the bricks have not reached the second position in the left and right directions when the mortar operation end completes the mortaring of the bricks, the mortaring speed of the mortar operation end must be made relatively fast, thereby speeding up the operation rhythm. Within the time period of moving to the second position after the mortaring is completed, the left and right displacement actions and the front and back displacement actions are combined into one time period, thereby speeding up the rhythm of transporting bricks.

[0079] Furthermore, before the motion mechanism drives the positioning mechanism to move to the first position, one of the screeding mechanism and the flipping robot is moved toward one side in the left-right direction away from the other, so that the space between the two allows the flipping mechanism to flip the bricks, and at the same time, the flipping robot and the screeding working end are located on the same vertical plane extending along the left-right direction.

[0080] The beneficial effect of the above bricklaying method is that either the flipping mechanism or the mortaring mechanism can be moved away from the other in the left and right directions to form a working state, and the distance between the two can allow the flipping robot to flip the bricks. Under the premise of ensuring unobstructed operation of the flipping robot, the bricks in the first position and the bricks in the second position are located on the same vertical plane, so that the transportation distance of the bricks from the first position to the second position is relatively short, which is conducive to speeding up the rhythm of brick supply.

[0081] Furthermore, after the flipping mechanism is moved away, the motion mechanism drives the positioning mechanism to move in the left and right directions to the first position, so that the positioning mechanism at the first position and the slurry operation end and the flipping robot are all located on the same vertical plane.

[0082] The beneficial effects of the above-mentioned bricklaying method are as follows: the positioning mechanism in the first position, the slurry operation end, and the flipping robot are all located on the same vertical plane, so that the transportation distance of the bricks is relatively small, and the slurry operation is completed during the straight-line transportation, thereby forming a slurry layer with uniform width. At the same time, the flipping robot and the bricks after slurrying are located on the same vertical plane, ensuring the picking accuracy of the flipping robot.

[0083] Furthermore, the first position is set on the other side of the flip mechanism in the left-right direction.

[0084] The beneficial effect of the bricklaying method is that the brick laying positions can be flexibly arranged on both sides, which is convenient for brick laying in a narrow space.

[0085] Furthermore, the positioning mechanism at the first position, the slurry working end and the second positioning mechanism at the second position are all arranged on the same vertical plane. After the slurry working end is slurried on the surface of the brick, the movement mechanism drives the positioning mechanism to move to the second position along the left and right direction.

[0086] The beneficial effects of the above-mentioned bricklaying method are as follows: the positioning mechanism in the first position, the slurry operation end, and the flipping robot are all located on the same vertical plane, so that the transportation distance of the bricks is relatively short, and the slurry operation is completed during the straight-line transportation, thereby forming a slurry layer with uniform width. At the same time, the flipping robot and the bricks in the second position are located on the same vertical plane, ensuring the picking accuracy of the flipping robot.

[0087] Furthermore, the step of "after receiving the brick, the positioning mechanism carries the brick from the first position toward the second position" includes: the positioning mechanism is configured with two synchronously displaced clamps, and the two clamps synchronously clamp the brick to position the coordinates of the brick in the front and rear directions on the first vertical plane.

[0088] The beneficial effects of the above bricklaying method are: through two synchronously moving splints, the two splints are synchronously moved away from each other by the same distance to have sufficient space to receive bricks, and the two splints are synchronously moved close to each other by the same distance so that the two splints can place the center of the brick and the coordinates of the positioning mechanism on the same vertical plane; furthermore, the two splints that are synchronously moved away from or close to each other can also position bricks of different widths on the same vertical plane, so that the brick supply assembly can maintain good positioning accuracy for the supply of bricks of different widths.

[0089] Furthermore, after the step of "the positioning mechanism positions the coordinates of the brick in the front-to-back direction on the first vertical plane", a position detection device is used to detect the offset value of the coordinates of the brick at the first position relative to the positioning mechanism at the first position in the left-right direction.

[0090] The beneficial effect of the above bricklaying method is: by installing the position detection device on the mortar mechanism, the position detection device is closer to the bricks in the first position than the flipping mechanism, so that the position detection device can detect the deviation of the bricks in the first position before the bricks are transported to the second position, which is conducive to accurately controlling the accuracy of transporting the bricks to the second position.

[0091] Furthermore, a control module is provided, which controls the transportation distance of the positioning mechanism in the left and right directions according to the coordinates of the positioning mechanism at the first position and the offset value, so that the coordinates of the bricks at each second position in the left and right directions are constant.

[0092] The beneficial effect of the above bricklaying method is: after the bricks are positioned at constant coordinates in the front-to-back direction by two clamps, the coordinates of each brick in the second position in the left-to-right direction are set constantly, so that the coordinates of the bricks in the second position in the left-to-right direction and the front-to-back direction are all set constantly, so that the picking target of the flipping robot is constant, and there is no need to additionally detect the position of the bricks, thereby speeding up the operation rhythm and ensuring the picking accuracy.

[0093] Furthermore, a control module is provided, which determines the bricklaying direction of the robot and selects a corresponding grouting mode from a plurality of grouting modes of the grouting mechanism according to the bricklaying direction, so that when the robot transports the brick to the masonry position of the wall to be built, the grouting surface of the brick sticks to the brick surface at the masonry position.

[0094] The beneficial effects of the above bricklaying method are as follows: the control module causes the mortar mechanism to apply mortar to the upstream side or downstream side of the brick according to the left or right direction of bricklaying, thereby making it possible to achieve bricklaying to the left or right. After walking a row of masonry stations from left to right, bricklaying is then started from right to left. Compared with the bricklaying method that can only lay bricks in one direction, the bricklaying method of the present invention does not need to go back to the left station and then lay bricks from left to right. The bricklaying method of the present invention saves the time of going back and forth and speeds up the bricklaying rhythm. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] 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.

[0096] Figure 1 A schematic diagram of a brick supply assembly and a bricklaying system using the brick supply assembly is provided for the first embodiment of the present application;

[0097] Figure 2 for Figure 1 The three-dimensional structural diagram of the brick supply assembly in working state is shown;

[0098] Figure 3 for Figure 2 The structural schematic diagram of the brick supply assembly when in working state as viewed along the X direction is shown;

[0099] Figure 4 for Figure 2 A schematic diagram of the three-dimensional structure of the brick supply assembly in the storage state is shown;

[0100] Figure 5 for Figure 2 The schematic structural diagram of the brick supply assembly when it is in the storage state as viewed along the X direction is shown;

[0101] Figure 6 for Figure 2 The schematic diagram of the three-dimensional explosion structure of the brick supply assembly is shown;

[0102] Figure 7 for Figure 2 A schematic structural diagram of the mortar spreading mechanism of the brick supply assembly as viewed from front to back;

[0103] Figure 8 for Figure 7 A schematic diagram of the three-dimensional structure of the mortar spreading mechanism of the brick supply assembly shown;

[0104] Figure 9 for Figure 8 A schematic diagram of the three-dimensional structure of the first vertical frame of the slurry spreading mechanism is shown;

[0105] Figure 10 for Figure 8 A schematic three-dimensional structural diagram of the first vertical frame of the slurry spreading mechanism in another state is shown;

[0106] Figure 11 for Figure 8 The schematic diagram of the three-dimensional structure of the transverse movement mechanism of the slurry spreading mechanism and the hopper is shown;

[0107] Figure 12 for Figure 8 Schematic diagram of the three-dimensional structure of the hopper shown;

[0108] Figure 13 for Figure 2 A schematic diagram of the three-dimensional structure of the moving platform of the brick supply assembly shown;

[0109] Figure 14 for Figure 9 The schematic structural diagram of the moving platform of the brick supply assembly as viewed along the X direction is shown;

[0110] Figure 15 for Figure 2 The schematic structural diagram of the flipping mechanism of the brick supply assembly as viewed along the X direction is shown;

[0111] Figure 16 for Figure 15 A schematic diagram of the three-dimensional structure of the flipping manipulator of the flipping mechanism shown;

[0112] Figure 17 for Figure 2 A schematic diagram of a brick supply assembly in which a positioning mechanism for a mortaring operation is in a first position, receiving a brick and positioning the brick in an ideal position, viewed from the back to the front;

[0113] Figure 18 for Figure 17 A schematic diagram of the brick supply assembly positioning mechanism in the third position when viewed from the rear to the front;

[0114] Figure 19 for Figure 18 The brick is shown in the third position, with the downstream side mortared, viewed from the back to the front;

[0115] Figure 20 for Figure 19 The schematic diagram of the brick shown is a state viewed from the back to the front after the upper surface mortar is applied;

[0116] Figure 21 for Figure 19 The schematic diagram of the brick shown is a state diagram viewed from the back to the front when the brick reaches the second position after the mortar is applied;

[0117] Figure 22 for Figure 2 The schematic diagram of the brick supply assembly is shown as a state viewed from the back to the front, in which the positioning mechanism receives a brick in the first position and the brick is located in an offset position;

[0118] Figure 23 for Figure 22 The schematic diagram of the brick supply assembly's positioning mechanism carrying bricks to the second position as viewed from the back to the front is shown;

[0119] Figure 24 for Figure 17 The schematic diagram of the positioning mechanism of the brick supply assembly shown is a top-down view of the state when receiving bricks at the first position;

[0120] Figure 25 for Figure 18 The schematic diagram of the brick supply assembly's positioning mechanism carrying bricks to the third position as viewed from top to bottom is shown;

[0121] Figure 26 for Figure 20 The diagram shows the bricks as seen from above after the upper surface is mortared;

[0122] Figure 27 for Figure 20 The diagram shows the bricks as seen from above after the upper surface is mortared;

[0123] Figure 28 for Figure 2A schematic diagram of another positioning mechanism of the brick supply assembly for screed operation, wherein the positioning mechanism receives bricks in a first position and the bricks are positioned in an ideal position as viewed from the back to the front;

[0124] Figure 29 for Figure 28 A schematic diagram showing the positioning mechanism of the brick supply assembly in the third position when viewed from the rear to the front;

[0125] Figure 30 for Figure 29 The brick shown is a schematic diagram of a state viewed from the back to the front after the upper surface of the brick has been mortared and has reached the third position;

[0126] Figure 31 for Figure 30 The brick shown is in the third position with the upstream side mortared, viewed from the back to the front;

[0127] Figure 32 This is a structural schematic diagram of the flipping mechanism of the brick supply assembly of the second embodiment of the present application, viewed along the X direction before it moves;

[0128] Figure 33 for Figure 32 The schematic diagram of the structure of the flip mechanism after it moves forward and viewed along the X direction is shown;

[0129] Figure 34 for Figure 33 The flip mechanism shown is a schematic diagram of the structure viewed along the X direction after moving forward to flip the brick 180 degrees;

[0130] Figure 35 A schematic diagram of a brick supply assembly and a bricklaying system using the brick supply assembly according to a third embodiment of the present application;

[0131] Figure 36 for Figure 35 The three-dimensional structural diagram of the brick supply assembly shown;

[0132] Figure 37 for Figure 35 A schematic diagram of the three-dimensional structure of the bricklaying mechanism of the bricklaying system shown;

[0133] Figure 38 (a) Figure 36 A schematic diagram of the three-dimensional structure of the mortar spreading mechanism of the brick supply assembly shown;

[0134] Figure 38 (b) Figure 36 A schematic diagram of the three-dimensional structure of the mortar spreading mechanism of the brick supply assembly shown;

[0135] Figure 39 for Figure 36 A schematic diagram of the three-dimensional structure of the moving platform of the brick supply assembly shown;

[0136] Figure 40 for Figure 36 A schematic diagram of the three-dimensional structure of the flip mechanism of the brick supply assembly shown;

[0137] Figure 41 for Figure 36 A schematic diagram of a brick supply assembly in a mortaring operation, wherein the positioning mechanism receives a brick in a first position and the brick is positioned in an ideal position as viewed from the back to the front;

[0138] Figure 42 for Figure 41 A schematic diagram showing the positioning mechanism of the brick supply assembly in the third position when viewed from the rear to the front;

[0139] Figure 43 for Figure 42 The schematic diagram of the state of the brick in the third position when the downstream side mortar is completed as viewed from the back to the front;

[0140] Figure 44 for Figure 43 The brick is shown as a schematic diagram of a state viewed from the back to the front after the upper surface of the brick has been mortared and has reached the second position;

[0141] Figure 45 for Figure 36 The schematic diagram of the brick supply assembly is shown as a state viewed from the back to the front, in which the positioning mechanism receives a brick in the first position and the brick is located in an offset position;

[0142] Figure 46 for Figure 45 The schematic diagram of the brick supply assembly's positioning mechanism carrying bricks to the second position as viewed from the back to the front is shown;

[0143] Figure 47 for Figure 36 A schematic diagram of another state of the brick supply assembly during mortaring operation, in which the positioning mechanism receives the brick in the first position and the brick is located in the ideal position when viewed from the back to the front;

[0144] Figure 48 for Figure 47 The schematic diagram of the brick supply assembly, viewed from the back to the front, shows the positioning mechanism of the brick supply assembly in the third position and the upper surface mortaring completed;

[0145] Figure 49 for Figure 48 The brick shown is in the third position with the upstream side mortared, viewed from the back to the front;

[0146] Figure 50 for Figure 49 The brick shown is moved to the second position after the mortar is applied, as viewed from the back to the front;

[0147] Figure 51 for Figure 36 A schematic diagram of the brick supply assembly when the positioning mechanism reaches the first position and is in an unloaded state as viewed from top to bottom;

[0148] Figure 52 (a) Figure 41 The schematic diagram of the brick supply assembly as viewed from top to bottom is shown;

[0149] Figure 52 (b) Figure 42 The schematic diagram of the brick supply assembly as viewed from top to bottom is shown;

[0150] Figure 52 (c) Figure 44 The schematic diagram of the brick supply assembly as viewed from top to bottom is shown.

[0151] Description of the accompanying drawings of the specific embodiments:

[0152] DETAILED DESCRIPTION

[0153] 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.

[0154] 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.

[0155] 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 require further definition or explanation in subsequent drawings.

[0156] 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. Specific embodiments

[0158] The present invention relates to a brick supply assembly 1, a bricklaying system 100 including the brick supply assembly 1, and a bricklaying method. The bricklaying system 100 and the bricklaying method are used to implement bricklaying operations in a working space S to build a wall. The bricklaying system 100 and the bricklaying method of the present invention can be used for stacking interior walls of a building, and can also be used for stacking exterior walls of a building.

[0159] In the present invention, the left-right direction X is defined as a direction parallel to the wall W to be built, the front-back direction Y is defined as perpendicular to the direction of the wall W to be built, the direction toward the wall W to be built is defined as the front, and the direction away from the wall W to be built is defined as the rear. The vertical direction Z is perpendicular to the left-right direction X and the front-back direction Y.

[0160] First embodiment

[0161] See also Figures 1 to 31 , which is a brick supply assembly 11 of the first embodiment of the present invention and a bricklaying system 100 using the brick supply assembly 1. The bricklaying system 100 includes a brick supply assembly 1, a mobile chassis 2, and a bricklaying mechanism 3. In this embodiment, the brick supply assembly 1 and the bricklaying mechanism 3 are integrated and installed on the mobile chassis 2.

[0162] See also Figure 1 The mobile chassis 2 can move in the working space S and stop at a predetermined masonry site. The wall W to be built is located in front of the masonry site. The installation position of the bricklaying mechanism 3 is closer to the wall W to be built than the installation position of the brick supply assembly 1, thereby reducing the transportation path of the bricks 5 in the masonry operation, thereby speeding up the bricklaying operation rhythm.

[0163] See also Figure 1 、 Figure 2 and Figure 3Bricklaying system 100 further includes a control module 44, which includes a cabinet 40. Cabinet 40 houses a control element (not shown). These control elements are connected to the brick supply assembly 1, bricklaying mechanism 3, and mobile chassis 2 for signal transmission, thereby controlling the operations of these three mechanisms. Cabinet 40 is mounted in the rear area of ​​mobile chassis 2, behind the mounting location of bricklaying mechanism 3. Brick supply assembly 1 is mounted above cabinet 40.

[0164] When the bricklaying mechanism 3 is laying high-rise bricks 5, the brick supply assembly 1 is installed above the cabinet 40, and the cabinet 40 raises the height of the brick supply assembly 1, reducing the transportation distance of the bricklaying mechanism 3 from picking up bricks 5 from the brick supply assembly 1 to placing the bricks 5 to the laying position, which is conducive to speeding up the operation rhythm.

[0165] See also Figure 1 、 Figure 2 、 Figure 17 and Figure 21 The brick supply assembly 1 is installed in the space above the rear side of the mobile chassis 2. The brick supply assembly 1 includes a support mechanism 10, which is fixed in the space above the rear side of the mobile chassis 2. The space above the support mechanism 10 is the installation space, in which a moving platform 11, a slurry mechanism 12 and a flip mechanism 13 are provided. The moving platform 11 has a positioning mechanism 111, which can move between a first position P1 and a second position P2. The positioning mechanism 111 is used to receive bricks 5 from the outside at the first position P1 and transfer the bricks 5 to the flip mechanism 1 at the second position P2. 3. The smearing mechanism 12 has a smearing operation end 121, which is used to smear smear on the surface of the brick 5 during the process of moving from the first position P1 to the second position P2, so that the brick received by the flipping mechanism 13 is the brick 5 after smearing. The brick 5 after smearing has a smeared surface and a non-smeared surface. The flipping mechanism 13 has a flipping manipulator 13b, which picks up the smeared brick 5 from the second position P2 and flips the spatial orientation of the smeared surface and the non-smeared surface, so that the bricklaying mechanism 3 can pick up the brick 5 along the non-smeared surface of the brick 5.

[0166] The brick supply assembly 1 in the present invention integrates brick loading, brick transportation, mortaring and brick flipping on a support mechanism 10, with a high degree of integration. In the process of transporting bricks 5, the brick mortaring action is completed. Compared with the prior art in which the two actions of brick transportation and mortaring are performed separately, the present invention also completes the mortaring action while transporting bricks 5 from the first position P1 to the second position P2, thereby making it possible for the brick supply assembly 1 of the present invention to complete the entire brick supply process in a shorter time, thereby speeding up the brick supply rhythm and reducing the time cost of brick supply; at the same time, the process of receiving bricks 5 and the process of transferring the mortared bricks 5 to the flipping mechanism 13 are both completed by the moving platform 11, so that the first position P1 for receiving bricks 5 and the second position P2 for delivering bricks 5 can both use the coordinate system of the same mechanism, thereby facilitating the control of the position accuracy in each process of brick loading-mortaring-delivering bricks, thereby increasing the accuracy of picking up by the flipping mechanism 13. The brick supply assembly 1 of the present invention is applied to the bricklaying system 100. On the basis of the brick supply assembly 1 speeding up the brick supply rhythm, the bricklaying mechanism 3 also speeds up the operation rhythm, thereby shortening the bricklaying operation time; and because the bricklaying mechanism 3 picks up bricks 5 from the turning mechanism 13 to perform bricklaying, the accuracy of the turning mechanism 13 picking up is increased, and the bricklaying accuracy is also improved.

[0167] See also Figure 17 、 Figure 21 、 Figure 22 and Figure 23 In order to increase the positioning accuracy and simplify the motion control strategy, the coordinates of the positioning mechanism 111 on the horizontal plane are defined as the first coordinate O1. Each time the positioning mechanism 111 reaches the first position P1, the coordinate value of the first coordinate O1 is (X1, Y1). The coordinates of the flipping manipulator 13b in the waiting state on the horizontal plane are defined as the second coordinate O2. Each time the coordinate value of the second coordinate O2 of the flipping manipulator 13b in the waiting state is (X2, Y2). The coordinates of the brick 5 on the horizontal plane are defined as the third coordinate O3. The brick 5 at the second position P2 is located below the flipping manipulator 13b. The third coordinate O3 overlaps with the second coordinate O2, so that the flipping manipulator 13b can pick up the brick 5 downward with the shortest vertical distance. The coordinates in the present invention are the coordinates of each mechanism in the coordinate system of the bricklaying system 100, generally the center coordinates.

[0168] In order to increase the position accuracy of the brick 5 when it reaches the second position P2, the brick supply assembly 1 is provided with a position detection device 14, which is used to detect the offset value d of the coordinate value Xb of the third coordinate O3 compared to the coordinate value X1 of the first coordinate O1 at the first position P1. In an ideal state, the brick 5 is placed on the positioning mechanism 111 at the first position P1, see Figure 17 and Figure 22, the third coordinate O3 overlaps with the first coordinate O1, and their coordinate values ​​are both (X1, Y1). However, this ideal brick placement requires a high degree of accuracy in the placement of brick 5, which will have a certain impact on the work cycle during the calibration process. Figure 22 and Figure 23 In order not to affect the working rhythm, when the brick 5 is placed on the positioning mechanism 111 at the first position P1, a rough positioning calibration is performed.

[0169] The rough positioning calibration is as follows: when the positioning mechanism 111 receives the brick 5 at the first position P1, the positioning mechanism 111 positions and calibrates the Y coordinate value of the third coordinate O3 to Y1, thereby performing Y-direction positioning calibration on the brick 5. In order to obtain the offset value d of the X coordinate of the third coordinate O3 compared to the first coordinate O1 (X1, Y1), the position detection device 14 detects the actual coordinate value of the side of the brick 5 in the X direction and compares it with the ideal coordinate value of the side of the brick 5 in the X direction under ideal conditions, thereby obtaining the deviation value of the brick 5 at the first position P1. Based on this deviation value, the first coordinate O1 (X1, Y1) and the second coordinate O2 (X2, Y1), the control module 4 obtains the transportation distance that the moving platform 11 drives the positioning mechanism 111 to move from the first position P1 to the second position P2, so that when the positioning mechanism 111 reaches the second position P2, the third coordinate O3 overlaps with the second coordinate O2.

[0170] By performing a coarse positioning calibration, when loading bricks at the first position P1, the brick 5 is placed on the positioning mechanism 111. The positioning mechanism 111 calibrates the Y coordinate of the third coordinate O3 on the vertical plane Y1. The position detection device 14 detects the side of the brick 5 and determines the offset value d of the coordinate value Xb of the third coordinate O3 compared to the coordinate value X1 of the first coordinate O1. In the subsequent motion control strategy, the control module 4 can move the positioning mechanism 111 a corresponding transport distance based on the offset value d, so that the coordinate value of the third coordinate O3 is (X2, Y2) each time it reaches the second position P2. Because the brick 5 is located outside the coordinate system of the brick supply assembly 1 before loading, the brick 5 enters the coordinate system of the brick supply assembly 1 from the external coordinate system during loading. If a fine positioning calibration is performed during loading, it is necessary to match the coordinate system of the brick 5 to the coordinate system of the positioning mechanism 111. This requires a complex and relatively lengthy process for the control strategy of the control module 4 and the loading process, which is not conducive to rapid loading. The coarse positioning calibration of the present invention eliminates the need for fine positioning calibration of bricks 5 during the brick loading process. The present invention places bricks 5 on the positioning mechanism 111 and determines the position of bricks 5 on the coordinate system of the brick supply assembly 1. The compensation and calibration of bricks 5 are both performed in the coordinate system of the brick supply assembly 1, thereby speeding up the operation rhythm.

[0171] To minimize the overall size of the bricklaying system 100, the support mechanism 10 does not exceed the dimensions of the mobile chassis 2 when viewed from above. The support structure is the upper surface of the cabinet 40, or a separate flat plate mounted on the upper surface of the cabinet 40. With a separate flat plate mounted on the upper surface of the cabinet 40, the area of ​​the flat plate can be larger than that of the upper surface of the cabinet 40, thereby increasing the installation space for the brick supply assembly 1 while ensuring the overall miniaturization of the bricklaying system 100.

[0172] See also Figure 6 、 Figure 8 、 Figure 13 and Figure 14 The support structure is provided with a first guide 101 and a second guide 102 extending in the front-to-back direction. The first guide 101 defines a first movement path in the front-to-back direction, and the second guide 102 defines a second movement path in the front-to-back direction. The first movement path and the second movement path are parallel. There are two first guides 101, symmetrically arranged on either side of the second guide 102 in the left-right direction. The first guide 101 and the sliding adapter 1243 at the bottom of the slurry dispensing mechanism 12 are mutually adapted to guide the slurry dispensing mechanism 12 in forward and reverse movement in the front-to-back direction. The second guide 102 and the sliding adapter 1243 at the bottom of the moving platform 11 are mutually adapted to guide the moving platform 11 in forward and reverse movement in the front-to-back direction.

[0173] See also Figure 5 、 Figure 6 、 Figure 13 and Figure 14 The motion platform 11 includes a base 110, a motion mechanism 112 and a positioning mechanism 111 provided on the motion mechanism 112. The motion mechanism 112 is provided on the base 110 and the output end of the motion mechanism 112 can move along the left and right directions. The positioning mechanism 111 is provided at the output end of the motion mechanism 112.

[0174] See also Figure 5 、 Figure 6 、 Figure 13 and Figure 14The base 110 is a plate-shaped structure. The lower plate surface of the base 110 is provided with a sliding portion 1101 that is adapted to the second guide member 102. The sliding portion 1101 on the lower plate surface of the base 110 can slide in the forward and backward directions to guide the moving platform 11 to move forward and backward. The upper plate surface of the base 110 is provided with a sliding adapter portion 1243 that is adapted to the moving mechanism 112. The sliding adapter portion 1243 on the upper plate surface of the base 110 can slide in the left and right directions X to guide the moving mechanism 112 to move along the left and right directions X. A front-to-back drive member (not shown) is provided in the space between the lower plate surface of the base 110 and the support mechanism 10. One embodiment of the front-to-back drive member is a screw drive member, which includes a screw extending forward and backward. The screw is located between the two parallel guide rails of the second guide member 102. One end of the screw is rotatably connected to the drive motor, and the threaded portion of the screw is connected to a movable nut. The lower plate surface of the base 110 is connected to the movable nut. Whereby, when the drive motor drives the screw to rotate, the movable nut moves forward and backward along the extension direction of the screw, thereby driving the base 110 to move in the front-to-back direction. The guiding effect of the second guide member 102 makes the front-to-back displacement movement of the base 110 more stable and accurate. Of course, the front-to-back drive member can also be other drive methods, such as belt drive, chain drive, etc. As long as the drive method can make the base 110 move forward and backward, it can be the drive method of the front-to-back drive mechanism of this embodiment.

[0175] See also Figure 5 、 Figure 6 、 Figure 13 and Figure 14 The motion mechanism 112 includes at least one plate-shaped portion 1121. In this embodiment, there is only one plate-shaped portion 1121. The length of the plate-shaped portion 1121 in the left and right directions is greater than the length of the base 110, so that the motion mechanism 112 has a larger extension stroke.

[0176] See also Figure 13 and Figure 14 There is a first space V1 between the lower surface of the plate-like portion 1121 and the base 110. A first driving component 112a and a first sliding component 112b are provided in the first space V1. The first sliding component 112b includes guide rails and sliders that are adapted to each other. The first driving component 112a is used to drive the plate-like portion 1121 to move in the left and right directions, and the first sliding component 112b is used to guide the plate-like portion 1121 to move in the left and right directions.

[0177] The first sliding member includes a first guide rail 1122 extending left and right and a first guide block 1123 adapted to the first guide rail 1122. The first guide block 1123 is installed on the upper plate surface of the base 110 and the first guide rail 1122 is installed on the lower plate surface of the plate-like portion 1121. When the first driving component 112a drives the plate-like portion 1121 to move left and right, the plate-like portion 1121 is guided to move along the left and right directions through the sliding adaptation of the first guide rail 1122 and the first guide block 1123.

[0178] One embodiment of the first drive assembly 112a is a screw drive. Specifically, the first drive assembly 112a includes a first screw rod 1124, a first nut seat 1125 adapted to the first screw rod 1124, and a first motor (not shown) connected to the first screw rod 1124 via a transmission member. The transmission member can be a belt transmission member or a chain transmission member. The first nut seat 1125 is connected to the upper plate surface of the base 110 and is located between the sliders on the upper plate surface of the base 110. The first screw rod 1124 and the first motor connected thereto are mounted on the lower plate surface of the plate-shaped portion 1121. With this design, the larger first screw rod 1124 and the first motor are placed on the plate-shaped portion 1121, so that the base 110 does not need to be set to a larger size and the motion mechanism 112 can also have a longer extension stroke.

[0179] Of course, the first drive assembly 112a can also be a belt drive, a chain drive, or a gear-rack drive. As long as the drive mode can make the plate-shaped portion 1121 move left and right in both directions, it can be the drive mode of the first drive assembly 112a. Compared with the drive modes such as belt drive, chain drive, or gear-rack drive, the screw drive mode in this embodiment uses a belt-chain transmission method, so that the first motor and the first screw rod 1124 can be arranged in the same direction along the left and right directions, so that the space occupied by the first drive assembly 112a in the front and rear directions is relatively small, which is conducive to the miniaturization design of the machine.

[0180] See also Figure 13 and Figure 14 There is a second space V2 between the upper surface of the plate-shaped portion 1121 and the positioning mechanism 111. A second driving component 112c and a second sliding component 112d are provided in the second space V2. The second sliding component 112d includes guide rails and sliders that are adapted to each other. The second driving component 112c is used to drive the positioning mechanism 111 to move in the left and right directions, and the second sliding component 112d is used to guide the positioning mechanism 111 to move in the left and right directions.

[0181] The second sliding member includes a second guide rail 1126 extending left and right and a second guide block 1127 adapted to the second guide rail 1126. The second guide block 1127 is installed on the positioning mechanism 111. The second guide rail 1126 is installed on the upper plate surface of the plate-like portion 1121. When the second driving component 112c drives the plate-like portion 1121 to move left and right, the plate-like portion 1121 is guided to move along the left and right directions through the sliding adaptation of the second guide rail 1126 and the second guide block 1127.

[0182] The second drive assembly 112c includes a second screw rod 1128, a second nut seat 1129 adapted to fit the second screw rod 1128, and a second motor (not shown) drivenly connected to the second screw rod 1128 via a transmission member (not shown). The second screw rod 1128 is mounted on the upper surface of the plate-shaped portion 1121 via bearing seats (not shown) at both ends and is located between the two second guide rails 1126. The transmission member is a belt transmission member or a chain transmission member. The second motor drives the second screw rod 1128 to rotate via the transmission member. The second nut seat 1129 is adapted to fit the threaded portion of the second screw rod 1128, forming the output end of the second drive assembly 112c. The second nut seat 1129 is connected to the positioning mechanism 111. When the second motor drives the second screw rod 1128 to rotate, the second nut seat 1129 drives the positioning mechanism 111 to move in the left-right direction.

[0183] By installing the first guide rail 1122 and the first motor on the lower surface of the plate-like portion 1121, and installing the second guide rail 1126 and the second motor on the upper surface of the plate-like portion 1121, components with a larger length dimension are installed on the plate-like portion 1121, so that the positioning mechanism 111 and the base 110 can be miniaturized in the length direction.

[0184] Of course, in other embodiments, according to the requirements of the extension stroke, the number of plate-like portions 1121 can be multiple, for example, the number of plate-like portions 1121 is two, three or more (not shown), and a third space is formed between the two upper and lower adjacent plate-like portions 1121. A third sliding assembly and a third driving assembly are arranged in the third space. The arrangement of the third sliding assembly refers to the corresponding structure of the first and second sliding assemblies 112d, and the arrangement of the third driving assembly refers to the corresponding structure of the first and second driving assemblies 112c, which will not be repeated here.

[0185] See also Figure 13 and Figure 14The positioning mechanism 111 includes a base plate 1110 connected to the second nut seat 1129. Two clamping plates 1111 are disposed above the base plate 1110. In this embodiment, each of the two clamping plates 1111 is movable relative to the other in a forward and backward direction to increase or decrease the clamping space between the two clamping plates 1111. The two clamping plates 1111 are connected to a synchronous drive mechanism (not shown), which allows the two clamping plates 1111 to simultaneously move toward each other to position and clamp the brick 5, or simultaneously move away from each other to release the brick 5. The synchronous movement of the two clamping plates 1111 can position the third coordinate O3 of the brick 5 on the same vertical plane extending horizontally. Of course, in other embodiments, one of the two splints 1111 is a fixed splint 1111, and the other is a movable splint 1111. The movable splint 1111 moves close to the fixed splint 1111 to position the brick 5, and the movable splint 1111 moves away from the fixed splint 1111 to release the brick 5.

[0186] See also Figures 6 to 12 The slurry spreading mechanism 12 includes a first mounting frame 12b mounted on the support mechanism 10 and a hopper 12a mounted on the first mounting frame 12b via a first pivot mechanism 12c. A slurry spreading end 121 is formed at the lower end of the hopper 12a, and a first rotation axis R1 of the first pivot mechanism 12c extends forward and backward.

[0187] See also Figure 6 、 Figure 7 and Figure 8 The lower end of the first mounting frame 12b includes a horizontal frame 124. The horizontal frame 124 is U-shaped, forming an opening that allows access to the base 110. The horizontal frame 124 includes a central portion 1241 extending horizontally and two extension arms 1242 located on either side of the central portion 1241. Each extension arm 1242 extends in the front-to-back direction. The central portion 1241 is located on one side of the base 110 in the front-to-back direction. The base 110 is located between the two extension arms 1242 in the left-to-right direction. Each extension arm 1242 has a sliding adapter 1243 at its lower end to accommodate the first guide member 101.

[0188] See also Figure 8 、 Figure 9 and Figure 11The first mounting frame 12b further includes a first vertical frame 125, a transverse drive mechanism 126 fixed to the fixed upper end 125b of the first vertical frame 125, and a first lifting mechanism 127127 connected to the output end of the transverse drive mechanism 126. The fixed lower end 125a of the first vertical frame 125 is mounted to the middle portion 1241, allowing the vertical frame to move forward and backward along the first guide member 101. The hopper 12a is mounted to the output end of the transverse drive mechanism 126 via the first lifting mechanism 127, allowing the hopper 12a to move left and right. The hopper 12a is pivotally connected to the output end of the first lifting mechanism 127 via a first pivot mechanism 12c, allowing the hopper 12a to move up and down and swing up and down along the first rotation axis R1.

[0189] See also Figure 11 and Figure 12 The output end of the first lifting mechanism 127 is configured as a lifting seat, which includes a rear plate 1271. The rear plate 1271 is connected to the lifting drive unit of the first lifting mechanism 127. The lifting drive unit can drive the lifting seat to move up and down under the drive of the motor. The lifting seat includes a front plate 1272 opposite the rear plate 1271. The front plate 1272 is connected to the hopper 12a via a first pivot mechanism 12c. The front plate 1272 and the rear plate 1271 are connected by two side plates 1273, so that the front plate, the back plate, and the two side plates 1273 form an enclosed cavity 1274.

[0190] See also Figure 11 and Figure 12 The first pivot mechanism 12c includes a vertically disposed first plate 128a, a second plate 128b extending perpendicularly from the first plate 128a, and a first pivot motor 129. The first pivot motor 129 is disposed within an enclosed cavity 1274. The output portion of the first pivot motor 129 extends from the front plate out of the enclosed cavity 1274 and is rotatably connected to the first plate 128a. The output portion of the first pivot motor 129 forms a first rotation axis R1. The second plate 128b has a fixing hole 1280 for mounting the hopper 12a.

[0191] See also Figure 11 and Figure 12The upper end of the hopper 12a has a feed pipe 122, which passes through the fixing hole 1280 and is fixed therein. The lower end of the feed pipe 122 is connected to a silo 123, and the lower end of the silo 123 has a slurry working end 121. The slurry working end 121 includes a longitudinally extending discharge port 1211 and a scraper 1212 installed on one of the long edges of the discharge port 1211. The width of the silo 123 is gradually reduced from top to bottom, thereby maintaining the slurry discharge pressure of the discharge port 1211. When the discharge port 1211 is slurried on the surface of the brick 5, the scraper 1212 scrapes the slurry evenly so that a uniform slurry layer 53 is formed on the surface of the brick 5.

[0192] For further information, see Figure 11 and Figure 12 The slurry spreading mechanism 12 also includes an adapter portion 12d. The adapter plate includes a curved pipe 12d1 and a valve 12d2 that controls the opening and closing of the curved pipe 12d1. One end of the curved pipe 12d1 is connected to an external slurry supply mechanism, and the other end of the curved pipe 12d1 is connected to a feed pipe 122 via a slurry delivery pipe (not shown). The external slurry supply mechanism provides slurry, which passes through the curved pipe 12d1 and the delivery pipe and enters the feed pipe 122. After entering the feed pipe 122, the slurry flows downward into the silo 123 and is output from the discharge port 1211 to the surface of the brick 5, completing the process of supplying slurry to the surface of the brick 5. When it is necessary to stop the slurry delivery, the valve 12d2 closes the curved pipe 12d1, cutting off the slurry delivery.

[0193] For further information, see Figure 11 and Figure 12 The slurry spreading mechanism 12 includes a rotation mechanism 12e, which is provided on the second plate 128b. The output end of the rotation mechanism 12e is driven to connect to the hopper 12a. The hopper 12a can rotate 180 degrees along the rotation axis A of the fixing hole 1280, so that the scraper 1212 can face left or right, thereby flexibly adjusting the slurry spreading direction. Figure 12 In this embodiment, the output end of the rotation mechanism 12e is constructed as a driving gear 12e1, which is connected to a motor drive (not shown). The driving gear 12e1 rotates and drives the driven gear 12e2 installed on the hopper 12a, so that the hopper 12a can achieve 180° rotation about the rotation axis A of the fixed hole 1280.

[0194] See also Figure 15 and Figure 16The flip mechanism 13 includes a second mounting frame 13a and a flipping manipulator 13b. The second mounting frame 13a includes a second vertical frame 131 and a second lifting mechanism 132 mounted on the second vertical frame 131. The flipping manipulator 13b is connected to the second lifting mechanism 132 via a second pivot mechanism 13c. The second rotation axis R2 of the second pivot mechanism 13c is parallel to the first rotation axis R1 of the first pivot mechanism 12c. The lifting and lowering of the second lifting mechanism 132 and the rotation of the second pivot mechanism 13c allow the flipping manipulator 13b to be raised and lowered and flipped 180 degrees up and down along the second rotation axis R2.

[0195] The second lifting mechanism 132 is driven by a screw drive, a belt drive, or a gear drive. As long as it can realize the lifting and lowering of the flip robot 13b, it belongs to the second lifting mechanism 132 of the present invention.

[0196] See also Figure 15 and Figure 16 The second pivot mechanism 13c includes a rotating part 133 and a second pivot motor 134 that drives the rotating part 133. The rotating part 133 rotates back and forth to connect the second lifting mechanism 132 and the flipping robot 13b. The rotating part 133 can be a rotating bearing, a satellite gear mechanism, or a belt rotating mechanism. The rotating part 133 is rotated and driven by the second pivot motor 134, and the flipping robot 13b can be flipped up and down relative to the second lifting mechanism 132.

[0197] See also Figure 15 and Figure 16 The flipping robot 13b includes a connecting base 135 connected to the rotating portion 133, a hand body 136 extending from the connecting base 135 in the front-to-back direction, and two clamping portions 137 spaced apart in the front-to-back direction. At least one of the two clamping portions 137 is movable in the front-to-back direction. In this embodiment, the two clamping portions 137 are movable relative to a vertically extending centerline, moving away from each other to release the brick 5 or moving closer to each other to pick up and position the brick 5.

[0198] Flipping robot 13b is used to pick up the plastered brick 5 from the second position P2 and then flip it 180° along the front-to-back axis, placing the plastered surface of the brick 5 facing downward and the unplastered surface of the brick 5 facing downward. To ensure a relatively short picking stroke for flipping robot 13b, second position P2 is located vertically below flipping robot 13b. That is, the coordinate value of the first coordinate O1 of second position P2 is (X2, Y2), which overlaps with the second coordinate O2 of flipping robot 13b on the horizontal plane.

[0199] See also Figure 9 and Figure 10This is an implementation of the position detection device 14 of this embodiment. The position detection device 14 includes a mounting portion 141 mounted on a first vertical frame 125. One end of a carrier 142 is rotatably connected to the mounting portion 141 via a first servo 143. The other end of the carrier 142 is rotatably connected to a detection sensor 145 via a second servo 144. The first servo 143 causes the carrier 142 to rotate up and down relative to the mounting portion 141 along an axis extending in the X direction. The axis of the second servo 144 is perpendicular to the axis of the first servo 143, thereby causing the detection sensor 145 to rotate left and right. When the position detection device 14 needs to detect the offset value d of the brick 5 at the first position P1, the first servo 143 drives the carrier 142 to tilt downward, placing the brick 5 within the detection range of the detection sensor 145. The second servo 144 then aligns the detection end of the detection sensor 145 with the side of the brick 5. The position detection device 14 of this embodiment can detect the offset value d of the brick 5 at the first position P1 corresponding to both sides. When the brick 5 is transported, the first steering gear 143 drives the carrier 142 to flip upward to make way for the transport path of the brick 5.

[0200] Furthermore, the detection sensor 145 can be a laser ranging sensor, a camera detection sensor 145 and a proximity switch detection sensor 145. Preferably, the detection sensor 145 of this embodiment is a laser ranging sensor, which emits a laser toward the side of the brick 5 at the first position P1 through the detection end. The side of the brick 5 reflects the laser. The detection end can know the actual distance D2 from the detection end to the side of the brick 5 based on the received reflected laser. The actual coordinate value of the side of the brick 5 can be obtained based on the actual distance D2. The ideal coordinate value of the side of the brick 5 at the first position P1 in the ideal state is the ideal distance D1 from the detection end. By comparing the actual distance D2 with the ideal distance D1, the offset distance d of the brick 5 can be known.

[0201] See also Figure 1 and Figure 2 In this embodiment, the first vertical frame 125 of the slurry mechanism 12 is installed on the rear side of the moving platform 11, and the second vertical frame 131 of the flipping mechanism 13 is installed on the front side of the moving platform 11, so that the flipping mechanism 13 is closer to the bricklaying mechanism 3, thereby reducing the transportation stroke of the bricklaying mechanism 3 and speeding up the bricklaying rhythm.

[0202] See also Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The brick supply assembly 1 has a storage state and a working state. Figure 4 and Figure 5When the brick supply assembly 1 is in the storage state, the first vertical frame 125 is located within the configuration edge of the support mechanism 10, which is conducive to miniaturization of the bricklaying system 100 and is conducive to passing through door frames or narrow passages in indoor scenes. Figure 2 and Figure 3 When the brick supply assembly 1 is in working condition, the slurry spreading mechanism 12 moves backward beyond the rear configuration edge of the support mechanism 10, the slurry spreading operation end 121 is located on the first vertical plane Y1 extending left and right, and the flipping manipulator 13b is located on the second vertical plane extending left and right, and the first vertical plane Y1 is parallel to and spaced apart from the rear side of the second vertical plane.

[0203] Further, see Figure 4 The slurry operation end 121, the positioning mechanism 111 and the flip manipulator 13b in the storage state are all located on the second vertical plane, which is conducive to the miniaturization of the brick supply assembly 1 in the front and rear directions in the storage state.

[0204] See also Figure 2 、 Figure 3 and Figure 24 When the brick supply assembly 1 is in operation, the screed mechanism 12 is driven rearward and away from the screed mechanism 12. At this point, the first vertical frame 125 of the screed mechanism 12 is located outside the configuration dimensions of the mobile chassis 2. The screed operation end 121 moves rearward to the first vertical plane Y1. The flip mechanism 13 is stationary in the front-to-back direction, and the flipping manipulator 13b is located on the second vertical plane. The screed mechanism 12 and the flipping mechanism 13 are spaced apart and do not overlap along the front-to-back direction, as projected onto the horizontal plane. This allows the hopper 12a to move left and right without hindrance under the drive of the transverse drive mechanism 126, and the flipping manipulator 13b to flip up and down without hindrance under the drive of the second pivot mechanism 13c.

[0205] The front and rear driving members drive the base 110, so that the moving platform 11 moves forward and backward along the second guide member 102 in the front and rear directions, moves backward to the first vertical plane Y1 to complete the brick mortaring, and moves forward to the second vertical plane to transfer the mortared bricks 5 to the flipping robot 13b.

[0206] For more details, see Figure 3 、 Figure 13 、 Figure 17 and Figure 24 The base 110 drives the positioning mechanism 111 along the second guide 102 to move to the first vertical plane Y1. The motion mechanism 112 drives the positioning mechanism 111 leftward or rightward along the second vertical plane to a first position P1. At the first position P1, the positioning mechanism 111 receives bricks 5 from the outside. The first coordinate O1 at the first position P1 is fixed at (X1, Y1), which facilitates the operation rhythm of brick loading of the brick supply assembly 1 and simplifies the control strategy.

[0207] Since the smearing mechanism 12 moves backward, the first vertical plane Y1 and the second vertical plane Y2 are spaced apart, so that when the moving platform 11 moves to the first vertical plane Y1, the positioning mechanism 111 can move left and right under the drive of the moving mechanism 112 without affecting the flipping of the brick 5 by the flipping robot 13b, so that the first position P1 of the positioning mechanism 111 can be set on either side of the left and right direction, increasing the flexibility of laying bricks in the working space S, especially in some narrow working spaces S with blind spots.

[0208] See also Figure 24 , viewed from top to bottom, the first position P1 is located on either side of the slurry working end 121 in the Y direction. Specifically, when the positioning mechanism 111 moves to the left, the first position P1 is located on the left side of the vertical projection of the slurry working end 121. When the positioning mechanism 111 moves to the right, the first position P1 is located on the right side of the vertical projection of the slurry working end 121.

[0209] See also Figure 17 、 Figure 18 、 Figure 19 and Figure 24 When the positioning mechanism 111 receives the brick 5 at the first position P1, the clamping plates 1111 of the positioning mechanism 111 are in an open state to maintain sufficient space to receive the brick 5. When the brick 5 is placed between the two clamping plates 1111, the two clamping plates 1111 clamp the brick 5 inward to position it. In this embodiment, the two clamping plates 1111 move synchronously, so that the Y coordinate of the third coordinate O3 at the first position P1 remains on the same vertical plane. When the control module 4 controls the movement of the brick 5 from the first position P1, the third coordinate O3 of the brick 5 forms a fixed coordinate value in the Y direction, which helps to simplify the control strategy and increase positioning accuracy. In this embodiment, the Y coordinate of the brick 5 is located on the first vertical plane Y1, thereby ensuring that the brick 5 and the slurry operation end 121 are located on the first vertical plane Y1, which facilitates the slurry operation end 121 to align the brick 5 for slurrying.

[0210] See also Figures 17 to 31 After the positioning mechanism 111 receives the brick 5 at the first position P1, the smearing mechanism 12 smears the brick 5 during the process of moving from the first position P1 toward the second position P2. The smearing mechanism 12 smears the brick 5 laterally and horizontally. Optionally, the order of side smearing and horizontal smearing can be reversed.

[0211] One operating mode of the grouting mechanism 12 is to first grout the downstream side surface 52 of the brick 5 and then perform horizontal grouting on the upper surface of the brick 5. The working mode is as follows.

[0212] See also Figure 17 and Figure 18 The positioning mechanism 111 carries the brick 5 from the first position P1 along the second vertical surface toward the slurry operation end 121 to a third position P3. The side of the brick 5 at the third position P3 is aligned with the slurry operation end 121. The slurry operation end 121 slurries the side of the brick 5 at the third position P3 from bottom to top. Figure 18 , the positioning mechanism 111 stops at the third position P3 under the braking of the motion mechanism 112, and the slurry operation end 121 moves from bottom to top relative to the stationary brick 5 under the drive of the first lifting mechanism 127, and the discharge port 1211 applies the slurry to the side of the brick 5, and the scraper 1212 scrapes the slurry from bottom to top on the side of the brick 5. By using the first side slurrying method, the brick 5 is stopped at the third position P3. In the slurrying mechanism 12 and the motion platform 11, the control module 4 only controls the drive of the first lifting mechanism 127, which is conducive to the simplification of the control strategy; the second side slurrying method is: the positioning mechanism 111 is at the third position P3 is still in a state of motion, and the slurry operation end 121 keeps moving synchronously with the brick 5 along the left and right directions under the drive of the horizontal drive mechanism 126. Under the premise of synchronous movement along the left and right directions, the slurry operation end 121 moves from bottom to top relative to the brick 5 through the drive of the first lifting mechanism 127. The discharge port 1211 applies the slurry to the side of the brick 5, and the scraper 1212 scrapes the slurry from bottom to top on the side of the brick 5. By using the second side slurrying method, the brick 5 can be slurried while being transported. The brick 5 is transported without a pause, which speeds up the rhythm of brick supply and helps save time costs.

[0213] See also Figure 19 and Figure 20After the slurry operation end 121 completes slurrying on the side of the brick 5, the brick 5 moves away from the slurry operation end 121 along the second vertical plane, and the slurry operation end 121 horizontally slurries the upper surface of the brick 5 along the left and right directions. Optionally, the first horizontal slurrying method is: the positioning mechanism 111 keeps the moving brick 5 stationary, the slurry operation end 121 moves relative to the stationary brick 5 along the second vertical plane under the drive of the transverse drive mechanism 126, the discharge port 1211 applies slurry to the upper surface of the brick 5, and the scraper 1212 flattens the slurry on the upper surface of the brick 5. Through the first horizontal slurrying method, in both the slurrying mechanism 12 and the moving platform 11, the control module 4 only controls the transverse drive mechanism 126, and the control strategy is relatively simple; the second horizontal slurrying method is: the slurry operation end 121 keeps stationary The upper surface of the brick 5 moves along the second vertical plane relative to the slurry spreading mechanism 12, the discharge port 1211 applies slurry to the upper surface of the brick 5, and the scraper 1212 flattens the slurry on the upper surface of the brick 5. Through the second horizontal slurry spreading method, among the slurry spreading mechanism 12 and the moving platform 11, the control module 4 only controls the moving platform 11. The control strategy is relatively simple, and horizontal slurry spreading can be achieved while transporting the brick 5, thereby reducing the pause time of the moving platform 11, thereby shortening the transportation time of the brick 5, and thus speeding up the brick supply rhythm; the third horizontal slurry spreading method is: as shown in FIG. Figure 19 As shown, the brick 5 moves along the second vertical plane in a direction away from the slurry operation end 121, and the slurry operation end 121 moves along the second vertical plane under the drive of the horizontal drive mechanism 126. The moving direction of the slurry operation end 121 is opposite to the moving direction of the brick 5. In the process of the two moving relative to each other, the discharge port 1211 applies slurry to the upper surface of the brick 5, and the scraper 1212 flattens the slurry on the upper surface of the brick 5. By using the third horizontal slurrying method, compared with the first horizontal slurrying method, In the third horizontal grouting method, the lateral movement path of the grouting operation end 121 is shorter, and correspondingly, the length of the lateral movement mechanism can be relatively small. Compared with the second horizontal grouting method, the lateral movement path of the brick 5 in the third horizontal grouting method is relatively short, so that the length of the plate-like portion 1121 can be set relatively small. At the same time, in the third horizontal grouting method, the lateral movement distance of the grouting operation end 121 is L1, and the lateral movement distance of the brick 5 is L2. The sum of L1 plus L2 is equal to the length of the brick 5.

[0214] See also Figures 17 to 20An embodiment of the third horizontal grouting method is as follows: the initial position of the grouting operating end 121 is located in the middle of the transverse drive mechanism 126. When the first position P1 is on the left, the first lifting mechanism 127 and the grouting operating end 121 connected thereto are located to the right of the first position P1, and the scraper 1212 is positioned toward the left brick 5. The brick 5 moves rightward from the first position P1 toward the grouting operating end 121. The first lifting mechanism drives the grouting operating end 121 to grout the sides of the brick 5 from bottom to top. The transverse drive mechanism 126 drives the grouting operating end 121 to the left while the brick 5 moves rightward to complete the horizontal grouting of the upper surface of the brick 5. Conversely, when the first position P1 is on the right, the first lifting mechanism 127 and the grouting operating end 121 connected thereto are located to the left of the first position P1, and the scraper 1212 is positioned toward the right brick 5. The brick 5 moves from the first position P1 to the left toward the mortar spreading end 121. The first lifting drive mechanism drives the mortar spreading end 121 to spread mortar on the side of the brick 5 from bottom to top. The transverse drive mechanism 126 drives the mortar spreading end 121 to the right while the brick 5 moves to the left to complete the horizontal mortar spreading of the upper surface of the brick 5. By arranging the first lifting mechanism 127 and the hopper 12a connected thereto in the middle position of the transverse movement mechanism, the hopper 12a can spread mortar to the left and right sides through the rotation mechanism 12e, thereby allowing the transverse drive mechanism 126 to drive the hopper 12a to spread mortar to the left and right sides while eliminating the need to set the length of the transverse drive mechanism 126 to be twice the length of the brick 5. At the same time, the movement stroke of the brick 5 along the first vertical plane Y1 can be shortened, which is conducive to miniaturization of the mortar spreading mechanism 12 while shortening the mortar spreading operation and saving time and cost.

[0215] Please participate Figures 28 to 31 Another operating mode of the grouting mechanism 12 is: first horizontally grout the upper surface of the brick 5, and then grout the upstream side 51 of the brick 5. The horizontal grouting can be selected from the three horizontal grouting methods mentioned above, and the side grouting method is the same as the two side grouting methods mentioned above, which will not be repeated here.

[0216] See also Figure 20 and Figure 26After the grouting mechanism 12 completes the grouting operation on the brick 5, the drive assembly drives the base 110 to move forward to the second vertical plane. If the X-axis coordinate of the third coordinate of the brick 5 after the grouting is completed on the first vertical plane Y1 is aligned with the X-axis coordinate of the second coordinate along the front-to-back direction, the motion mechanism 112 does not operate during the forward movement of the base 110, so that the brick 5 only moves backward along the front-to-back direction to the second position P2; if the X-axis coordinate of the third coordinate O3 of the brick 5 after the grouting is completed on the first vertical plane Y1 is offset to the left or right by a certain distance along the front-to-back direction from the X-axis coordinate of the second coordinate O2, the motion mechanism 112 drives the brick 5 to move left or right accordingly while the base 110 moves forward, so that the third coordinate O3 of the brick 5 overlaps with the second coordinate O2.

[0217] When the brick 5 moves to the second position P2 after the grouting is completed, the second lifting mechanism 132 drives the flipping manipulator 13b downward, and the two clamping parts 137 of the flipping manipulator 13b clamp the brick 5 to complete the picking action. The second lifting drive mechanism drives the flipping manipulator 13b upward so that the brick 5 has space to flip up and down. The flipping manipulator 13b flips 180° under the drive of the second pivot mechanism 13c, so that the horizontal grouting surface of the brick 5 faces downward, and the horizontal non-grouting surface of the brick 5 faces upward. Since the side grouting can be optionally applied to the upstream side 51 or the downstream side 52 of the brick 5, the brick 5 can face the left or the right after flipping 180°.

[0218] After the flipping robot 13b flips the brick 5 up and down 180°, the bricklaying mechanism 3 picks up the non-mortared surface of the brick 5 downward, and sticks the horizontal mortared surface of the brick 5 downward to the horizontal placement surface of the wall construction position. According to the different orientations of the side of the brick along the left and right directions, the bricklaying mechanism 3 can realize bricklaying to the left or right, and stick the side mortared surface of the brick to the vertical placement surface of the wall W to be built.

[0219] In the brick supply assembly 1 in this embodiment, the turning mechanism 13 is fixed, and the slurry spreading mechanism 12 is movably arranged along the front-back direction.

[0220] See also Figure 1 and Figure 5 The mobile chassis 2 includes a main frame 20. The configuration of the main frame 20 observed from top to bottom has a predetermined length and width. The predetermined length and width of the main frame 20 can allow the mobile chassis 2 to pass through scenes with predetermined sizes, such as narrow passages and entrances in indoor venues. In this embodiment, the configuration of the main frame 20 observed from top to bottom is rectangular, but in other embodiments, the configuration can be trapezoidal, concave, or triangular, etc., and the corresponding configuration can be selected according to actual needs. Furthermore, the four corners of the main frame 20 are rounded to prevent sharp corners from scratching operators or other objects.

[0221] See also Figure 1 、 Figure 3 and Figure 5 The main frame 20 includes an upper mounting surface 21 and a lower mounting surface (not shown), as well as a plurality of wheel sets 22. The electric control cabinet is installed in the rear area of ​​the upper mounting surface 21, and the edge of the electric control cabinet does not exceed the edge of the upper mounting surface 21. The bricklaying mechanism 3 is installed in the front area of ​​the upper mounting surface 21. A plurality of wheel sets 22 are installed on the lower mounting surface. In this embodiment, there are four wheel sets 22, but the present invention is not limited to four wheel sets 22. It can be any other number as long as the self-movement function of the chassis mechanism can be realized. In this embodiment, the wheel set 22 is a steering wheel, which can realize the functions of automatic rotation and automatic displacement. A liftable support leg 23 is installed on the main frame 20. When it moves to the corresponding bricklaying station, the support leg 23 is lowered to abut the ground.

[0222] See also Figure 1 The bricklaying mechanism 3 includes a column 30, a robotic arm 31 connected to the column 30, and a robotic claw 32 connected to the robotic arm 31. The column 30 is mounted on the front area of ​​the mobile chassis 2. The robotic arm 31 extends between a proximal end 311 and a distal end 314. The proximal end 311 of the robotic arm 31 is fixedly mounted on the column 30, and the robotic claw 32 is connected to the distal end 314 of the robotic arm 31. The column 30 in this embodiment is a lifting column. The column 30 can drive the robotic arm 31 to move in the vertical direction. The robotic arm 31 is a horizontal joint 313 robotic arm 31. The robotic arm 31 includes a plurality of connecting rods 312 and a plurality of joints 313. Each joint 313 is provided with a brake. The brake controls the rotation and stopping of the joint 313 to form the plurality of connecting rods 312 into different angles, thereby allowing the robotic arm 31 to form different postures. The robotic arm 31 swings back and forth around the column 30 to move between a brick picking position and a masonry position. The robotic claw 32 at the picking position picks up the flipped bricks from the flipping robot 13b, and the robotic claw 32 at the masonry position releases the bricks to the wall W to be built, and sticks the mortar surface of the bricks to the brick surface at the masonry position.

[0223] The column 30 is constructed as a multi-stage lifting column. In this embodiment, the column 30 is a three-stage lifting structure, but the multi-stage lifting of the present invention is not limited to three-stage lifting. It can also be two-stage lifting, four-stage lifting, or other levels of lifting, as long as it can cover the masonry height.

[0224] See also Figure 1The column 30 includes a fixed bracket 301, a first lifting bracket 302 slidably connected to the fixed bracket 301, a second lifting bracket 303 slidably connected to the first-level lifting bracket, and a third lifting bracket 304 slidably connected to the second lifting bracket 303. The lower end of the fixed bracket 301 is installed at a position in the front area of ​​the upper mounting surface 21 to form an installation position for the column 30 to be installed on the mobile chassis 2. In this embodiment, in order to increase the masonry range in the left and right directions in the same masonry station, the lower end of the fixed bracket 301 is slidably installed on the upper mounting surface 21 along the left and right directions. The first lifting bracket 302 is lifted and lowered relative to the fixed bracket 301 by a first height driving member (not shown) to form a first-level lifting. The second lifting bracket 303 is lifted and lowered relative to the first lifting bracket 302 by a second height driving member (not shown) to form a second-level lifting. The third lifting bracket 304 is lifted and lowered relative to the second lifting bracket 303 by a third height driving member (not shown) to form a third-level lifting. The third-stage lifting frame is the lifting output end of the column 30 , and the proximal end 311 of the robotic arm 31 is connected to the third-stage lifting frame.

[0225] Preferably, the bricklaying system 100 of this embodiment has a bricklaying method, the steps of which are as follows:

[0226] S1. The control module 4 pre-stores an operation map of the operation space S, the spatial position and spatial dimensions of the wall W to be built, the spatial coordinates corresponding to each brick of each wall W to be built, and the spatial coordinates of multiple masonry sites corresponding to the wall W to be built.

[0227] The work map, the spatial position and spatial dimensions of the wall, the spatial coordinates corresponding to each brick, and the spatial coordinates of multiple masonry sites are all generated by the BIM system.

[0228] S2. Move the mobile chassis 2 to the corresponding masonry site, and lower the supporting legs 23 to contact the ground, so that the mobile chassis 2 is in a horizontal state.

[0229] Before adjusting the horizontal state of the mobile chassis 2, in order to obtain the inclination of the mobile chassis 2 relative to the horizontal plane, an inclination sensor is installed on the mobile chassis 2. After the mobile chassis 2 moves to the corresponding masonry site, the inclination sensor obtains the inclination of the mobile chassis 2 relative to the ground. According to the inclination, the control module 4 controls each adjustment mechanism to adjust the height of the corresponding support leg 23, so that the mobile chassis 2 can form a horizontal state, which is beneficial to the accuracy of bricklaying and thus ensures the quality of bricklaying.

[0230] S3, please refer to Figure 3 、 Figure 5 、 Figure 17 and Figure 24, driving the slurry mechanism 12 backward away from the slurry mechanism 12. At this time, the first vertical frame 125 of the slurry mechanism 12 is located outside the structural dimensions of the mobile chassis 2. The slurry operation end 121 moves backward to a first vertical plane Y1. The flipping manipulator 13b is located on the second vertical plane. At this time, the brick supply assembly 1 is transformed from the storage state to the working state. The positioning mechanism 111 in the working state can move between the first position P1 and the second position P2.

[0231] See also Figure 17 、 Figure 21 、 Figure 24 and Figure 26 The first vertical plane Y1 and the second vertical plane extend in the left-right direction and are arranged parallel to each other with a front-back interval. The first position P1 is located on the first vertical plane Y1. When viewed from top to bottom, Figure 17 and Figure 24 As shown, the coordinate value of the first coordinate O1 of the positioning mechanism 111 at the first position P1 is (X1, Y1), and the first coordinate O1 is located on either side of the slurry operation end 121 along the left and right directions. Figure 21 and Figure 26 As shown, the brick at the second position P2 is located vertically below the flip robot 13b. Furthermore, the coordinate value of the third coordinate O3 of the brick at the second position P2 is (X2, Y2), and the third coordinate O3 of the second position P2 is overlapped with the second coordinate O2.

[0232] The slurry dispensing mechanism 12 can be driven manually by an operator or automatically by an automatic drive element. Optimally, since the displacement of the slurry dispensing mechanism 12 only occurs when it is in the working state or the storage state, and thus the drive requirements are relatively low, the slurry dispensing mechanism 12 is driven manually by an operator in order to reduce the number of drive elements, achieve a compact design, and control manufacturing costs.

[0233] In the process of forming the working state of the bricklaying system 100, when viewed from the back to the front, the column 30 moves to the left away from the flipping mechanism 13, forming a left-right gap between the two, which facilitates the bricklaying robot to swing back and forth, and also makes the transportation path from the picking position to the masonry position relatively small.

[0234] S4 , moving the positioning mechanism 111 to the first position P1 and placing the brick on the positioning mechanism 111 .

[0235] To implement the S4 step, perform the following steps:

[0236] S41, such as Figure 2 As shown, the front and rear driving members drive the base 110 backward from the second vertical plane to the first vertical plane Y1.

[0237] S42, such as Figure 17 and Figure 24 As shown, after the base 110 is located on the first vertical plane Y1, the positioning mechanism 111 is driven by the motion mechanism 112 to move leftward or rightward along the first vertical plane Y1 to the first position P1.

[0238] S43: The outsider places the unpainted bricks on the positioning mechanism 111 at the first position P1.

[0239] The placement method may be that an operator places the bricks on the positioning mechanism 111 , or another brick loading device automatically places the bricks on the positioning mechanism 111 .

[0240] S5, such as Figures 17 to 21 , or as Figures 28 to 31 As shown, after receiving the brick, the positioning mechanism 111 moves from the first position P1 toward the second position P2.

[0241] To implement step S5, follow these steps:

[0242] S51. The two clamping plates 1111 of the positioning mechanism 111 are synchronously clamped inward to position the Y coordinate of the third coordinate O3 of the brick on the first vertical plane Y1.

[0243] S52 , after the positioning mechanism 111 positions and clamps the brick, the position detection device 14 detects the offset value d of the third coordinate Xb of the first position P1 relative to the first coordinate X1 of the first position P1 .

[0244] S53. According to the offset value d, the control module 4 controls the motion mechanism 112 to move a corresponding distance along the X direction, so that the X-axis coordinate of the brick is X2 each time it reaches the second position P2; the front and rear drive members drive the base 110 to drive the positioning mechanism 111 to move from the first vertical plane Y1 to the second vertical plane, that is, the brick moves from the coordinate Y1 of the first position P1 to the coordinate Y2 of the second position P2.

[0245] S6, such as Figures 17 to 21 , or as Figures 28 to 31 As shown, during the process of the brick carrier moving the bricks from the first position P1 to the second position P2, the mortar spreading mechanism 12 spreads mortar on the surface of the bricks.

[0246] When viewed from the back to the front, the first position P1 is on the left side, and the steps of applying mortar to the bricks include the following:

[0247] S61, the control module 4 determines the bricklaying mode, which includes left bricklaying and right bricklaying;

[0248] like Figures 17 to 21As shown, when the bricklaying mode is rightward bricklaying, the surfaces of the bricks to be mortared are the downstream side surface 52 (i.e., the right side surface) of the bricks in the conveying direction and the upper surface of the bricks:

[0249] like Figures 28 to 31 As shown, when the bricklaying mode is leftward bricklaying, the surfaces of the bricks to be mortared are the upstream side surface 51 (i.e., the left side surface) of the bricks in the conveying direction and the upper surface of the bricks:

[0250] Along the left-right direction of the brick, the mortared side and the unmortared side are defined as the first mortared side and the first unmortared side respectively;

[0251] Along the up-down direction of the brick, the troweled horizontal surface and the untroweled horizontal surface are defined as a second troweled surface and a second non-untroweled surface, respectively.

[0252] S62, such as Figure 17 and Figure 18 As shown, when the bricklaying mode is right-hand bricklaying, the first lifting mechanism 127 and the slurry working end 121 connected thereto are driven to the middle position of the lateral driving mechanism 126 by the lateral driving mechanism 126, and the hopper 12a is driven down to the corresponding height by the first lifting driving mechanism, so that the starting position of the slurry working end 121 can cover the lower edge of the downstream side 52 of the brick, and the hopper 12a is swung to the side slurrying posture by the first pivot mechanism 12c. The hopper 12a in the side slurrying posture is tilted to the left from top to bottom and the scraper 1212 is left toward the downstream side 52 of the brick. The hopper 12a forms an angle with the downstream side 52 of the brick, and the angle ranges from 15° to 25°.

[0253] S63, such as Figure 17 and Figure 18 As shown, the moving platform 11 is controlled to transport the brick to the third position P3, where the downstream side surface 52 of the brick is aligned with the screed working end 121, and the brick is in a stationary state in the third position P3.

[0254] S64, such as Figure 18 and Figure 19 As shown, the slurry working end 121 is driven to rise by the first lifting drive mechanism, so that the slurry working end 121 slurries the downstream side surface 52 of the brick from bottom to top, thereby forming a first slurry surface.

[0255] like Figure 19 As shown, after the screeding end 121 completes the side screeding, the first lifting mechanism 127 continues to drive the hopper 12a to rise to a certain distance from the horizontal plane of the bricks between the screeding end 121 and the first lifting mechanism 127. This distance allows the screeding end 121 to not collide with the bricks during the process of the first pivot mechanism 12c driving the hopper 12a to swing to the right to a horizontal screeding posture.

[0256] like Figure 19 As shown, when the hopper 12a swings to the right to the horizontal slurry posture, the moving platform 11 drives the bricks again, and the bricks continue to move to the right along the first vertical plane Y1.

[0257] S65. When the moving platform 11 drives the brick again and the brick moves to the right along the first vertical plane Y1, the transverse driving mechanism 126 drives the hopper 12a to move to the left, and the slurry operation end 121 slurries the upper surface of the brick from right to left in a horizontal slurry posture to form a second slurry surface.

[0258] S66: After the motion mechanism 112 restarts the positioning mechanism 111, it moves from the third position P3 to the second position P2 without stopping. The positioning mechanism 111 is driven rightward by the motion platform 11, and the center of the brick moves rightward to the second position P2 along the left-right coordinate Y2. The base 110 is driven backward by the front-back drive member, causing the brick to move from the first vertical plane Y1 to the second vertical plane, thereby moving the center of the brick to the second position P2 along the front-back coordinate X2.

[0259] Through steps S61 to S66, the mortar spreading operation when laying bricks to the right in the bricklaying mode is completed.

[0260] S62", such as Figure 28 As shown, when the bricklaying mode is left bricklaying, the first lifting mechanism 127 and the slurry working end 121 connected thereto are driven to the middle position of the lateral driving mechanism 126 by the lateral driving mechanism 126, and the hopper 12a is driven to move to the corresponding height by the first lifting driving mechanism, so that the height of the slurry working end 121 is flush with the height of the upper surface of the brick, and the hopper 12a is swung to a horizontal slurry posture by the first pivot mechanism 12c. The hopper 12a in the horizontal slurry posture is tilted to the right from top to bottom and the scraper 1212 is set to the left. The hopper 12a forms an angle with the vertical plane extending front and rear, and the angle range is between 15° and 25°.

[0261] S63", such as Figure 29 and Figure 30 As shown, the moving platform 11 is controlled to transport the brick to the third position P3. The brick moves rightward from the first position P1 to a third position P3 along the first vertical plane Y1. During this process, the brick moves from left to right over the screeding end 121. The transverse drive mechanism 126 drives the screeding end 121 to move from right to left. The brick and the screeding end 121 move relative to each other in opposite directions. The screeding end 121 screeds the upper surface of the brick to form a second screed surface.

[0262] S64", such as Figure 31As shown, the brick at the third position P3 is in a stationary state. The first pivot structure rotates the hopper 12a to a side grouting posture. The first lifting mechanism 127 drives the hopper 12a down until the grouting operation end 121 can cover the lower edge of the downstream side surface 52 of the brick. Then, the first lifting drive mechanism drives the hopper 12a up, so that the grouting operation end 121 grouts the upstream side surface 51 of the brick from bottom to top, thereby forming a first grouting surface.

[0263] S65". After the first screed surface is completed, the positioning mechanism 111 is restarted by the motion mechanism 112, and the brick moves from the third position P3 to the second position P2 without a pause. The positioning mechanism 111 is driven rightward by the motion platform 11, and the brick moves rightward to the second position P2 along the coordinate Y2 in the left-right direction. The base 110 is driven backward by the front and rear drive members, so that the brick moves from the first vertical plane Y1 to the second vertical plane, so that the center of the brick moves to the second position P2 along the coordinate X2 in the front-back direction.

[0264] Through steps S61 and S62"~S65", the mortaring work when laying bricks to the left in the bricklaying mode is completed.

[0265] S7. After the moving platform 11 carries the brick and stops at the second position P2, the flipping mechanism 13 picks up the brick from the moving platform 11 and flips the spatial orientation of the troweled surface and the non-troweled surface.

[0266] When the bricklaying mode is rightward bricklaying, the first mortared surface of the brick reaching the second position P2 faces right, the first non-mortared surface faces left, the second mortared surface faces upward, and the second non-mortared surface faces downward; the flipping robot 13b is driven downward by the second lifting mechanism 132 to pick up the brick, and then the brick is flipped 180° by the second pivot mechanism 13c, so that the first mortared surface faces left, the first non-mortared surface faces right, the second mortared surface faces downward, and the second non-mortared surface faces upward.

[0267] When the bricklaying mode is left-laying, the first mortared surface of the brick reaching the second position P2 faces left, the first non-mortared surface faces left, the second mortared surface faces upward, and the second non-mortared surface faces downward; the flipping robot 13b is driven downward by the second lifting mechanism 132 to pick up the brick, and then the brick is flipped 180° by the second pivot mechanism 13c, so that the first mortared surface faces right, the first non-mortared surface faces left, the second mortared surface faces downward, and the second non-mortared surface faces upward.

[0268] S8. Make the mechanical claw 32 grab the brick toward the non-mortared surface, and then move the brick to the masonry position, and stick the mortared surface at the masonry position to the built wall.

[0269] When the bricklaying mode is right bricklaying, the robot arm 31 swings to the right rear direction so that the robot claw 32 is located at the picking position and the picking space of the robot claw 32 faces the second non-mortared surface to pick up bricks, and then the robot arm 31 swings to the left front so that the robot claw 32 places the bricks at the masonry position, and the first mortared surface at the masonry position sticks to the right to the vertical placement surface of the wall W to be built, and the second mortared surface sticks downward to the horizontal placement surface of the wall W to be built.

[0270] When the bricklaying mode is left bricklaying, the robot arm 31 swings to the right rear direction so that the robot claw 32 is located at the picking position and the picking space of the robot claw 32 faces the second non-mortared surface to pick up the bricks, and then the robot arm 31 swings to the left front so that the robot claw 32 places the bricks at the masonry position, and the first mortared surface at the masonry position sticks to the left to the vertical placement surface of the wall W to be built, and the second mortared surface sticks downward to the horizontal placement surface of the wall W to be built.

[0271] Through steps S1 to S8, the bricklaying system 100 completes the bricklaying operation of placing bricks on the left side. Through steps S3 to S8, the bricklaying system 100 can enable the positioning mechanism 111 to complete the mortaring of bricks during the process of transporting bricks, which can speed up the brick supply rhythm, and can control the different orientations of the mortaring surface according to different bricklaying methods so that the bricklaying system 100 can cover left bricklaying and right bricklaying. The operations of placing bricks, mortaring, flipping bricks and laying bricks are integrated into the bricklaying system 100 to achieve the miniaturization of the system, and can allow the brick supply assembly 1 and the bricklaying mechanism 3 to work simultaneously, thereby speeding up the operation rhythm. Through step S1, systematic automated bricklaying can be achieved, and through step S2, the overall horizontality of the bricklaying system 100 can be improved, which is beneficial to the accuracy of bricklaying.

[0272] In steps S65 and S66, after the brick has resumed its movement from the third position P3, horizontal mortaring is completed as it moves toward the second position P2. To further accelerate the brick supply cycle, the brick moves rightward from the third position P3 until horizontal mortaring is completed, and the X-coordinate of the brick has not yet reached the left-right coordinate X2 of the second position P2. As the base 110 moves the brick forward to the Y-coordinate Y2 of the second coordinate O2 (X2, Y2), the motion stage 11 drives the brick to the right, at the X-coordinate X2 of the second coordinate O2 (X2, Y2). The above control strategy divides the process of the motion mechanism 112 moving from the third position P3 to the second position P2 into two consecutive stages. The first stage is when only the motion mechanism 112 drives the brick rightward. The second stage is when the motion mechanism 112 drives the brick rightward and the base 110 drives the brick forward simultaneously, occurring in the same time period. This reduces the time that the motion mechanism 112 spends driving rightward, thereby accelerating the brick supply cycle.

[0273] In steps S63" and S64", as Figure 23 and Figure 26 As shown, the brick of this embodiment stops at the third position P3 after completing the horizontal mortaring. The Y-axis coordinate of the brick at the third position P3 has not reached the Y-axis coordinate Y2 of the second coordinate O2 (X2, Y2). In the process of the base 110 moving the brick forward to the Y-axis coordinate Y2 of the second coordinate O2 (X2, Y2), the moving platform 11 drives the brick to move rightward to the X-axis coordinate X2 of the second coordinate O2 (X2, Y2), overlapping part of the time when the positioning mechanism 111 moves to the right with the time when the base 110 moves forward, thereby reducing the time for horizontal mortaring and increasing the brick supply rhythm.

[0274] In the above-mentioned step S64 and step S64″, since the slurry operation end 121 slurries the side surfaces in different directions, the scraper 1212 is driven toward the corresponding side surfaces by the rotation mechanism 12e to complete the slurrying of the side surfaces in different directions.

[0275] Viewed from back to front, when the first position P1 is on the right, the bricklaying process is similar to the bricklaying method for the left. Furthermore, the orientation of the brick after mortaring is the same when it is transferred to the second position P2, regardless of the bricklaying mode. The only difference is that the orientation of the first position P1 is different, resulting in the brick's downstream side 52 being on the left, while the brick's upstream side 51 being on the right. When the mortaring mechanism 12 applies mortar to the brick's downstream side 52, the corresponding bricklaying mode is leftward. When the mortaring mechanism 12 applies mortar to the brick's upstream side 51, the corresponding bricklaying mode is rightward.

[0276] In this embodiment, the flipping mechanism 13 is located on the right side of the supporting mechanism 10 when viewed from the back to the front. Therefore, the transportation path of the bricks when the first position P1 is on the left side is smaller than the transportation path when the first position P1 is on the right side. Preferably, the first position P1 is set on the left side.

[0277] Second embodiment

[0278] See also Figure 32 , such as 33 and Figure 34 This is the second embodiment of the present invention. The structures of the mobile chassis 2, bricklaying mechanism 3 and cabinet 40 of the second embodiment are the same as those of the first embodiment. The brick supply assembly 1 of the second embodiment differs from the brick supply assembly 1 of the first embodiment in that:

[0279] The support mechanism 10 of the second embodiment is different from the support mechanism 10 of the first embodiment in that the first guide member 101 is installed at the rear of the flipping mechanism 13 and extends along the front-to-back direction to adapt to the movement of the flipping mechanism 13 along the front-to-back direction, so that the flipping mechanism 13 can move forward away from the moving platform 11 and move backward close to the moving platform 11; the support mechanism 10 of the second embodiment is not provided with a second guide member 102.

[0280] The difference between the moving platform 11 of the second embodiment and the moving platform 11 of the first embodiment is that the base 110 does not have a sliding member and a front and rear driving member that slide along the front and rear directions to adapt to the second guide member 102. The base 110 is fixedly installed on the support mechanism 10, and the first position P1 and the second position P2 of the moving platform 11 are located on the second vertical plane.

[0281] The slurry spreading mechanism 12 of the second embodiment is different from the slurry spreading mechanism 12 of the first embodiment in that there is no horizontal frame 124 at the lower end of the first mounting frame 12b, and the fixed lower end 125a of the first vertical frame 125 is fixedly mounted on the supporting mechanism 10, and the mounting position is located behind the moving platform 11.

[0282] See also Figure 32 , such as 33 and Figure 34 The flipping mechanism 13 of the second embodiment differs from the flipping mechanism 13 of the first embodiment in that the second mounting frame 13a includes a horizontal frame 124 and a second vertical frame 131 extending vertically from the horizontal frame 124. The rearward, horizontally extending portion of the horizontal frame 124 is provided with a sliding adapter 1243 and is slidably connected to the first guide member 101 along the front-to-back direction. The second vertical frame 131, the second lifting mechanism 132 provided thereon, the second pivot mechanism 13c, and the flipping manipulator 13b are identical to those of the first embodiment and are not further described here. After picking up a brick, the flipping manipulator 13b moves forward along the first guide member 101 into the front space. The front space is created by the leftward shift of the column 30, thus forming a space on the front right side of the cabinet 40. The front space is located to the right of the column 30.

[0283] See also Figure 32 , such as 33 and Figure 34 When the bricklaying system 100 of this embodiment is in the stowed state, the mortar spreading mechanism 121, the moving platform 11, and the flipping manipulator 13b are located within the second vertical plane. Viewed from top to bottom, the mortar spreading mechanism 12, the moving platform 11, and the flipping mechanism 13 are located within the dimensions of the mobile chassis 2. Unlike the first embodiment, the flipping mechanism 13 in the stowed state can extend forward beyond the support mechanism 10 into the space in front of the support mechanism 10. This allows for a larger installation space for the flipping mechanism 13 of this embodiment and also achieves overall miniaturization of the bricklaying system 100.

[0284] Preferably, the bricklaying method of the bricklaying system 100 of the second embodiment comprises the following steps:

[0285] S1. The control module 4 pre-stores an operation map of the operation space S, the spatial position and spatial dimensions of the wall W to be built, the spatial coordinates corresponding to each brick of each wall W to be built, and the spatial coordinates of multiple masonry sites corresponding to the wall W to be built.

[0286] The work map, the spatial position and spatial dimensions of the wall, the spatial coordinates corresponding to each brick, and the spatial coordinates of multiple masonry sites are all generated by the BIM system.

[0287] S2. Move the mobile chassis 2 to the corresponding masonry site, and lower the supporting legs 23 to contact the ground, so that the mobile chassis 2 is in a horizontal state.

[0288] Before adjusting the horizontal state of the mobile chassis 2, in order to obtain the inclination of the mobile chassis 2 relative to the horizontal plane, an inclination sensor is installed on the mobile chassis 2. After the mobile chassis 2 moves to the corresponding masonry site, the inclination sensor obtains the inclination of the mobile chassis 2 relative to the ground. According to the inclination, the control module 4 controls each adjustment mechanism to adjust the height of the corresponding support leg 23, so that the mobile chassis 2 can form a horizontal state, which is beneficial to the accuracy of bricklaying and thus ensures the quality of bricklaying.

[0289] S3 . Drive the positioning mechanism 111 through the motion mechanism 112 so that the positioning mechanism 111 moves leftward or rightward along the second vertical plane to the first position P1 , and place the brick on the positioning mechanism 111 .

[0290] S4. After receiving the brick, the positioning mechanism 111 moves from the first position P1 toward the second position P2.

[0291] To implement the S4 step, perform the following steps:

[0292] S41. The two clamping plates 1111 of the positioning mechanism 111 are synchronously clamped inward to position the Y coordinate of the third coordinate O3 of the brick on the second vertical plane.

[0293] S42 , after the positioning mechanism 111 positions and clamps the brick, the position detection device 14 detects the offset value d of the third coordinate Xb of the first position P1 relative to the first coordinate X1 of the first position P1 .

[0294] S43. Drive the positioning mechanism 111 to move from the first position P1 to the second position P2 along the second vertical plane through the motion mechanism 112. According to the offset value d, the control module 4 controls the motion mechanism 112 to move a corresponding distance along the X direction, so that the X-axis coordinate of the brick is X2 every time it reaches the second position P2.

[0295] S5. When the brick carrier moves the bricks from the first position P1 to the second position P2, the mortar spreading mechanism 12 spreads mortar on the surface of the bricks.

[0296] From the perspective of back to front, the first position P1 is on the left side. The steps of mortaring the bricks include the following:

[0297] S51, the control module 4 determines the bricklaying mode, which includes left bricklaying and right bricklaying;

[0298] When the bricklaying mode is rightward bricklaying, the surfaces of the bricks to be mortared are the downstream side surface 52 (i.e. the right side) of the bricks in the conveying direction and the upper surface of the bricks:

[0299] When the bricklaying mode is leftward bricklaying, the surfaces of the bricks to be mortared are the upstream side surface 51 (i.e., the left side) of the bricks in the conveying direction and the upper surface of the bricks:

[0300] Along the left-right direction of the brick, the mortared side and the unmortared side are defined as the first mortared side and the first unmortared side respectively;

[0301] Along the up-down direction of the brick, the troweled horizontal surface and the untroweled horizontal surface are defined as a second troweled surface and a second non-untroweled surface, respectively.

[0302] S52. When the bricklaying mode is right-hand bricklaying, the first lifting mechanism 127 and the slurry working end 121 connected thereto are driven to the middle position of the lateral driving mechanism 126 through the lateral driving mechanism 126, and the hopper 12a is driven down to the corresponding height through the first lifting driving mechanism, so that the starting position of the slurry working end 121 can cover the lower edge of the downstream side 52 of the brick, and the hopper 12a is swung to the side slurrying posture through the first pivot mechanism 12c. The hopper 12a in the side slurrying posture is tilted to the left from top to bottom and the scraper 1212 is left toward the downstream side 52 of the brick. The hopper 12a forms an angle with the downstream side 52 of the brick, and the angle ranges from 15° to 25°.

[0303] S53, the positioning mechanism 111 is driven by the motion mechanism 112, and the brick moves rightward from the first position P1 to the third position P3 along the second vertical plane. The brick is in a stationary state in the third position P3;

[0304] S54, driving the hopper 12a upward by the first lifting drive mechanism, so that the slurry operation end 121 slurries the downstream side surface 52 of the brick from bottom to top, thereby forming a first slurry surface;

[0305] After the screeding end 121 has finished screeding the side, the first lifting mechanism 127 continues to drive the hopper 12a upward until the screeding end 121 is a certain distance away from the horizontal surface of the brick. This distance allows the screeding end 121 to avoid colliding with the bricks when the first pivot mechanism 12c drives the hopper 12a to swing rightward to a horizontal screeding posture.

[0306] When the hopper 12a swings rightward to a horizontal slurry spreading posture, the movement mechanism 112 restarts the positioning mechanism 111, and the bricks move rightward along the second vertical plane.

[0307] S55. When the movement mechanism 112 restarts the positioning mechanism 111 and the brick moves to the right along the second vertical plane, the transverse drive mechanism 126 drives the hopper 12a to move leftward, and the slurry operation end 121 slurries the upper surface of the brick from right to left in a horizontal slurrying posture to form a second slurry surface.

[0308] S56: After the motion mechanism 112 restarts the positioning mechanism 111, it moves from the third position P3 to the second position P2 without stopping. The positioning mechanism 111 is driven rightward by the motion platform 11, and the center of the brick moves rightward to the second position P2 along the left-right coordinate Y2.

[0309] Through steps S51 to S56, the mortar spreading operation when laying bricks to the right in the bricklaying mode is completed.

[0310] S52". When the bricklaying mode is left bricklaying, the first lifting mechanism 127 and the slurry working end 121 connected thereto are driven to the middle position of the lateral driving mechanism 126 by the lateral driving mechanism 126, and the hopper 12a is driven to descend to a corresponding height by the first lifting driving mechanism so that the height of the slurry working end 121 is flush with the height of the upper surface of the brick, and the hopper 12a is swung to a horizontal slurrying posture by the first pivoting mechanism 12c. In the horizontal slurrying posture, the hopper 12a is tilted to the right from top to bottom and the scraper 1212 is set to the left. The hopper 12a forms an angle with the vertical plane extending front and rear, and the angle range is between 15° and 25°.

[0311] S53″, the positioning mechanism 111 is driven by the motion mechanism 112, and the brick moves rightward from the first position P1 to a third position P3 along the second vertical plane. The downstream side surface 52 of the brick at the third position P3 passes over the slurry operation end 121 to the right. During the movement from the first position P1 to the third position P3, the transverse drive mechanism 126 drives the slurry operation end 121 to move leftward, slurrying the upper surface of the brick from right to left, thereby forming a second slurry surface;

[0312] S54", the brick at the third position P3 is in a stationary state. The first pivot structure and the hopper 12a are rotated to a side smearing posture. The rotation mechanism 12e rotates the hopper 12a so that the scraper 1212 is set to the right, toward the downstream side 52 of the brick. The first lifting mechanism 127 drives the hopper 12a down until the smearing operation end 121 can cover the lower edge of the downstream side 52 of the brick. Then, the first lifting drive mechanism drives the hopper 12a up, so that the smearing operation end 121 smears the smearing on the downstream side 52 of the brick from bottom to top, thereby forming a first smearing surface.

[0313] S55”, after the first screed surface is completed, the positioning mechanism 111 is restarted by the motion mechanism 112, and moves from the third position P3 to the second position P2 without a pause. The positioning mechanism 111 is driven rightward by the motion platform 11, and the third coordinate O3 of the brick moves rightward to the coordinate X2 of the second coordinate O2 along the left-right direction.

[0314] Through steps S51 and S52"~S55", the mortar spreading operation when laying bricks to the left in the bricklaying mode is completed.

[0315] S6,Fig. Figure 33 and Figure 34 As shown, after the moving platform 11 carries the brick and stops at the second position P2, the flipping mechanism 13 picks up the brick from the moving platform 11, moves forward to the front space and flips the spatial orientation of the troweled surface and the non-troweled surface.

[0316] When the bricklaying mode is rightward bricklaying, the first mortared surface of the brick reaching the second position P2 faces right, the first non-mortared surface faces left, the second mortared surface faces upward, and the second non-mortared surface faces downward; the flipping robot 13b is driven downward by the second lifting mechanism 132 to pick up the brick; the flipping mechanism 13 is driven to move forward to a third vertical plane in the front space, and the third vertical plane is parallel to the second vertical plane; then the brick is flipped 180° on the second vertical plane by the second pivot mechanism 13c, so that the first mortared surface faces left, the first non-mortared surface faces right, the second mortared surface faces downward, and the second non-mortared surface faces upward.

[0317] When the bricklaying mode is left-laying, the first mortared surface of the brick reaching the second position P2 faces left, the first non-mortared surface faces left, the second mortared surface faces upward, and the second non-mortared surface faces downward; the flipping robot 13b is driven downward by the second lifting mechanism 132 to pick up the brick, and then the brick is flipped 180° by the second pivot mechanism 13c, so that the first mortared surface faces right, the first non-mortared surface faces left, the second mortared surface faces downward, and the second non-mortared surface faces upward.

[0318] Viewed from back to front, when the first position P1 is on the right, the bricklaying process is similar to the bricklaying method for the left. Furthermore, the orientation of the brick after mortaring is the same when it is transferred to the second position P2, regardless of the bricklaying mode. The only difference is that the orientation of the first position P1 is different, resulting in the brick's downstream side 52 being on the left, while the brick's upstream side 51 being on the right. When the mortaring mechanism 12 applies mortar to the brick's downstream side 52, the corresponding bricklaying mode is leftward. When the mortaring mechanism 12 applies mortar to the brick's upstream side 51, the corresponding bricklaying mode is rightward.

[0319] Third embodiment

[0320] See also Figures 35 to 52 This is a bricklaying system 100 according to a third embodiment of the present invention. The bricklaying system 100 of this embodiment shares similarities with the bricklaying system 100 of the first embodiment in that it comprises a mobile chassis 2, a brick supply assembly 1 disposed in the rear region of the mobile chassis 2, and a bricklaying mechanism 3 disposed in the front region of the mobile chassis 2. The mobile chassis 2 of this embodiment is similar to that of the first embodiment and will not be described in detail herein.

[0321] See also Figure 35 and Figure 37 The bricklaying mechanism 3 of this embodiment includes a column 30, a robotic arm 31 provided on the column 30, and a robotic claw 32 connected to the distal end 314 of the robotic arm 31. The robotic arm 31 of this embodiment is a six-axis robotic arm 31. The proximal end 311 of the robotic arm 31 is connected to the column 30, and the distal end 314 of the robotic arm 31 is connected to the robotic claw 32. The robotic arm 31 is constructed from the proximal end 311 to the distal end 314 to form a first link 3121 and a second link 3122 connected by a joint 313. The first link 3121 is rotatably connected to the column 30, and the second link 3122 is connected to the robotic claw 32 via a three-axis adjustment device 314. The three-axis adjustment device 314 has three rotating columns 315, which respectively adjust the rotation angles in the X, Y and Z directions. The proximal end 311 is rotatably connected to the column 30 along the vertical axis J1. The first link 3121 and the second link 3122 are connected to the robotic claw 32 via a three-axis adjustment device 314. 121 is connected to the proximal end 311 by rotation along the horizontal axis J2, the second connecting rod 3122 is connected to the end of the first connecting rod 3121 by rotation along the horizontal axis J3, the first rotating column 315 of the three-axis adjustment device 314 is connected to the end of the second connecting rod 3122 by rotation along the horizontal axis J4, the second rotating column 315 of the three-axis adjustment device 314 is connected to the mechanical claw 32 by rotation along the vertical axis J6, and the third rotating column 315 is connected to the first rotating column 315 and the second rotating column 315 by rotation back and forth along the horizontal axis J5, wherein the horizontal axes J2, J3, and J5 are arranged parallel to the Y direction, the horizontal axis J4 is parallel to the X direction, and the vertical axis J6 is parallel to the Z direction.

[0322] Of course, the bricklaying mechanism 3 of this embodiment can also adopt the implementation method of the bricklaying mechanism 3 of the first embodiment, as long as it can realize the backward self-flipping mechanism 13 to pick up the bricks after mortaring and move the bricks after mortaring forward to the masonry position of the wall W to be built.

[0323] Furthermore, the bricklaying system 100 of this embodiment also includes a control module 4, which is the same as the control module 4 of the first embodiment, and both include a cabinet 40 and a control element arranged in the cabinet 40. The installation position of the cabinet 40 is located in the rear area of ​​the mobile chassis 2, and the brick supply assembly 1 is installed on the cabinet 40. The installation method is the same as the installation method of the brick supply assembly 1 on the cabinet 40 of the first embodiment, and will not be repeated here.

[0324] The brick supply assembly 1 of this embodiment comprises a support mechanism 10, a mortar spreading mechanism 12 disposed on the support mechanism 10, a flipping mechanism 13, and a movable platform 11 disposed between the mortar spreading mechanism 12 and the flipping mechanism 13. The movable platform 11 includes a positioning mechanism 111 that moves between a first position P1 and a second position P2. Positioning mechanism 111 at the first position P1 receives bricks, and at the second position P2 delivers bricks to the flipping mechanism 13. The first and second positions P1 and P2 are both located within the same first vertical plane Y1. The horizontal coordinates of positioning mechanism 111 are defined as first coordinates O1, with the coordinate values ​​of first coordinate O1 at the first position P1 being (X1, Y1). The horizontal coordinates of flipping robot 13b in a ready-to-pick-up state are defined as second coordinates O2. The coordinate values ​​of second coordinates O2 of flipping robot 13b in each ready-to-pick-up state are (X2, Y2). The horizontal coordinates of the bricks are defined as third coordinates O3. The brick at second position P2 is located below the flipping robot 13b. The third coordinate O3 overlaps the second coordinate O2, allowing the flipping robot 13b to reach the brick downwards with the shortest vertical distance. The difference between the X2 coordinate of the second coordinate O2 and the X1 coordinate of the first coordinate O1 is the transport distance of the positioning mechanism 111. The slurry application end 121 of the slurry application mechanism 12 is located along the transport path of the brick and applies slurry to the surface of the brick, ensuring that the brick at second position P2 is a slurry-applied brick.

[0325] A third guide member 103 extending in the left-right direction is installed on the support structure. The third guide member 103 forms a slide extending in the left-right direction. The slide allows the flip mechanism 13 to protrude or retract in the left-right direction from the edge of the support mechanism 10 .

[0326] The motion platform 11 includes a base 110 , a motion mechanism 112 and a positioning mechanism 111 provided on the motion mechanism 112 . The motion mechanism 112 is provided on the base 110 and the output end of the motion mechanism 112 can move along the left and right directions. The positioning mechanism 111 is provided at the output end of the motion mechanism 112 .

[0327] The base 110 is fixed on the supporting structure, and the base 110 and at least a portion of the screed mechanism 12 are overlapped along the front-to-back direction; the structure of the motion mechanism 112 of the third embodiment is the same as that of the first embodiment, so please refer to the first embodiment. Figure 13 and Figure 14 The motion mechanism 112 includes at least one plate-shaped portion 1121. In this embodiment, the number of the plate-shaped portion 1121 is one. A first driving component 112a and a first sliding component 112b are provided between the plate-shaped portion 1121 and the base 110. The length of the plate-shaped portion 1121 in the left and right directions is greater than the length of the base 110, so that the motion mechanism 112 has a larger extension stroke. Driven by the first driving component 112a, the plate-shaped portion 1121 can move forward and backward in the left and right directions under the guidance of the first sliding component 112b. By overlapping the base 110 and at least part of the smearing mechanism 12 in the front-to-back direction and by enabling the motion mechanism 112 to extend left and right relative to the base, the positioning mechanism 111 can maintain a smaller installation space while having a longer extension path.

[0328] A second drive assembly 112c and a second sliding assembly 112d are disposed between the upper surface of the plate-like portion 1121 and the positioning mechanism 111. Driven by the second drive assembly 112c, the positioning mechanism 111, guided by the second sliding assembly 112d, can move forward and backward in the left-right direction. This allows the first position P1 of the positioning mechanism 111 to be set to either side in the left-right direction, thereby increasing flexibility in positioning the tiles.

[0329] Please refer to the figure Figure 36 and Figure 39 The positioning mechanism 111 includes a base plate 1110, which is connected to the output end of the motion mechanism 112, namely the second nut seat 1129 of the second drive assembly 112c. The base plate 1110 extends in the front-to-back direction. Two clamping plates 1111 are arranged above the base plate 1110. Each of the two clamping plates 1111 can move in the front-to-back direction relative to each other to increase or decrease the clamping space between the two clamping plates 1111. The two clamping plates 1111 are connected to a synchronous drive mechanism, so that the two clamping plates 1111 simultaneously approach each other to position and clamp the brick or simultaneously move away from each other to release the brick. The two clamping plates 1111 that move synchronously can position the brick at the same coordinate value along the Y direction, thereby ensuring the position accuracy of the brick in the Y direction.

[0330] See also Figure 36 and Figure 38 The slurry spreading mechanism 12 of this embodiment includes a first mounting frame 12b, the first mounting frame 12b includes a first vertical frame 125 and a first lifting mechanism 127 arranged on the first vertical frame 125, and the first lifting mechanism 127 is pivotally connected to a hopper 12a through a first pivoting mechanism 12c.

[0331] The fixed lower end 125a of the first vertical frame 125 is fixed to the rear side of the support mechanism 10, and the fixed upper end 125b of the first vertical frame 125 is installed with a first lifting drive member. The output end of the first lifting drive member is connected to the first lifting mechanism 127. The output end of the first lifting mechanism 127 is located on the side away from the output end of the first lifting drive member. The output end of the first lifting mechanism 127 is connected to the first pivot mechanism 12c. The first pivot mechanism 12c pivots the hopper 12a along the first rotation axis R1 extending forward and backward, so that the hopper 12a can be lifted and lowered and can swing left and right along the axis extending forward and backward to form different postures.

[0332] The driving mode of the first lifting drive member and the driving mode of the first lifting mechanism 127 can be implemented by gear driving, screw driving, belt driving, chain driving or the like.

[0333] See See Figure 36 and Figure 38 The first pivot mechanism 12c includes a driving wheel and a driven wheel installed at the output end of the first lifting mechanism 127, and a transmission belt (not shown) surrounding the driving wheel and the driven wheel. The rotation axes of the driving wheel and the driven wheel extend along the front-to-back direction. The driving wheel is connected to the first pivot motor 129, and the driven wheel is connected to an intermediate seat. The intermediate seat includes a vertically extending first plate 128a and a second plate 128b extending vertically from the first plate 128a. The driven wheel is connected to the first plate 128a along the first rotation axis R1, and the second plate 128b is connected to the hopper 12a through a fixing hole 1280. The driving wheel is driven by the first pivot motor 129, and the driving wheel drives the driven wheel to rotate along the first pivot axis through the transmission belt. Through the intermediate seat, the driven wheel drives the hopper 12a to swing left and right along the first rotation axis R1.

[0334] See also Figure 36 and Figure 38The upper end of the hopper 12a includes a feed pipe 122, and a silo 123 connected to the lower end of the feed pipe 122. The lower end of the silo 123 has a slurry working end 121. The slurry working end 121 includes a longitudinally extending discharge port 1211 and a scraper 1212 installed on one of the long edges of the discharge port 1211. The width of the silo 123 is gradually reduced from top to bottom, thereby maintaining the slurry discharge pressure of the discharge port 1211. When the discharge port 1211 is slurried on the surface of the brick, the scraper 1212 scrapes the slurry evenly so that a uniform slurry layer 53 is formed on the surface of the brick.

[0335] Furthermore, the slurry spreading mechanism 12 includes a rotation mechanism 12e. The structure of the rotation mechanism 12e of this embodiment may refer to the structure of the rotation mechanism 12e of the first embodiment. The rotation mechanism 12e is arranged on the second plate 128b. The output end of the rotation mechanism 12e drives the connected hopper 12a. The hopper 12a can rotate 180° along the axis of the fixed hole 1280, so that the scraper 1212 can face the left or right side, thereby flexibly adjusting the slurry spreading direction.

[0336] Please refer to 35, Figure 36 and Figure 40 The flipping mechanism 13 includes a second mounting frame 13a and a flipping manipulator 13b. The second mounting frame 13a includes a second vertical frame 131 that slidably fits within the third guide member 103, and a second lifting mechanism 132 mounted on the second vertical frame 131. The flipping manipulator 13b is connected to the output end of the second lifting mechanism 132 via a second pivot mechanism 13c. The second rotation axis R2 of the second pivot mechanism 13c is parallel to the first rotation axis R1 of the first pivot mechanism 12c. Thus, the second vertical frame 131 drives the flipping manipulator 13b to be telescopically arranged along the third guide member 103 relative to the support structure in the left-right direction. Through the lifting and lowering of the second lifting mechanism 132 and the rotation of the second pivot mechanism 13c, the flipping manipulator 13b can be raised and lowered and flipped 180° up and down along the second rotation axis R2.

[0337] The second lifting mechanism 132 is driven by a screw drive, a belt drive, or a gear drive. As long as the lifting and lowering of the flip mechanism 13 can be achieved, it belongs to the second lifting mechanism 132 of the present invention.

[0338] Please refer to 35, Figure 36 and Figure 40The second pivot mechanism 13c includes a rotating part 133 connected to the second lifting mechanism 132 and a second rotating motor driving the rotating part 133. The rotating part 133 rotates back and forth to connect the second lifting mechanism 132 and the flipping manipulator 13b. The rotating part 133 can be a rotating bearing or a satellite gear mechanism or a belt rotating mechanism. The rotating part 133 is driven by the second rotating motor to rotate, and the flipping manipulator 13b can be flipped up and down relative to the first seat.

[0339] The flipping robot 13b includes a connecting base 135 connected to the rotating portion 133. A hand body 136 extends from the connecting base 135 in a forward and backward direction. The hand body 136 is connected to two clamping portions 137 spaced apart along the forward and backward direction. At least one of the two clamping portions 137 is movable in the forward and backward direction. In this embodiment, both clamping portions 137 are movable relative to a vertically extending centerline, moving away from each other to release a brick or moving closer to each other to pick up and position a brick.

[0340] Flipping robot 13b is used to pick up a plastered brick from the second position P2 and then flip it 180° along its front-to-back axis, placing the brick with the plastered surface facing downward and the unplastered surface facing downward. To ensure a relatively short pick-up stroke for flipping robot 13b, the brick at the second position P2 is positioned vertically below flipping robot 13b, and the horizontal coordinates (X2, Y3) of the brick at the second position P2 overlap with those of flipping robot 13b.

[0341] The brick supply assembly 1 has a storage state and a working state.

[0342] When the brick supply assembly 1 is in the storage state, the second vertical frame 131 is retracted in the left and right directions within the structural edge of the support mechanism 10, the first vertical frame 125 is also fixed within the structural edge of the support mechanism 10, and the first lifting mechanism 127 and the hopper 12a are installed on the inner side of the first vertical frame 125, which is conducive to the miniaturization of the bricklaying system 100 and is conducive to passing through door frames or narrow passages in indoor scenes.

[0343] Furthermore, when the brick supply assembly 1 is in the storage state, the positioning mechanism 111 and the flipping robot 13b are located in the same third vertical plane Y3, that is, the coordinates of the positioning mechanism 111 and the flipping robot 13b in the front-to-back direction Y are both Y3.

[0344] Please refer to 35, Figure 36 and Figure 41When the brick supply assembly 1 is in the working state, the second vertical frame 131 is driven along the third guide portion to protrude from the structural edge of the support mechanism 10. At this time, the flipping robot 13b and the positioning mechanism 111 are still located on the same vertical plane Y3, and the distance between the second vertical frame 131 and the first vertical frame 125 is increased. This distance allows the flipping robot 13b to flip bricks without collision. When it is necessary to switch from the working state to the storage state, it is only necessary to drive the second vertical frame 131 to retract inward along the third guide portion within the structural edge of the support mechanism 10. Since the second vertical frame 131 only moves when switching states, to save costs, the second vertical frame 131 can be set to be manually driven. Of course, to increase the degree of automation, the second vertical frame 131 can also be set to be intelligently driven. As long as the second vertical frame 131 can be moved along the third guide portion, it is within the scope of the present invention.

[0345] See also Figures 41 to 52 In operation, the motion mechanism 112 drives the positioning mechanism 111 leftward or rightward along the third vertical plane Y3 to reach the first position P1. At this point, the first horizontal coordinate O1 of the positioning mechanism 111 at the first position P1 is (X1, Y3), allowing it to receive bricks. The second horizontal coordinate O2 of the flipping robot 13b is (X2, Y3), and the slurry operation end 121 is also located on the vertical plane Y3. This allows the slurry operation end 121 to apply slurry to the surface of the brick along the transport path when the brick is transported from the first position P1 to the second position P2. When the positioning mechanism 111 reaches the second position P2, the horizontal coordinates of the brick overlap with the horizontal coordinates (X2, Y3) of the flipping robot 13b, facilitating the flipping robot 13b to pick up the brick from top to bottom along the minimum vertical path. The coordinates of the bricks when they are transported to the second position P2 are set as fixed coordinates, so that the flipping robot 13b can pick up the bricks at the same position every time, without having to detect the position of the bricks before picking up the bricks. The coordinates of the bricks at the second position P2 are overlapped with the second coordinate O2 of the flipping robot 13b, so that the flipping robot 13b can pick up the bricks along the minimum vertical path, thereby speeding up the operation rhythm.

[0346] The first coordinate O1 of the positioning mechanism 111 at the first position P1 is fixedly set. By setting the positioning mechanism 111 at the same position each time bricks are loaded, it is beneficial to the operation rhythm of loading bricks of the brick supply assembly 1 and is beneficial to the simplification of the control strategy.

[0347] For further information, please refer to e.g. Figure 45 and Figure 46To increase the accuracy of the brick's position when it reaches the second position P2, the brick supply assembly 1 is equipped with a position detection device 14. This device is used to detect the offset value d of the brick's coordinates at the first position P1 relative to the first coordinate O1. Ideally, when a brick is placed on the positioning mechanism 111 at the first position P1, the brick's coordinates overlap with the coordinates of the positioning mechanism 111. However, this ideal brick loading requires a high level of precision in brick placement, which can affect the operating cycle during calibration. To minimize this impact on the operating cycle, a coarse positioning calibration is performed when the brick is placed on the positioning mechanism 111.

[0348] Coarse positioning calibration is performed as follows: When positioning mechanism 111 receives a brick at first position P1, its clamping plates 1111 are open to maintain sufficient space for receiving the brick. When the brick is placed between two clamping plates 1111, the two clamping plates 1111 move inward to hold the brick in place. In this embodiment, the two clamping plates 1111 move synchronously, ensuring that the Y coordinate of the brick at first position P1 remains on vertical plane Y3, thereby calibrating the brick's Y coordinate. In order to obtain the offset value d of the third coordinate O3 in the X direction compared to the first coordinate O1, the position detection device 14 obtains the actual coordinate value of the brick side in the X direction by detecting the side of the brick, and compares it with the ideal coordinate value of the brick side in the X direction under the ideal state to obtain the deviation value of the brick at the first position P1. The control module 4 obtains the transportation distance that the moving platform 11 drives the positioning mechanism 111 to move from the first position P1 to the second position P2 based on the deviation value, the coordinate value (X1, Y3) of the first coordinate O1 and the coordinate value (X2, Y3) of the second coordinate O2, so that when the positioning mechanism 111 reaches the second position P2, the third coordinate O3 overlaps with the second coordinate O2.

[0349] By performing a rough positioning calibration, when loading a brick at the first position P1, the brick is placed on the positioning mechanism 111. The positioning mechanism 111 calibrates the brick's Y-axis coordinates on the vertical plane Y3. By detecting the brick's side surface using a range sensor, the brick's X-axis offset value d relative to the first coordinate O1 can be determined. In the subsequent motion control strategy, the control module 4 can then move the positioning mechanism 111 a corresponding distance based on the offset value d, so that the third coordinate O3 of the brick at the second position P2 overlaps with the second coordinate O2 of the flipping robot 13b. Because the brick is located outside the coordinate system of the brick supply assembly 1 before loading, the brick enters the coordinate system of the brick supply assembly 1 from the external coordinate system during loading. If a fine positioning calibration is performed during loading, then only the brick's coordinate system must be aligned with the coordinate system of the positioning mechanism 111. This requires a complex and relatively lengthy process for both the control strategy of the control module 4 and the loading process, hindering rapid loading. The coarse positioning calibration of the present invention eliminates the need for precise positioning calibration of bricks during the brick loading process. The present invention places the bricks on the positioning mechanism 111 and determines the position of the bricks on the coordinate system of the brick supply assembly 1. The compensation and calibration of the bricks are both performed in the coordinate system of the brick supply assembly 1, thereby speeding up the operation rhythm.

[0350] See also Figure 38 This is an implementation of the position detection device 14 of the third embodiment. The position detection device 14 includes a mounting portion 141 and a detection sensor 145 installed on the mounting portion 141. The mounting portion is installed on the second plate 128b of the first pivot mechanism 12c and moves with the hopper 12a, so that the position of the side of the brick can be detected.

[0351] Furthermore, the detection sensor 145 can be a laser ranging sensor, a camera detection sensor 145, and a proximity switch detection sensor 145. Preferably, the position detection device 14 of this embodiment is a laser ranging sensor, which emits a laser toward the side of the brick at the first position P1 through the detection end. The side of the brick reflects the laser, and the detection end can know the actual distance D2 from the detection end to the side of the brick based on the received reflected laser. By comparing the actual distance D2 with the ideal distance D1 of the brick in the ideal state, the offset distance d of the brick can be known.

[0352] See also Figures 41 to 52 After the positioning mechanism 111 receives the brick at the first position P1, the smearing mechanism 12 smears the brick during the process of moving from the first position P1 toward the second position P2. The smearing mechanism 12 smears the brick laterally and horizontally. Optionally, the order of side smearing and horizontal smearing can be reversed.

[0353] like Figures 41 to 44As shown, one operating mode of the grouting mechanism 12 is to first grout the downstream side surface 52 of the brick and then perform horizontal grouting on the upper surface of the brick. The working mode is as follows.

[0354] Positioning mechanism 111 carries the brick from first position P1 along the second vertical surface toward slurry dispensing end 121 to a third position P3. The brick at third position P3 forms a third coordinate O3 (X3, Y3) on the horizontal plane. Slurry dispensing end 121 applies slurry from bottom to top to the side of the brick at third position P3. Slurry dispensing end 121 applies slurry to the side of the brick as follows: positioning mechanism 111 stops at third position P3 under the braking of motion mechanism 112. Slurry dispensing end 121, driven by first lifting mechanism 127, moves from bottom to top relative to the stationary brick in a side-slurrying posture. Discharge port 1211 applies slurry to the side of the brick, and scraper 1212 scrapes the slurry from bottom to top along the side of the brick.

[0355] After the screeding end 121 has finished screeding the side of the brick, the motion mechanism 112 drives the brick to move from the third position P3 away from the screeding end 121 along the vertical plane Y3. The screeding end 121 then screeds the upper surface of the brick horizontally in the left-right direction in a horizontal screeding posture. Specifically, the screeding end 121 remains stationary in the horizontal screeding posture, and the brick moves relative to the screeding end 121, so that the screeding end 121 screeds the upper surface of the brick.

[0356] like Figures 47 to 50 As shown, another operating mode of the screeding mechanism 12 of this embodiment is to first apply screed to the horizontal surface of the upper surface of the brick, and then apply screed to the upstream side 51 of the brick. The rotation mechanism 12e drives the hopper 12a, and the screeding operation end 121 applies screed to the upstream side 51 or the downstream side 52, so that the scraper 1212 can be directed toward the corresponding side to smooth the surface.

[0357] The motion control strategy for the screeding mechanism 12 of this embodiment is as follows: controlling the movement of the first lifting mechanism 127; controlling the second pivoting mechanism 13c to switch the screeding end 121 between a horizontal screeding position and a side screeding position; and optionally controlling the rotation mechanism 12e to direct the screeding end 121 toward the corresponding side, depending on the bricklaying direction. The motion control strategy for the screeding mechanism 12 of this embodiment is relatively simple, enabling both side screeding and top screeding of bricks without the need for a complex motion mechanism 112.

[0358] The motion mechanism 112 drives the bricks to move from the third position P3 to the second position P2 without any pause. When the mortar working end 121 smears mortar on the upper surface of the bricks, the bricks are transported by the motion mechanism 112 at the same time, so that the two processes are carried out in the same period of time, thereby speeding up the bricklaying rhythm.

[0359] When the brick after plastering is moved to the second position P2, the second lifting mechanism 132 drives the flipping manipulator 13b downward, and the two clamping parts 137 of the flipping manipulator 13b clamp the brick to complete the picking action. The second lifting drive mechanism drives the flipping manipulator 13b upward so that the brick has space to flip up and down. The flipping manipulator 13b flips 180° under the drive of the second pivot mechanism 13c, so that the horizontal plastered surface of the brick faces downward and the non-plastered surface of the brick faces upward. Since the side plastering can be optionally applied to the upstream side 51 or the downstream side 52 of the brick, the brick can face the left or the right after flipping 180°.

[0360] After the flipping robot 13b flips the brick up and down 180°, the bricklaying mechanism 3 picks up the non-mortared surface of the brick downwards, and sticks the horizontal mortared surface of the brick downwards to the horizontal placement surface of the wall laying position. According to the different orientations of the side of the brick along the left and right directions, the bricklaying mechanism 3 can lay bricks to the left or right, and stick the side mortared surface of the brick to the vertical placement surface of the to-be-laid position. The above-mentioned horizontal placement surface and vertical placement surface are formed by the brick surface of the built wall.

[0361] Preferably, the bricklaying system 100 of this embodiment has a bricklaying method, the steps of which are as follows:

[0362] S1. The control module 4 pre-stores an operation map of the operation space S, the spatial position and spatial dimensions of the wall W to be built, the spatial coordinates corresponding to each brick 5 of each wall W to be built, and the spatial coordinates of multiple masonry sites corresponding to the wall W to be built.

[0363] The work map, the spatial position and spatial dimensions of the wall, the spatial coordinates corresponding to each brick 5, and the spatial coordinates of multiple masonry sites are all generated by the BIM system.

[0364] S2. Move the mobile chassis 2 to the corresponding masonry site, and lower the supporting legs 23 to contact the ground, so that the mobile chassis 2 is in a horizontal state.

[0365] Before adjusting the horizontal state of the mobile chassis 2, in order to obtain the inclination of the mobile chassis 2 relative to the horizontal plane, an inclination sensor is installed on the mobile chassis 2. After the mobile chassis 2 moves to the corresponding masonry site, the inclination sensor obtains the inclination of the mobile chassis 2 relative to the ground. According to the inclination, the control module 4 controls each adjustment mechanism to adjust the height of the corresponding support leg 23, so that the mobile chassis 2 can form a horizontal state, which is beneficial to the accuracy of bricklaying and thus ensures the quality of bricklaying.

[0366] S3, such as Figure 41 、 47 、 Figure 51 and Figure 52 As shown, the flipping mechanism 13 is driven to move away from the slurry mechanism 12 along the left-right direction X. At this time, the flipping robot 13b is located outside the structural dimensions of the mobile chassis 2. After the movement, the flipping robot 13b is still located on the vertical plane Y3. At this time, the brick supply assembly 1 is transformed from the storage state to the working state. The positioning mechanism 111 in the working state can move between the first position P1 and the second position P2.

[0367] S4 , moving the positioning mechanism 111 to the first position P1 , and placing the brick 5 on the positioning mechanism 111 .

[0368] The control module 4 controls the positioning mechanism 111 to move leftward or rightward to the first coordinate O1 ( X1 , Y3 ) through the motion mechanism 112 according to a preset control strategy.

[0369] The outside world places the unpainted brick 5 on the positioning mechanism 111 at the first position P1. The placement method can be that the operator places the brick 5 on the positioning mechanism 111, or another brick loading device automatically places the brick 5 on the positioning mechanism 111.

[0370] S5 , after receiving the brick 5 , the positioning mechanism 111 moves from the first position P1 toward the second position P2 .

[0371] To implement step S5, follow these steps:

[0372] S51. The two clamping plates 1111 of the positioning mechanism 111 are clamped inward to position the Y coordinate of the third coordinate O3 of the brick 5 at the first position P1 on the third vertical plane Y3.

[0373] S52 , after the positioning mechanism 111 positions and clamps the brick 5 , the position detection device 14 detects the offset value d of the third coordinate Xb of the first position P1 relative to the first coordinate X1 of the first position P1 .

[0374] S52. Drive the positioning mechanism 111 to move from the first position P1 to the second position P2 along the third vertical plane Y3 in the left-right direction through the motion mechanism 112. According to the offset value d, the control module 4 controls the motion mechanism 112 to move a corresponding distance along the X direction, so that the X-axis coordinate of the brick 5 is X2 each time it reaches the second position P2, thereby making the coordinates of the brick 5 at the second position P2 (X2, Y3).

[0375] In order to ensure the positioning accuracy of the brick 5 at the second position P2, a detection mechanism is used to detect the offset value d of the brick 5 at the first position P1 relative to the first coordinate O1. The control module 4 controls the motion mechanism 112 to drive the positioning mechanism 111 to move the transportation distance from the first position P1 to the second position P2 according to the offset value d.

[0376] S6 . When the positioning mechanism 111 carries the brick 5 and moves it from the first position P1 to the second position P2 , the mortar spreading mechanism 12 spreads mortar on the surface of the brick 5 .

[0377] When viewed from the back to the front, the first position P1 is on the left side, the steps of applying mortar to the brick 5 include the following:

[0378] S61, the control module 4 determines the bricklaying mode, which includes left bricklaying and right bricklaying;

[0379] like Figures 41 to 44 As shown, when the bricklaying mode is rightward bricklaying, the surfaces of the brick 5 to be mortared are the downstream side surface 52 (i.e., the right side surface) of the brick 5 in the conveying direction and the upper surface of the brick 5:

[0380] like Figures 47 to 50 As shown, when the bricklaying mode is leftward bricklaying, the surfaces of the brick 5 to be mortared are the upstream side surface 51 (i.e., the left side surface) of the brick 5 in the conveying direction and the upper surface of the brick 5:

[0381] Along the left and right directions of the brick 5, the mortared side and the unmortared side are defined as a first mortared side and a first unmortared side, respectively;

[0382] Along the up-down direction of the brick 5, the mortared horizontal surface and the un-mortared horizontal surface are defined as a second mortared surface and a second non-un-mortared surface, respectively.

[0383] S62, such as Figures 41 to 44 As shown, when the bricklaying mode is right-hand bricklaying, the hopper 12a is driven to move to the corresponding height by the first lifting drive mechanism, so that the starting position of the slurry operation end 121 can cover the lower edge of the downstream side 52 of the brick 5, and the hopper 12a is swung to the side slurry posture by the first pivot mechanism 12c. The hopper 12a in the side slurry posture is tilted to the left from top to bottom and the scraper 1212 is left toward the downstream side 52 of the brick 5. The hopper 12a and the downstream side 52 of the brick 5 form an angle, and the angle range is between 15° and 25°.

[0384] S63, control the moving platform 11 to transport the brick 5 to the third position P3, the downstream side surface 52 of the brick 5 at the third position P3 is aligned with the slurry working end 121, and the brick 5 is in a stationary state in the third position P3.

[0385] S64. Drive the slurry operation end 121 upward through the first lifting drive mechanism, so that the slurry operation end 121 slurries the downstream side surface 52 of the brick 5 from bottom to top, thereby forming a first slurry surface.

[0386] When the screeding end 121 completes the side screeding, the first lifting mechanism 127 continues to drive the hopper 12a to rise to a certain distance from the horizontal plane of the brick 5 between the screeding end 121 and the brick 5. This distance allows the screeding end 121 to not collide with the brick 5 during the process of the first pivot mechanism 12c driving the hopper 12a to swing to the right to a horizontal screeding posture.

[0387] When the hopper 12a swings to the right to the horizontal slurry spreading posture, the moving platform 11 drives the brick 5 again, and the brick 5 continues to move to the right along the vertical plane Y3.

[0388] S65. When the moving platform 11 drives the brick 5 again and the brick 5 continues to move to the right along the vertical plane Y3, the slurry working end 121 maintains a horizontal slurrying posture, and the brick 5 moves from left to right relative to the slurry working end 121. The slurry working end 121 slurries the upper surface of the brick 5 from right to left to form a second slurrying surface.

[0389] Through steps S61 to S65, the mortar spreading operation when laying bricks to the right in the bricklaying mode is completed.

[0390] S62", such as Figures 47 to 50 As shown, when the bricklaying mode is left bricklaying, the hopper 12a is driven to move to the corresponding height by the first lifting drive mechanism, so that the height of the slurry working end 121 is flush with the height of the upper surface of the brick 5, and the hopper 12a is swung to a horizontal slurry posture through the first pivot mechanism 12c. The hopper 12a in the horizontal slurry posture is tilted to the right from top to bottom and the scraper 1212 is set to the left. The hopper 12a forms an angle with the vertical plane extending front and rear, and the angle range is between 15° and 25°.

[0391] S63”, control the moving platform 11 to transport the brick 5 to the third position P3, and the brick 5 moves rightward along the vertical plane Y3 to a third position P3. During this process, the slurry operation end 121 maintains a horizontal slurrying posture, and the brick 5 passes over the slurry operation end 121 from left to right to slurry the upper surface of the brick 5 to form a second slurrying surface.

[0392] S64", the brick 5 at the third position P3 is in a stationary state. The first pivot structure rotates the hopper 12a to a side grouting posture. The first lifting mechanism 127 drives the hopper 12a down until the grouting operation end 121 can cover the lower edge of the downstream side 52 of the brick 5. Then, the first lifting drive mechanism drives the hopper 12a up, so that the grouting operation end 121 grouts the upstream side 51 of the brick 5 from bottom to top, thereby forming a first grouting surface.

[0393] S65″, after the first smearing surface is completed, the positioning mechanism 111 is restarted through the movement mechanism 112, and moves from the third position P3 to the second position P2 without stopping.

[0394] S7. After the moving platform 11 carries the brick 5 and stops at the second position P2, the flipping mechanism 13 picks up the brick 5 from the moving platform 11 and flips the spatial orientation of the troweled surface and the non-troweled surface.

[0395] When the bricklaying mode is rightward bricklaying, the first mortared surface of the brick 5 reaching the second position P2 faces right, the first non-mortared surface faces left, the second mortared surface faces upward, and the second non-mortared surface faces downward; the flipping robot 13b is driven downward by the second lifting mechanism 132 to pick up the brick 5, and then the brick 5 is flipped 180° by the second pivot mechanism 13c, so that the first mortared surface faces left, the first non-mortared surface faces right, the second mortared surface faces downward, and the second non-mortared surface faces upward.

[0396] When the bricklaying mode is left-laying, the first mortared surface of the brick 5 reaching the second position P2 faces left, the first non-mortared surface faces left, the second mortared surface faces upward, and the second non-mortared surface faces downward; the flipping robot 13b is driven downward by the second lifting mechanism 132 to pick up the brick 5, and then the brick 5 is flipped 180° by the second pivot mechanism 13c, so that the first mortared surface faces right, the first non-mortared surface faces left, the second mortared surface faces downward, and the second non-mortared surface faces upward.

[0397] S8. Make the mechanical claw 32 grab the brick 5 toward the non-plastered surface, and then move the brick 5 to the masonry position, and stick the plastered surface at the masonry position to the built wall.

[0398] When the bricklaying mode is right bricklaying, the robotic arm 31 swings to the right rear direction so that the robotic claw 32 is located at the picking position and the picking space of the robotic claw 32 faces the second non-mortared surface to pick up the brick 5, and then the robotic arm 31 swings to the left front so that the robotic claw 32 places the brick 5 at the masonry position, and the first mortared surface at the masonry position sticks to the right to the vertical placement surface of the wall W to be built, and the second mortared surface sticks downward to the horizontal placement surface of the wall W to be built.

[0399] When the bricklaying mode is left bricklaying, the robot arm 31 swings to the right rear direction so that the robot claw 32 is located at the picking position and the picking space of the robot claw 32 faces the second non-mortared surface to pick up the brick 5, and then the robot arm 31 swings to the left front so that the robot claw 32 places the brick 5 at the masonry position, and the first mortared surface at the masonry position sticks to the left to the vertical placement surface of the wall W to be built, and the second mortared surface sticks downward to the horizontal placement surface of the wall W to be built.

[0400] Through steps S1 to S8, the bricklaying system 100 completes the bricklaying operation on the left side. The motion control strategy of the bricklaying system 100 of this embodiment is relatively simple, and the transportation path of the bricks 5 is relatively short, which is conducive to speeding up the operation.

[0401] Viewed from back to front, when the first position P1 is on the right, the bricklaying process is similar to the bricklaying method for the left. Furthermore, the orientation of the brick 5 after mortaring is the same when it is transferred to the second position P2, regardless of the different bricklaying modes. The only difference is that the orientation of the first position P1 causes the downstream side 52 of the brick 5 to be on the left, while the upstream side 51 of the brick 5 is on the right. When the mortaring mechanism 12 applies mortar to the downstream side 52 of the brick 5, the corresponding bricklaying mode is leftward. When the mortaring mechanism 12 applies mortar to the upstream side 51, the corresponding bricklaying mode is rightward.

[0402] In this embodiment, the flipping mechanism 13 is located on the right side of the supporting mechanism 10 when viewed from the back to the front. Therefore, the transportation path of the bricks 5 when the first position P1 is on the left side is smaller than the transportation path when the first position P1 is on the right side. Preferably, the first position P1 is set on the left side.

[0403] 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 brick supply assembly, applied to a bricklaying system, characterized in that: include: a supporting mechanism with an installation space provided thereon; a moving platform disposed in the installation space, the moving platform having a positioning mechanism, the positioning mechanism reciprocating between a first position and a second position, the first position being used to receive a brick, and the second position being used to deliver the brick; a grouting mechanism disposed in the installation space, the grouting mechanism having a grouting operation end for applying grout to the surface of the brick, the brick after grouting forming a grouting surface and a non-grouting surface, the grouting operation end being located on a movement path of the brick from the first position to the second position; a flipping mechanism disposed in the installation space, the flipping mechanism having a flipping manipulator for picking up the brick from the second position and flipping the spatial orientation of the mortared surface and the non-mortared surface; The slurry spreading mechanism includes a first mounting frame mounted on the support mechanism, and a hopper mounted on the first mounting frame via a first pivot mechanism, a slurry spreading end being formed at a lower end of the hopper, and a first rotation axis of the first pivot mechanism extending forward and backward; The flip mechanism includes a second mounting frame mounted on the support mechanism, the second mounting frame being spaced apart from the first mounting frame, the flip robot being mounted on the second mounting frame via a second pivot mechanism, the second rotation axis of the second pivot mechanism extending forward and backward; The moving platform, the hopper and the turning robot are all located in the space between the first mounting frame and the second mounting frame; The coordinates of the positioning mechanism at the first position are fixed, and the coordinates of the brick at the second position are fixed.

2. The brick supply assembly according to claim 1, characterized in that: The brick supply assembly has a position detection device, which is used to detect the deviation of the coordinates of the brick at the first position compared with the coordinates of the positioning mechanism at the first position along a first direction, where the first direction is the direction in which the brick moves.

3. The brick supply assembly according to claim 2, characterized in that: The positioning mechanism includes two synchronously movable clamps, which respectively clamp and position the brick along the second direction, so that the coordinates of the brick along the second direction overlap with the coordinates of the positioning mechanism along the second direction, and the second direction is set perpendicular to the first direction.

4. The brick supply assembly according to claim 2, characterized in that: The position detection device is installed on the smearing mechanism.

5. The brick supply assembly according to claim 1, characterized in that: The coordinates of the flip robot on the horizontal plane overlap with the coordinates of the brick at the second position on the horizontal plane.

6. The brick supply assembly according to claim 1, characterized in that: The screeding mechanism comprises: a first mounting frame, wherein the lower end of the first mounting frame is mounted on the supporting mechanism, and the upper end of the first mounting frame is provided with a transverse driving mechanism; a hopper, the lower end of which forms the slurry operation end, and the hopper is connected to the output end of the transverse drive mechanism; During the movement of the brick from the first position toward the second position, the transverse driving mechanism transversely drives the slurry working end to smear slurry on the upper surface of the brick, and the transverse driving direction is opposite to the moving direction of the brick.

7. The brick supply assembly according to claim 6, characterized in that: The first mounting frame further includes a first lifting mechanism, the first lifting mechanism is arranged at the output end of the transverse driving mechanism, and the hopper is arranged at the output end of the first lifting mechanism; During the movement from the first position to the second position, the positioning mechanism carries the brick and pauses at a third position; When the brick is in the third position, the mortar operation end smears mortar on the side surface of the brick from bottom to top by means of the first lifting mechanism.

8. The brick supply assembly according to claim 1, characterized in that: Either the plastering mechanism or the flipping mechanism can move away from or closer to the other to form a working state and a storage state. In the working state, part of either the plastering mechanism or the flipping mechanism moves beyond the structural edge of the support mechanism, and in the storage state, the flipping mechanism and the plastering mechanism are located within the structural edge of the support mechanism.

9. The brick supply assembly according to claim 8, characterized in that: Either the flipping mechanism or the screeding mechanism can be moved away from the other in the front-to-back direction to form a working state, and the flipping mechanism or the screeding mechanism that moves away from the other one exceeds the configuration edge of the support mechanism in the front-to-back direction; or, Either the flipping mechanism or the screeding mechanism can be separated from the other in the left-right direction to form a working state, and the separated one of the flipping mechanism and the screeding mechanism exceeds the configuration edge of the support mechanism in the left-right direction.

10. The brick supply assembly according to claim 1, characterized in that: Either the flipping mechanism or the smearing mechanism can be moved away from the other in the front-to-back direction to form a working state; When in working state, Along the left-right direction, the positioning mechanism at the first position is located on either side of the screed operation end. Along the front-to-back direction, a vertical projection of the smearing mechanism and a vertical projection of the flipping mechanism are spaced apart from each other and do not overlap.

11. The brick supply assembly according to claim 10, characterized in that: The support mechanism includes a first guide member extending along the front-to-back direction; One of the smearing mechanism and the turning mechanism is fixed to the supporting mechanism, and the other is movably adapted to the first guide member to form the working state.

12. The brick supply assembly according to claim 11, characterized in that: The supporting mechanism includes a second guide member arranged parallel to the first guide member; The motion platform further includes a base movably arranged on the second guide member, and a motion mechanism arranged on the base, wherein the output end of the motion mechanism is connected to the positioning mechanism; When in working state, the slurry operation end is located on a first vertical plane, the flipping robot is located on a second vertical plane, and the second vertical plane and the first vertical plane extend in the left-right direction and are arranged parallel to each other in the front-back direction; The positioning mechanism at the first position is located on the first vertical plane, the positioning mechanism at the second position is located on the second vertical plane, and the second guide member guides the base and the positioning mechanism thereon to move from one of the first vertical plane and the second vertical plane to the other.

13. The brick supply assembly according to claim 12, characterized in that: The positioning mechanism is moved from the first position along the first vertical plane through the screeding operation end by the movement mechanism to screed the surface of the brick.

14. The brick supply assembly according to claim 12, characterized in that: The movement mechanism includes at least one plate-shaped portion, a first space is formed between the at least one plate-shaped portion and the base, and a second space is formed between the at least one plate-shaped portion and the positioning mechanism; A first driving assembly and a first sliding assembly are disposed in the first space. The first sliding assembly includes a guide rail and a guide block adapted to each other. The first driving assembly drives at least one plate-shaped portion to move in the left-right direction. The first sliding assembly guides at least one plate-shaped portion to move in the left-right direction. A second driving assembly and a second sliding assembly are provided in the second space. The second sliding assembly includes guide rails and guide blocks adapted to each other. The second driving assembly drives the positioning mechanism to move along the left and right directions. The second sliding assembly guides the positioning mechanism to move along the left and right directions.

15. The brick supply assembly according to claim 12, characterized in that: The positioning mechanism comprises: a bottom plate connected to the output end of the motion mechanism; The two clamping plates are respectively arranged on the front and rear sides of the bottom plate, and at least one of the clamping plates can move away from or closer to the other clamping plate relative to the bottom plate.

16. The brick supply assembly according to claim 1, characterized in that: Either the flipping mechanism or the smearing mechanism can be separated from the other in the left-right direction to form a working state, and the distance between the flipping mechanism and the smearing mechanism in the left-right direction in the working state can allow the flipping robot to flip the brick; The bricks at the first position and the bricks at the second position are located on the same vertical plane, and the vertical plane extends in the left-right direction.

17. The brick supply assembly according to claim 16, characterized in that: The motion platform comprises: a base fixed to the support mechanism, wherein when viewed from the front-back direction, the base and the slurry mechanism at least partially overlap; A motion mechanism is provided on the base, and an output end of the motion mechanism drives the positioning mechanism to move away from the smearing mechanism to the first position along the left and right directions.

18. The brick supply assembly according to claim 17, characterized in that: The movement mechanism includes at least one plate-shaped portion, a first space is formed between the at least one plate-shaped portion and the base, and a second space is formed between the at least one plate-shaped portion and the positioning mechanism; A first driving assembly and a first sliding assembly are disposed in the first space. The first sliding assembly includes a guide rail and a guide block adapted to each other. The first driving assembly drives at least one plate-shaped portion to move in the left-right direction. The first sliding assembly guides at least one plate-shaped portion to move in the left-right direction. A second driving assembly and a second sliding assembly are provided in the second space. The second sliding assembly includes guide rails and guide blocks adapted to each other. The second driving assembly drives the positioning mechanism to move along the left and right directions. The second sliding assembly guides the positioning mechanism to move along the left and right directions.

19. The brick supply assembly according to claim 17, characterized in that: The positioning mechanism comprises: a bottom plate connected to the output end of the motion mechanism; The two clamping plates are respectively arranged on the front and rear sides of the base plate, and at least one of the clamping plates can move away from or closer to the other clamping plate relative to the base plate.

20. The brick supply assembly according to claim 16, characterized in that: The slurry spreading mechanism includes a first mounting frame, the lower end of which is fixed to the supporting mechanism and is located on one side of the movable platform in the front-to-back direction. The first mounting frame is rotatably connected to a hopper by a first pivot mechanism, and the lower end of the hopper is constructed to form the slurry spreading operation end. The first rotation axis of the first pivot mechanism extends along the front-to-back direction.

21. The brick supply assembly according to claim 20, characterized in that: The first mounting frame includes a first lifting mechanism, and the first lifting mechanism drives the hopper to rise and fall; During the movement from the first position toward the second position, the positioning mechanism carrying the brick pauses at a third position; When in the third position, the slurry operation end slurries the side surface of the static brick from bottom to top by means of the first lifting mechanism.

22. The brick supply assembly according to claim 20, characterized in that: During the movement from the first position toward the second position, the brick is carried by the positioning mechanism and moves in a direction away from the hopper, and the slurry operation end maintains a fixed position and slurries the horizontal upper surface of the moving brick in the left and right directions.

23. The brick supply assembly according to claim 16, characterized in that: The flipping mechanism includes a second mounting frame, which is movably mounted on the support mechanism along the left and right directions. The second mounting frame is rotatably connected to the flipping robot via a second pivot mechanism, and the second rotation axis of the second pivot mechanism extends along the front and rear directions.

24. A bricklaying system comprising the brick supply assembly according to any one of claims 1 to 23, capable of building a wall in a working space, characterized in that: Also includes: A mobile chassis moves in the working space to a predetermined site, where the wall to be built is located in front of the predetermined site; A bricklaying mechanism is installed on the mobile chassis and is located in front of the brick supply assembly. The bricklaying mechanism includes a bricklaying robot claw. The bricklaying robot picks up the bricks from the flipping robot backward along the non-mortared surface and transports the bricks forward to the masonry position of the wall to be built.

25. The bricklaying system according to claim 24, characterized in that: The bricklaying system also includes a control module, which includes a vertical cabinet. A control element is provided in the vertical cabinet to control the movement of the brick supply assembly and the bricklaying mechanism. The vertical cabinet is installed on the mobile chassis and is located behind the bricklaying mechanism. The brick supply assembly is installed on the vertical cabinet.

26. The bricklaying system according to claim 25, characterized in that: The supporting structure is the upper surface of the cabinet; or, The supporting mechanism is a flat plate installed on the upper surface of the cabinet.

27. The bricklaying system according to claim 24, characterized in that: The bricklaying mechanism comprises: a column, the column being mounted on the mobile chassis; A robotic arm, wherein the proximal end of the robotic arm is rotatably connected to the column, the distal end of the robotic arm is connected to the robotic claw, and the robotic arm has multiple joints to form different postures.

28. A bricklaying method using the brick supply assembly according to any one of claims 1 to 23, characterized in that: include: providing a positioning mechanism movable between a first position and a second position; Move the positioning mechanism to the first position and place the brick on the positioning mechanism; After receiving the brick, the positioning mechanism carries the brick and moves it from the first position toward the second position; A screeding mechanism is provided, wherein during the process of the positioning mechanism carrying the brick from the first position to the second position, the screeding end of the screeding mechanism screeds the surface of the brick to form a screed surface and a non-screed surface; A flipping robot is provided. After the positioning mechanism carries the brick and stops at the second position, the flipping robot picks up the brick after plastering from the positioning mechanism and then flips the spatial orientation of the plastered surface and the non-plastered surface of the brick. A mechanical claw is provided so that the mechanical claw picks up bricks from the flipping robot along the non-plastered surface, and then transports the bricks to the masonry position of the wall to be built, so that the plastered surface sticks to the brick surface at the masonry position.

29. The bricklaying method according to claim 28, characterized in that: Before the step of "moving the positioning mechanism to the first position", the slurrying mechanism is driven to move backward relative to the flipping mechanism so that the slurrying operation end is located on a first vertical plane extending left and right, and the flipping robot is located on a second vertical plane extending left and right. The first vertical plane and the second vertical plane extend in the left and right directions and are arranged in parallel with a front-to-back interval. The first position is located on the first vertical plane, and the second position is located on the second vertical plane.

30. The bricklaying method according to claim 29, characterized in that: The step of "moving the positioning mechanism to the first position" includes: providing a front and rear drive member and a motion mechanism, wherein the front and rear drive member drives the positioning mechanism to move backward to the second position, and the motion mechanism drives the positioning mechanism to move along the left and right direction to the second position.

31. The bricklaying method according to claim 30, characterized in that: When the positioning mechanism moves along the first vertical plane, it passes through the slurry operation end to smear slurry on the surface of the brick.

32. The bricklaying method according to claim 31, characterized in that: After the screeding operation end completes screeding the surface of the brick, the front and rear driving members drive the positioning mechanism to move from the first vertical surface to the second vertical surface for the flipping mechanism to pick up.

33. The bricklaying method according to claim 32, characterized in that: When the mortar working end completes mortaring of the brick, the brick has not reached the second position along the left and right direction. While the front and rear driving members drive the positioning mechanism to move from the first vertical plane to the second vertical plane, the motion mechanism drives the positioning mechanism to move along the left and right direction to the second position.

34. The bricklaying method according to claim 28, wherein: Before the motion mechanism drives the positioning mechanism to move to the first position, one of the screeding mechanism and the flipping robot is moved toward one side in the left-right direction away from the other, so that the space between the two allows the flipping mechanism to flip the bricks, and at the same time, the flipping robot and the screeding working end are located on the same vertical plane extending along the left-right direction.

35. The bricklaying method according to claim 34, characterized in that: After the flipping mechanism is moved away, the motion mechanism drives the positioning mechanism to move to the first position in the left and right directions, so that the positioning mechanism at the first position is located on the same vertical plane as the slurry operation end and the flipping robot.

36. The bricklaying method according to claim 35, characterized in that: The first position is set on the other side of the flip mechanism relative to the left and right direction.

37. The bricklaying method according to claim 36, characterized in that: The positioning mechanism at the first position, the slurry working end and the second positioning mechanism at the second position are all arranged on the same vertical plane. After the slurry working end is slurried on the surface of the brick, the motion mechanism drives the positioning mechanism to move to the second position along the left and right directions.

38. The bricklaying method according to claim 29, wherein: The step of "after receiving the brick, the positioning mechanism carries the brick from the first position toward the second position" includes: the positioning mechanism is equipped with two synchronously displacing clamps, the two clamps synchronously clamp the brick, and position the coordinates of the brick in the front and rear directions on the first vertical plane.

39. The bricklaying method according to claim 38, characterized in that: After the step "the positioning mechanism positions the coordinates of the brick in the front-to-back direction on the first vertical plane", a position detection device is used to detect the offset value of the coordinates of the brick at the first position relative to the positioning mechanism at the first position in the left-right direction.

40. The bricklaying method according to claim 39, wherein: A control module is provided, which controls the transportation distance of the positioning mechanism in the left and right directions according to the coordinates of the positioning mechanism at the first position and the offset value, so that the coordinates of the bricks at each second position in the left and right directions are constant.

41. The bricklaying method according to claim 28, wherein: A control module is provided, which determines the bricklaying direction of the robot and selects a corresponding mortar mode from multiple mortar modes of the mortar mechanism according to the bricklaying direction, so that when the robot transports the brick to the masonry position of the wall to be built, the mortar surface of the brick sticks to the brick surface at the masonry position.

Images