Plastering device, plastering system and bricklaying system

Abstract

This application relates to a mortar spreading device, a mortar spreading system and a bricklaying system. The mortar spreading device includes: a base; a mortar spreading mechanism disposed on the base; a clamping mechanism slidably disposed on the base, the clamping mechanism and the mortar spreading mechanism are arranged along a first direction, and the clamping mechanism is used for clamping and positioning bricks; a transfer mechanism for driving the clamping mechanism to approach or move away from the mortar spreading mechanism along the first direction; a measuring mechanism for detecting the position of the bricks on the clamping mechanism along the first direction. The mortar spreading device can improve the mortar spreading effect and mortar spreading efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of construction equipment, and more particularly, to a mortar spreading device, a mortar spreading system, and a bricklaying system. Background Art

[0002] Most existing buildings require bricks to build walls, and mortar spreading is the basis for wall building. By applying cement mortar to bricks, after the cement mortar hardens, the bricks can be directly bonded to each other. In the traditional workflow, mortar spreading is mostly completed manually, that is, workers hold bricks and apply cement mortar on the surface of the bricks with a trowel. This process is time-consuming and laborious, and the thickness of the mortar spreading can only be controlled by the experience of the workers. There are often phenomena of insufficient mortar or overflowing mortar. Insufficient mortar means that the thickness or area of the cement mortar applied on the bricks is insufficient, and overflowing mortar means that an excessive amount of cement mortar is applied on the bricks. Insufficient mortar will lead to insufficient connection strength between bricks, forming a safety hazard, and overflowing mortar will cause the mortar to overflow when the bricks overlap, wasting raw materials and reducing the aesthetics of the wall building. Although some mortar spreading devices have appeared in the prior art, which can replace manual operation to complete the mortar spreading operation and can improve work efficiency to a certain extent and reduce the burden on workers, the mortar spreading accuracy of the existing mortar spreading devices is also not easy to control during operation. For example, the positioning effect of the existing mortar spreading devices on bricks is poor. It is possible that the mortar spreading head starts to spread mortar on the bricks before the bricks reach the position, or the relative position gap between the bricks and the mortar spreading head is too large, and the mortar spreading head still spreads mortar on the bricks according to the set position, which not only wastes raw materials but also causes insufficient or overflowing mortar on the bricks. Summary of the Invention

[0003] The purpose of the present application is to solve the above problems by providing a mortar spreading device, a mortar spreading system, and a bricklaying system, which have a measuring mechanism capable of measuring the position of bricks, improving the feeding accuracy of bricks, improving the mortar spreading effect, and improving the above problems.

[0004] According to an embodiment of the first aspect of the present application, the mortar spreading device of the present application is implemented by the following technical solutions:

[0005] A mortar spreading device includes: a base; a mortar spreading mechanism disposed on the base; a clamping mechanism slidably disposed on the base, the clamping mechanism and the mortar spreading mechanism are arranged along the first direction, and the clamping mechanism is used for clamping and positioning bricks; a transfer mechanism for driving the clamping mechanism to approach or move away from the mortar spreading mechanism along the first direction; a measuring mechanism for detecting the position of the bricks located on the clamping mechanism along the first direction.

[0006] First, the bricks are sent to the plastering mechanism by the clamping mechanism. The clamping mechanism of the clamping mechanism improves the stability of the bricks during movement. For example, in a three-dimensional rectangular coordinate system XYZ with the XOY coordinate plane as the horizontal plane and the YOZ coordinate plane as the vertical plane, when the bricks are clamped, the displacement of the bricks along the Y-axis and Z-axis is restricted to prevent the bricks from shaking during movement. The clamping mechanism is moved along the X-axis on the base, and the measuring mechanism can detect the displacement of the bricks along the X-axis in real time to determine the position of the bricks relative to the plastering mechanism. When the bricks reach the designated position, plastering is carried out through the plastering mechanism to ensure the correct position of the bricks relative to the plastering mechanism, and then the plastering mechanism accurately controls the amount of plaster output, thereby improving the plastering efficiency and effect.

[0007] According to some embodiments of the present application, the measuring mechanism is installed on the plastering mechanism. When the measuring mechanism detects the position of the bricks along the first direction, the measuring mechanism is located upstream of the brick conveying direction.

[0008] In the above solution, during the movement of the bricks, the positional relationship relative to the measuring mechanism is from far to near, which improves the measurement accuracy and avoids the bricks colliding with the measuring mechanism during movement.

[0009] According to some embodiments of the present application, the measuring mechanism is connected to the plastering mechanism through a mounting plate.

[0010] In the above solution, as described above, since both the plastering mechanism and the bricks are arranged along the X-axis, that is, the plastering mechanism and the bricks are arranged opposite to each other. By arranging the measuring mechanism on the plastering mechanism, the position of the bricks can be accurately detected during the movement of the bricks.

[0011] According to some embodiments of the present application, the plastering mechanism is rotatably connected to the base.

[0012] In the above solution, the angle between the plastering mechanism and the horizontal plane can be adjusted, so that it can adapt to various plastering states and increase the adaptability of the plastering mechanism.

[0013] According to some embodiments of the present application, the mounting plate is a bent structure, including a first plate body and a second plate body. The first plate body is connected to the plastering mechanism, and there is an angle between the second plate body and the first plate body. The measuring mechanism is connected to the second plate body. When the measuring mechanism is in the measuring state, the measuring mechanism is located at the inclined lower end of the plastering mechanism.

[0014] In the above solution, by reasonably setting the angle between the first plate body and the second plate body, the angle of the measuring mechanism relative to the bricks can be adjusted so that it can face the bricks directly and improve the measurement accuracy.

[0015] According to some embodiments of the present application, the measuring mechanism includes a connecting component, a rotational driving component, and a distance measuring sensor. The connecting component is rotatably arranged on the base, the distance measuring sensor is connected to the connecting component, and the rotational driving component is used to drive the connecting component to rotate relative to the base so that the distance measuring sensor can switch between a measuring position and a storage position.

[0016] In the above solution, the distance measuring sensor is a working component for measuring the distance of bricks. Under the action of the connecting component, the distance measuring sensor can rotate relative to the base, so that the distance measuring sensor can switch between the measuring position and the storage position. On the one hand, it can avoid the impact of the bricks on the distance measuring sensor during the movement of the bricks. On the other hand, it can avoid the cement mortar from contaminating the distance measuring sensor during the plastering of the plastering mechanism, resulting in its abnormal operation.

[0017] According to some embodiments of the present application, the distance measuring sensor is connected to the connecting component through a second rotational driving component, and the distance measuring sensor can rotate relative to the connecting component.

[0018] In the above solution, the second rotational driving component can change the measuring direction of the distance measuring sensor. On the one hand, it can finely adjust the distance measuring sensor to avoid measurement errors caused by reasons such as installation errors, resulting in the distance measuring sensor not being directly facing the bricks. On the other hand, it can turn the distance measuring sensor around, so that the position of the measuring mechanism relative to the base can be changed.

[0019] According to some embodiments of the present application, a one-way damper is arranged on the rotating shaft of the connecting component, and the one-way damper is used to generate damping on the connecting component when the connecting component rotates towards the measuring position.

[0020] In the above solution, the one-way damper plays a protective role. When the braking function of the rotational driving component fails, the one-way damper can prevent the connecting component from rotating due to the action of gravity.

[0021] According to some embodiments of the present application, the distance measuring sensor is a laser distance measuring sensor.

[0022] In the above solution, the laser distance measuring sensor has the advantages of accurate and stable measurement, increasing the measurement accuracy.

[0023] According to some embodiments of the present application, the clamping mechanism includes: a housing; two clamping plates, which are slidably connected to the housing, and the two clamping plates move along the same path; a synchronous driving component, which is used to drive the two clamping plates to approach or separate synchronously.

[0024] In the above solution, the brick is placed between two clamping plates, and then the two clamping plates are closed until they abut against the brick to achieve the purpose of clamping the brick. Moreover, under the action of the synchronous driving assembly, the two clamping plates are closed or separated synchronously, so that the clamping mechanism also has a centering function.

[0025] According to some embodiments of the present application, the clamping mechanism further includes a laser sensor, which includes a transmitting end and a receiving end. The transmitting end and the receiving end are oppositely arranged along the moving path of the clamping plate, and the two clamping plates are arranged between the transmitting end and the receiving end.

[0026] In the above solution, by judging whether the receiving end of the laser sensor can receive the ray emitted by the transmitting end, it can be judged whether the brick is placed on the clamping mechanism, which is convenient for the user to monitor.

[0027] According to some embodiments of the present application, the two clamping plates are partially hollowed out, and the ray emitted by the transmitting end passes through the hollowed-out parts of the two clamping plates and shoots towards the receiving end.

[0028] In the above solution, the hollow structure of the clamping plate enables the laser sensor to monitor bricks of different specifications, improving the accuracy and adaptability of the laser sensor.

[0029] According to some embodiments of the present application, the clamping mechanism further includes an aggregate trough, and the two clamping plates are arranged above the aggregate trough.

[0030] In the above solution, the aggregate trough can collect the cement mortar that falls during the mortar application by the mortar application mechanism, which is convenient for recycling and improves the utilization rate of raw materials.

[0031] According to some embodiments of the present application, the mortar application device further includes a lifting mechanism, which is arranged on the base, and the mortar application mechanism is rotatably connected to the execution end of the lifting mechanism.

[0032] In the above solution, the lifting mechanism increases the working range of the mortar application mechanism. For example, by lifting the mortar application mechanism, the side wall of the brick can be mortared.

[0033] According to some embodiments of the present application, the lifting mechanism includes: a fixing plate arranged on the base; a movable plate arranged parallel and spaced apart from the fixing plate, the movable plate is slidably connected to the fixing plate, the mortar application mechanism is rotatably connected to the movable plate, and a plurality of shielding plates are arranged on the movable plate to shield the gap between the fixing plate and the movable plate; a third rotation driving assembly installed on the movable plate and arranged between the fixing plate and the movable plate for driving the mortar application mechanism to rotate.

[0034] In the above scheme, the purpose of lifting and lowering the slurry mechanism can be achieved by controlling the movement of the movable plate. At the same time, since the gap between the fixed plate and the movable plate is blocked by the shielding plate above the movable plate, the third rotating drive component is arranged between the fixed plate and the movable plate, which protects the third rotating drive component.

[0035] According to some embodiments of the present application, the lifting mechanism also includes: a rack, which is arranged on the movable plate along the moving direction of the movable plate relative to the fixed plate; a gear, which is rotatably connected to the fixed plate, the gear is meshed with the rack, and the gear and the rack are arranged between the movable plate and the fixed plate; and a motor, which is used to drive the gear to rotate.

[0036] In the above scheme, the gear and the rack are arranged between the movable plate and the fixed plate, which plays a protective role for the gear and the rack.

[0037] In a second aspect, the present application proposes a slurry system, comprising the slurry device of the aforementioned embodiment.

[0038] According to some embodiments of the present application, the slurry system includes a control module, which is electrically connected to the slurry mechanism, the transfer mechanism and the measuring mechanism. When the measuring mechanism detects the brick along the first direction, the control module obtains the positions of the slurry mechanism and the brick along the first direction, and controls the transfer mechanism to move the brick to the slurry position along the first direction according to the positions of the two.

[0039] In the above solution, the control module frees the measuring mechanism and the moving mechanism from manual control, thereby avoiding the disadvantages of common manual control, such as poor control accuracy and low efficiency.

[0040] According to some embodiments of the present application, when the measuring mechanism detects the brick along the first direction, the grouting mechanism is in a side grouting posture.

[0041] In the above scheme, the plastering mechanism is preset to a side plastering posture, which reduces the time required for the plastering mechanism to adjust its posture and improves the overall work efficiency.

[0042] In a third aspect, the present application proposes a bricklaying system, comprising the screeding device as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0044] Figure 1 Schematic structural diagram of a bricklaying system according to some embodiments of the present application;

[0045] Figure 2 Schematic three-dimensional structural diagram of a measuring mechanism according to some embodiments of the present application;

[0046] Figure 3 Schematic top view structural diagram of a measuring mechanism according to some embodiments of the present application;

[0047] Figure 4 Schematic front view structural diagram of a measuring mechanism according to some embodiments of the present application;

[0048] Figure 5 Schematic diagram of the working state of applying mortar to the side of a brick by a measuring mechanism according to some embodiments of the present application;

[0049] Figure 6 Schematic diagram of a brick moving towards a mortar applying mechanism according to some embodiments of the present application;

[0050] Figure 7 Schematic three-dimensional front view structural diagram of a lifting mechanism according to some embodiments of the present application;

[0051] Figure 8 Schematic three-dimensional back view structural diagram of a lifting mechanism according to some embodiments of the present application;

[0052] Figure 9 For Figure 8 Enlarged view of part A;

[0053] Figure 10 Schematic side view structural diagram of a lifting mechanism according to some embodiments of the present application;

[0054] Figure 11 Schematic front view structural diagram of a lifting mechanism according to some embodiments of the present application;

[0055] Figure 12 Schematic connection diagram of a mortar applying mechanism and a measuring mechanism according to some embodiments of the present application;

[0056] Figure 13 Schematic side view structural diagram of the storage state of a measuring mechanism according to some embodiments of the present application;

[0057] Figure 14 Schematic three-dimensional structure diagram of the storage state of the measuring mechanism provided according to some embodiments of the present application;

[0058] Figure 15 Schematic front view structure diagram of the storage state of the measuring mechanism provided according to some embodiments of the present application;

[0059] Figure 16 Schematic side view structure diagram of the working state of the measuring mechanism provided according to some embodiments of the present application;

[0060] Figure 17 Schematic three-dimensional structure diagram of the working state of the measuring mechanism provided according to some embodiments of the present application;

[0061] Figure 18 Schematic structure diagram of the clamping mechanism provided according to some embodiments of the present application.

[0062] Icons: 10 - AGV vehicle; 20 - plastering device; 30 - bricklaying robotic arm; 40 - bricks; 50 - measuring mechanism; 101 - electric control cabinet; 102 - support rod; 201 - plastering mechanism; 202 - lifting mechanism; 203 - clamping mechanism; 204 - transverse moving platform; 205 - mounting plate; 2051 - second plate body; 2052 - first plate body; 207 - third rotation driving assembly; 208 - base; 209 - aggregate chute; 210 - control module; 2021 - movable plate; 2022 - fixed plate; 2023 - shielding plate; 2024 - rack; 2025 - gear; 2031 - housing; 2032 - transmitting end; 2033 - receiving end; 2034 - clamping plate; 301 - support plate; 302 - arm end; 303 - gripper; 501 - connection assembly; 502 - ranging sensor; 503 - rotation driving assembly; 504 - second rotation driving assembly. Detailed implementation manners

[0063] The following further describes in detail the implementation manners of the present application in conjunction with the drawings and embodiments. The following detailed description of the embodiments and the drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0064] In the description of the present application, it should be noted that unless otherwise specified, the meaning of "a plurality" is more than two; the orientation or positional relationships indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In addition, terms such as "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0065] The orientation terms appearing in the following description are all the directions shown in the figures and do not limit the specific structure of the present application. In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0066] Next, a plastering device according to an embodiment of the first aspect of the present application will be described with reference to the figures.

[0067] As Figures 1 - 5 shown, in view of the problems existing in the prior art, on the one hand, the present application proposes a plastering device 20, which includes: a base 208, a plastering mechanism 201, a clamping mechanism 203, a transfer mechanism, and a measuring mechanism 50. The plastering mechanism 201 is disposed on the base 208; the clamping mechanism 203 is slidably disposed on the base 208, the clamping mechanism 203 and the plastering mechanism 201 are arranged along a first direction X, and the clamping mechanism 203 is used for clamping and positioning a brick 40; the transfer mechanism is used to drive the clamping mechanism 203 to approach or move away from the plastering mechanism 201 along the first direction; the measuring mechanism 50 is used to detect the position of the brick located on the clamping mechanism along the first direction.

[0068] In the figure, the direction indicated by the letter X is the first direction, and the first direction X can be the length direction of the base.

[0069] As Figure 6 and Figure 7As shown, the mortar spreading mechanism 201 is the main working component of the mortar spreading device 20. The mortar spreading mechanism 201 has a strip-shaped mortar outlet, and scraping teeth are also provided at the mortar outlet, which are used to keep a certain gap between the mortar outlet and the surface of the brick 40 and play a role in evenly distributing the cement mortar smeared on the brick 40. When the mortar spreading mechanism 201 works, the angle of the mortar spreading mechanism 201 relative to the brick 40 is adjusted, and the scraping teeth of the mortar spreading mechanism 201 are abutted against the outer surface of the brick 40. Cement mortar is pumped into the mortar spreading mechanism 201 through a pump body, and the mortar spreading mechanism 201 is moved along the surface of the brick 40. The scraping teeth spread and level the cement mortar discharged from the mortar outlet. From the working process of the above mortar spreading mechanism 201, it can be seen that to improve the mortar spreading effect, the mortar spreading mechanism 201 should be aligned with the brick 40, and it should be avoided that the scraping teeth of the mortar spreading mechanism 201 are partially outside the surface of the brick 40. At the same time, the initial abutting position of the brick 40 and the scraping teeth of the mortar spreading mechanism 201 determines the starting point of mortar spreading by the mortar spreading mechanism 201. Therefore, it is necessary to accurately position the brick 40 relative to the mortar spreading mechanism 201.

[0070] As Figure 3 and Figure 4 As shown, in view of the above problems, through the clamping mechanism 203, in a space rectangular coordinate system XYZ with the XOY coordinate plane as the horizontal plane and the YOZ coordinate plane as the vertical plane, when the brick 40 is clamped in the initial state, the displacements of the brick 40 along the Y-axis and the Z-axis are restricted, that is, the brick 40 is aligned with the mortar spreading mechanism 201. Subsequently, the clamping mechanism 203 is moved by the transfer mechanism, and the clamping mechanism 203 carries the brick 40 and moves along the X-axis towards the mortar spreading mechanism 201. During the movement, the distance between the brick 40 and the mortar spreading mechanism 201 is measured by the measuring mechanism 50 to judge the position of the brick 40 relative to the mortar spreading mechanism 201, so that the brick 40 can be accurately moved to the mortar spreading starting point. In summary, through the cooperation of the clamping mechanism 203 and the measuring mechanism 50, the brick 40 can be accurately positioned before mortar spreading, and the mortar spreading effect can be improved. At the same time, the brick 40 is clamped by the clamping mechanism 203, which improves the stability of the brick 40 during movement.

[0071] According to some embodiments of the present application, optionally, the measuring mechanism 50 is installed on the mortar spreading mechanism 201. When the measuring mechanism 50 detects the position of the brick 40 along the first direction, the measuring mechanism 50 is located upstream of the conveying direction of the brick 40.

[0072] When the measuring mechanism 50 detects the position of the brick 40, it should be ensured that the brick 40 does not directly contact the working components of the measuring mechanism 50. Otherwise, the brick 40 will collide with the working components of the measuring mechanism 50, resulting in equipment damage. In the above solution, during the movement of the brick 40, the positional relationship relative to the measuring mechanism 50 is from far to near, which can ensure that the brick 40 will never directly contact the working components of the measuring mechanism 50 during its movement. Moreover, as is well known, the ranging principle of the vast majority of ranging devices relies on detecting the reflected signal after the signal emitted by them contacts the object to be detected, and then calculating the distance between the ranging device and the object to be detected through analysis. Therefore, further, the positional relationship of the measuring mechanism 50 relative to the brick 40 from far to near causes the reflection surface of the brick 40 to gradually become larger during the movement of the brick 40, avoiding the situation where the signal of the measuring mechanism 50 cannot hit the reflection surface of the brick 40.

[0073] In the present application, the transfer mechanism may be a transverse movement platform 204 slidably connected to the base 208. The clamping mechanism 203 is slidably connected to the transverse movement platform 204. The clamping mechanism 203 moves towards the plastering mechanism 201 driven by the transverse movement platform 204. And the clamping mechanism 203 is slidably connected to the transverse movement platform 204, so that the starting point of the movement of the clamping mechanism 203 relative to the base 208 can be changed, that is, the plastering stroke of the plastering mechanism 201 can be changed accordingly.

[0074] According to some embodiments of the present application, the plastering mechanism 201 is rotatably connected to the base 208.

[0075] During the operation of the plastering mechanism 201, when plastering different surfaces of the brick 40, the working angles of the plastering mechanism 201 are different. The rotatably arranged plastering mechanism 201 can adapt to various plastering states, so that the present device can plaster multiple surfaces of the brick 40.

[0076] In the present application, there are two setting methods for the measuring mechanism 50: The first method, one setting method of the measuring mechanism 50 is that the measuring mechanism 50 is connected to the plastering mechanism 201 through the mounting plate 205; The second method, as Figures 12 - 17 shown, another setting method of the measuring mechanism 50 is that the measuring mechanism 50 includes a connection component 501, a rotation driving component 503 and a ranging sensor 502. The connection component 501 is rotatably arranged on the base 208. The ranging sensor 502 is connected to the connection component 501. The rotation driving component 503 is used to drive the connection component 501 to rotate relative to the base 208 so that the ranging sensor 502 can be switched between the measuring position and the storage position.

[0077] In an embodiment of the first method, since the brick 40 moves towards the mortar spreading mechanism 201 driven by the clamping mechanism 203, the measuring mechanism 50 is arranged at a suitable position on the mortar spreading mechanism 201 to be directly opposite the brick 40, facilitating measurement. Meanwhile, the mounting plate 205 can protect the connecting part of the measuring mechanism 50. Specifically, when disassembling and assembling the measuring mechanism 50, only the connection between the mounting plate 205 and the mortar spreading mechanism 201 needs to be adjusted, reducing the fatigue damage of the connecting part of the measuring mechanism 50. Moreover, the mounting angle of the measuring mechanism 50 can be conveniently adjusted through the mounting plate 205.

[0078] As Figures 7 - 11 shown, optionally, the mounting plate 205 is a bent structure, including a first plate body 2052 and a second plate body 2051. The first plate body 2052 is connected to the mortar spreading mechanism 201, and there is an included angle between the second plate body 2051 and the first plate body 2052. The measuring mechanism 50 is connected to the second plate body 2051. When the measuring mechanism 50 is in the measuring state, the measuring mechanism 50 is located at the inclined lower end of the mortar spreading mechanism 201.

[0079] The mounting plate 205 being a bent structure means that there is a certain included angle between the first plate body 2052 and the second plate body 2051.

[0080] By adjusting the included angle between the first plate body 2052 and the second plate body 2051, the angle of the measuring mechanism 50 relative to the brick 40 can be adjusted, increasing the adaptability of the measuring mechanism 50.

[0081] Optionally, the first plate body 2052 and the second plate body 2051 can be integrally formed. For example, the mounting plate 205 can be formed by bending a plate-like structure, so that there is a certain included angle between the first plate body 2052 and the second plate body 2051; or, the mounting plate 205 can also be integrally cast. After forming, there is a certain included angle between the first plate body 2052 and the second plate body 2051.

[0082] Optionally, the first plate body 2052 and the second plate body 2051 can also be separately arranged. The first plate body 2052 and the second plate body 2051 can be hinged, and a fixing member for fixing the first plate body 2052 and the second plate body 2051 can be arranged on the mounting plate 205. When the fixing effect of the fixing member disappears, the first plate body 2052 and the second plate body 2051 can rotate relative to each other, thereby adjusting the mounting angle of the measuring mechanism 50; the first plate body 2052 and the second plate body 2051 can also be rotationally connected through a damping rotating shaft, so that when the acting force on the first plate body 2052 is less than the threshold value, the first plate body 2052 and the second plate body 2051 are fixed, and when it is greater than the threshold value, the first plate body 2052 can rotate relative to the second plate body 2051.

[0083] When the measuring mechanism 50 is located at the inclined lower end of the plastering mechanism 201, correspondingly, the angle between the plastering mechanism 201 and the horizontal plane is greater than the angle between it and the horizontal plane during its operation. When the plastering mechanism 201 is operating, the plastering mechanism 201 needs to rotate to adjust its position. When the plastering mechanism 201 rotates in the direction of decreasing the angle with the horizontal, at this time the measuring mechanism 50 rotates from bottom to top. Firstly, it avoids the collision between the brick 40 and the measuring mechanism 50 during the relative movement of the brick 40 and the plastering mechanism 201 during plastering. Secondly, it makes the measuring mechanism 50 higher than the slurry outlet of the plastering mechanism 201, avoiding the cement mortar from contaminating the measuring mechanism 50 and causing damage to it.

[0084] Optionally, the surface of the plastering mechanism 201 facing the brick 40 is the front, and the measuring mechanism 50 is arranged on the back of the plastering mechanism 201, so as to avoid the collision between the brick 40 and the measuring mechanism 50.

[0085] In the embodiment of the second method, as Figure 16 、 Figure 17 shown, first, the distance measuring sensor 502 is connected to the base 208 through the connecting component 501. Compared with being directly connected to the plastering mechanism 201, the plastering mechanism 201 is farther from the slurry outlet of the plastering mechanism 201. Therefore, the possibility of the plastering mechanism 201 being contaminated with cement mortar is lower, and the protection effect on the distance measuring sensor 502 is better. During the plastering process of the brick 40, the brick 40 will move from one side of the plastering mechanism 201 to the other side. Therefore, it is necessary to accommodate the distance measuring sensor 502 to avoid the brick 40 hitting the brick 40 during the movement. Specifically, under the action of the connecting component 501, the distance measuring sensor 502 can rotate relative to the base 208, enabling it to switch between the measuring position and the accommodating position.

[0086] According to some embodiments of the present application, optionally, the distance measuring sensor 502 is connected to the connecting component 501 through the second rotation driving component 504, and the distance measuring sensor 502 can rotate relative to the connecting component 501.

[0087] It is well known that errors are inevitable in any processing and measurement. For example, even if the position of the connection component 501 relative to the base 208 is designed, during actual installation, due to the existence of errors, the position of the connection component 501 relative to the base 208 still has a certain deviation. For another example, even if the rotation angle of the connection component 501 when the moving ranging sensor 502 reaches the measurement position is preset, there is still a certain error in the rotation angle of the connection component 501. When the ranging sensor 502 rotates relative to the connection component 501, the measurement direction of the ranging sensor 502 can be finely adjusted to improve the measurement accuracy. Furthermore, when the ranging sensor 502 rotates 180° relative to the connection component 501, the working orientation of the ranging sensor 502 is opposite at this time, which increases the possibility that the measuring mechanism 50 can be arranged on different sides of the base 208 and increases the flexibility when the measuring mechanism 50 is arranged.

[0088] Optionally, both the rotation driving component 503 and the second rotation driving component 504 are servos.

[0089] According to some embodiments of the present application, optionally, a one-way damper is provided on the rotating shaft of the connection component 501, and the one-way damper is used to generate damping on the connection component 501 when the connection component 501 rotates towards the measurement position.

[0090] On the one hand, the one-way damper can play a role in shock absorption and energy dissipation, improving the stability of the connection component 501 during rotation. At the same time, after the connection component 501 moves to the specified position, the damping effect can provide resistance, enabling the connection component 501 to more stably maintain its position unchanged. On the other hand, the one-way damper plays a protective role. When the braking function of the rotation driving component 503 fails, the one-way damper can prevent the connection component 501 from rotating due to the action of gravity. For example, when the rotation driving component 503 is a servo, when the servo is powered off, it does not have a braking function. When the storage position of the ranging sensor 502 is above and the measurement position is below, the connection component 501 needs to rotate from top to bottom to reach the measurement position and from bottom to top to reach the storage position. Without the damping effect of the one-way damper, the connection component 501 will rotate downward under the action of gravity after the servo is powered off.

[0091] According to some embodiments of the present application, optionally, the ranging sensor 502 is a laser ranging sensor.

[0092] The ranging sensor 502 adopting a laser ranging sensor has the following beneficial effects: First, it has the advantages of accurate and stable measurement; second, it has the advantage of a relatively small volume, making its installation position more flexible and at the same time reducing the probability of being damaged by external forces.

[0093] Such as Figure 18As shown, according to some embodiments of the present application, optionally, the clamping mechanism 203 includes: a housing 2031, two clamping plates 2034, and a synchronous driving assembly. The two clamping plates 2034 are slidably connected to the housing 2031, and the two clamping plates 2034 move along the same path; the synchronous driving assembly is used to drive the two clamping plates 2034 to approach or separate synchronously.

[0094] As described above, on the one hand, the clamping mechanism 203 needs to clamp the brick 40 to improve its stability during movement, and on the other hand, it needs to limit the position of the brick 40. In the above solution, a clamping space is formed between the two clamping plates 2034. The brick 40 is placed in the clamping space, and then the two clamping plates 2034 are closed until they abut against the brick 40 to clamp the brick 40. Moreover, under the action of the synchronous driving assembly, the two clamping plates 2034 close or separate synchronously, so that the clamping mechanism 203 also has a centering function. For example, when the brick 40 moves along the X-axis, its coordinate on the Y-axis is 0. When the brick 40 is placed between the two clamping plates 2034, the coordinate of the brick 40 on the Y-axis is not 0. The two clamping plates 2034 are symmetrically arranged with respect to the X-axis and move synchronously towards the X-axis, so that when the two clamping plates 2034 clamp the brick 40, the brick 40 can move to a position where its coordinate on the Y-axis is 0.

[0095] Optionally, the synchronous driving assembly may include a lead screw. The lead screw is rotatably connected to the housing 2031. The two clamping plates 2034 are in threaded cooperation with the lead screw, and the thread directions of the two clamping plates 2034 are opposite. When the lead screw rotates, the purpose of synchronously driving the two clamping plates 2034 to move can be achieved.

[0096] Optionally, the synchronous driving assembly can be arranged inside the housing 2031 to prevent cement mortar from dripping onto the synchronous driving assembly and causing damage to it.

[0097] According to some embodiments of the present application, optionally, the clamping mechanism 203 further includes a laser sensor. The laser sensor includes a transmitting end 2032 and a receiving end 2033. The transmitting end 2032 and the receiving end 2033 are arranged opposite to each other along the moving path of the clamping plate 2034, and the two clamping plates 2034 are arranged between the transmitting end 2032 and the receiving end 2033.

[0098] In the above solution, the laser sensor plays a role in monitoring the feeding. When the brick 40 is placed between the two clamping plates 2034, the transmitting end 2032 and the receiving end 2033 are blocked. Furthermore, by judging whether the receiving end 2033 receives the ray from the transmitting end 2032, it can be judged whether the two clamping plates 2034 clamp the brick 40. On the one hand, by electrically connecting the transmitting end 2032 and the receiving end 2033 to a processor, a monitoring function is achieved, enabling the user to clearly understand the working condition of the device. On the other hand, it can be connected to other intelligent devices to make the device more intelligent.

[0099] According to some embodiments of the present application, optionally, the two clamping plates 2034 are partially hollowed out, and the rays emitted by the transmitting end 2032 are emitted towards the receiving end 2033 through the hollowed-out parts of the two clamping plates 2034.

[0100] Since the specifications of various bricks 40 are different, there is a situation where some bricks 40 with smaller sizes are exactly blocked by the clamping plates 2034 when being clamped by the two clamping plates 2034. At this time, if the laser sensor can only detect whether there is a brick 40 being clamped from one side of the two clamping plates 2034, it will lead to monitoring errors. However, the rays emitted by the transmitting end 2032 are emitted towards the receiving end 2033 through the hollowed-out parts of the two clamping plates 2034, so that the rays emitted by the transmitting end 2032 can directly contact the brick 40, making the monitoring more accurate.

[0101] As Figure 18 shown, according to some embodiments of the present application, optionally, the clamping mechanism 203 further includes an aggregate chute 209, and the two clamping plates 2034 are arranged above the aggregate chute 209.

[0102] During the process of mortar spreading by the mortar spreading mechanism 201, some cement mortar may fall off. First, it wastes raw materials. Second, if the cement mortar gets stuck between the moving parts and hardens, it will damage the connection relationship of the parts. The aggregate chute 209 can collect the cement mortar that falls off during the mortar spreading by the mortar spreading mechanism 201, which is convenient for reuse, improves the utilization efficiency of raw materials, and is also convenient for cleaning.

[0103] As Figure 8 shown, according to some embodiments of the present application, optionally, the mortar spreading device 20 further includes a lifting mechanism 202. The lifting mechanism 202 is arranged on the base 208, and the mortar spreading mechanism 201 is rotatably connected to the execution end of the lifting mechanism 202. The lifting mechanism 202 includes: a fixed plate 2022, a movable plate 2021, and a third rotation driving component 207. The fixed plate 2022 is arranged on the base 208. The movable plate 2021 and the fixed plate 2022 are arranged in parallel at an interval. The movable plate 2021 and the fixed plate 2022 are slidably connected. The mortar spreading mechanism 201 is rotatably connected to the movable plate 2021. A plurality of shielding plates 2023 are arranged on the movable plate 2021 for shielding the gap between the fixed plate 2022 and the movable plate 2021. The third rotation driving component 207 is installed on the movable plate 2021 and is arranged between the fixed plate 2022 and the movable plate 2021 for driving the mortar spreading mechanism 201 to rotate.

[0104] The lifting mechanism 202 increases the working range of the mortar spreading mechanism 201. For example, by adjusting the mortar spreading mechanism 201 to an appropriate angle and lifting the mortar spreading mechanism 201 while the mortar spreading mechanism 201 discharges mortar, the side walls of the bricks 40 can be mortar-spread.

[0105] By controlling the movement of the movable plate 2021, the purpose of the lifting and plastering mechanism 201 can be achieved. At the same time, since the gap between the fixed plate 2022 and the movable plate 2021 is blocked by the shielding plate 2023 above the movable plate 2021, that is, the fixed plate 2022, the movable plate 2021 and the shielding plate 2023 form a non-fully open or even closed space. And the plastering mechanism 201 is driven to rotate by the third rotation driving component 207. That is, the third rotation driving component 207 is relatively close to the plastering mechanism 201 and is prone to being contaminated by cement mortar. Setting the third rotation driving component 207 between the fixed plate 2022 and the movable plate 2021 plays a protective role for the third rotation driving component 207.

[0106] In this application, the third rotation driving component can be a belt drive mechanism. The belt drive mechanism includes: two belt pulleys, which are respectively rotatably arranged on the movable plate 2021, and a transmission belt, which is wound around the outer edges of the two belt pulleys and is used to transmit torque. The plastering mechanism 201 is connected to one of the belt pulleys. The advantages of such a setting are as follows. First, the belt drive mechanism is suitable for long-distance transmission, making the installation space at the plastering mechanism 201 larger and convenient for layout. Second, the belt drive mechanism has stable transmission and low noise. Third, the belt drive mechanism has an overload protection function. When the plastering mechanism 201 is stuck and cannot rotate, it can protect the driving part connected to the other belt pulley from being damaged.

[0107] As Figure 8 shown, according to some embodiments of the present application, optionally, the lifting mechanism 202 further includes: a rack 2024, a gear 2025 and a motor. The rack 2024 is arranged on the movable plate 2021 along the moving direction of the movable plate 2021 relative to the fixed plate 2022. The gear 2025 is rotatably connected to the fixed plate 2022. The gear 2025 meshes with the rack 2024. The gear 2025 and the rack 2024 are arranged between the movable plate 2021 and the fixed plate 2022. The motor is used to drive the gear 2025 to rotate.

[0108] The motor drives the gear 2025 to rotate, and the rack 2024 can reciprocate under the drive of the gear 2025 to achieve the purpose of lifting the movable plate 2021. At the same time, setting the gear 2025 and the rack 2024 between the movable plate 2021 and the fixed plate 2022 plays a protective role for the gear 2025 and the rack 2024. For example, it can prevent cement mortar from getting stuck between their teeth and causing them to fail to mesh, and can prevent the rack 2024 and the gear 2025 from being directly contacted with cement mortar and being corroded.

[0109] Second aspect, as Figure 1As shown, the present application proposes a slurry system, including the aforementioned slurry device 20. The slurry system also includes a control module 210, which is electrically connected to the slurry mechanism 201, the transfer mechanism and the measuring mechanism 50. When the measuring mechanism 50 detects the brick 40 along the first direction, the control module 210 obtains the positions of the slurry mechanism 201 and the brick 40 along the first direction, and controls the transfer mechanism to transfer the brick 40 to the slurry position along the first direction according to the positions of the two.

[0110] On the one hand, the process of the control module 210 acquiring the measurement data of the measuring mechanism 50 and converting it into a distance is faster than the traditional manual calculation. On the other hand, the control module 210 frees the measuring mechanism 50 and the moving mechanism from manual control. For example, the control module 210 controls the rotation drive component 503 and the second rotation drive component 504 to work, so that the measuring mechanism 50 can work automatically, thereby improving the working efficiency. It also avoids the common shortcomings of manual control, such as poor control accuracy and low efficiency.

[0111] In the present application, the control module 210 may be a mature product disclosed in the prior art such as a microcomputer or a PLC. Specifically, when connected, each driving component of the transfer mechanism and the measuring mechanism 50 is electrically connected to the port of the control module 210 accordingly.

[0112] According to some embodiments of the present application, optionally, when the measuring mechanism 50 detects the brick 40 along the first direction, the grouting mechanism 201 is in a side grouting posture.

[0113] On the one hand, the smearing mechanism 201 is preset to the side smearing posture. When the brick 40 reaches the specified position, the smearing mechanism 201 can start smearing, which reduces the time required for the smearing mechanism 201 to adjust the posture and improves the overall work efficiency. On the other hand, as mentioned above, in one embodiment, the measuring mechanism 50 is connected to the slurry mechanism 201 through the mounting plate 205. In this arrangement, when the brick 40 abuts against the slurry mechanism 201, the distance between the measuring mechanism 50 and the brick 40 is small. When the slurry mechanism 201 slurries the top surface of the brick 40, the measuring mechanism 50 and the brick 40 are prone to collide. Therefore, when the slurry mechanism 201 is in a side slurrying posture, correspondingly, the measuring mechanism 50 is just in a measuring state along the first direction, that is, the horizontal direction. Afterwards, before slurrying the top surface of the brick 40, the slurry mechanism 201 rotates in the opposite direction to adjust its posture. At this time, the measuring mechanism 50 rotates accordingly, and its vertical height increases, thereby avoiding the collision between the measuring mechanism 50 and the brick 40 when the slurry mechanism 201 scrapes the top surface of the brick 40.

[0114] In a third aspect, the present application proposes a bricklaying system, including the mortar spreading device 20 as described above. Further, the bricklaying system further includes: an AGV cart 10 and a bricklaying robotic arm 30, and the mortar spreading device 20 and the bricklaying robotic arm 30 are respectively arranged on the AGV cart 10.

[0115] The mortar spreading device 20 can be arranged on the electric control cabinet 101 of the AGV cart 10. On the one hand, it makes reasonable use of space for installation, and on the other hand, it raises the mortar spreading device 20 to facilitate brick picking.

[0116] The bricklaying robotic arm 30 includes: an arm end 302 and a vertical movement guide rail. The vertical movement guide rail includes a support plate 301. The support plate 301 is arranged on the AGV cart 10, and the support plate 301 is vertically provided with a slide rail. The arm end 302 includes a plurality of support rods 102 that are sequentially rotatably connected. One end of the support rod 102 is slidably connected to the slide rail, and a gripper 303 is arranged on the support rod 102 at the other end;

[0117] When the bricklaying system works, first, mortar is spread by the mortar spreading device 20, that is, the brick 40 passes through the mortar spreading mechanism 201 under the action of the clamping mechanism 203. Subsequently, the brick 40 continues to move forward to the discharging position, and the two clamping plates 2034 are separated. It should be noted that when the device spreads mortar on the brick 40, it can only spread mortar on the top surface and side surfaces of the brick 40. When building a wall, the original top surface of the brick 40 needs to be inverted. That is, before building a wall through the bricklaying robotic arm 30, the brick 40 needs to be inverted. One way is that the gripper 303 of the bricklaying robotic arm 30 can be rotatably connected to the support rod 102 at the end. When the gripper 303 grabs the brick 40, the brick 40 is flipped. It is also possible to set a flipping manipulator on the AGV cart 10 to grab the brick 40, flip it and then transfer it to the bricklaying robotic arm 30.

[0118] The AGV cart 10 is used to move the bricklaying robotic arm 30 to adjust the position of the bricklaying robotic arm 30 for building a wall. Further, support rods 102 can be arranged at the bottom of the AGV cart 10. When the bricklaying robotic arm 30 builds a wall, the support rods 102 are propped up to lift the driving wheels of the AGV cart 10 off the ground, improving the stability of the bricklaying robotic arm 30 when laying bricks.

[0119] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0120] Although the present application has been described with reference to the preferred embodiments, various modifications can be made to it and components thereof can be replaced with equivalents without departing from the scope of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any manner. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A mortar spreading device, characterized in that, Comprising: Base; Mortaring mechanism, arranged on the base; Clamping mechanism, slidably arranged on the base, the clamping mechanism and the mortaring mechanism are arranged along a first direction, and the clamping mechanism is used for clamping and positioning bricks; Transfer mechanism, used to drive the clamping mechanism to approach or move away from the mortaring mechanism along the first direction; Measuring mechanism, used to detect the position of the brick on the clamping mechanism along the first direction; The measuring mechanism includes a connecting component, a rotation driving component and a distance measuring sensor, the connecting component is rotatably arranged on the base, the distance measuring sensor is connected to the connecting component, and the rotation driving component is used to drive the connecting component to rotate relative to the base so that the distance measuring sensor can be switched between a measuring position and a storage position; The distance measuring sensor is connected to the connecting component through a second rotation driving component, and the distance measuring sensor can rotate relative to the connecting component.

2. The plastering device according to claim 1, characterized in that, The measuring mechanism is installed on the mortaring mechanism. When the measuring mechanism detects the position of the brick along the first direction, the measuring mechanism is located upstream of the brick conveying direction.

3. The plastering device according to claim 1, characterized in that, The measuring mechanism is connected to the mortaring mechanism through a mounting plate.

4. The plastering device according to claim 3, characterized in that, The mortaring mechanism is rotatably connected to the base.

5. The grouting device according to claim 4, wherein, The mounting plate is a bent structure, including a first plate body and a second plate body. The first plate body is connected to the mortaring mechanism, and there is an included angle between the second plate body and the first plate body. The measuring mechanism is connected to the second plate body. When the measuring mechanism is in a measuring state, the measuring mechanism is located at the inclined lower end of the mortaring mechanism.

6. The grouting device according to claim 1, wherein A one-way damper is arranged on the rotating shaft of the connecting component, and the one-way damper is used to generate damping for the connecting component when the connecting component rotates towards the measuring position.

7. The plastering device according to claim 1, characterized in that, The distance measuring sensor is a laser distance measuring sensor.

8. The plastering device according to claim 1, characterized in that, The clamping mechanism includes: Shell; Two clamping plates, slidably connected to the shell, and the two clamping plates move along the same path; Synchronous driving component, used to drive the two clamping plates to approach or move away synchronously.

9. The plastering device according to claim 8, characterized in that, The clamping mechanism further includes a laser sensor, the laser sensor includes a transmitting end and a receiving end, the transmitting end and the receiving end are arranged opposite to each other along the moving path of the clamping plate, and the two clamping plates are arranged between the transmitting end and the receiving end.

10. The plastering device according to claim 9, characterized in that, The two clamping plates are partially hollowed out, and the rays emitted by the transmitting end pass through the hollowed-out parts of the two clamping plates and shoot towards the receiving end.

11. The plastering device according to claim 9, characterized in that, The clamping mechanism further includes an aggregate trough, and the two clamping plates are arranged above the aggregate trough.

12. The grouting device according to claim 1, characterized in that The mortaring device further includes a lifting mechanism, the lifting mechanism is arranged on the base, and the mortaring mechanism is rotatably connected to the execution end of the lifting mechanism.

13. The plastering device according to claim 12, characterized in that, The lifting mechanism includes: Fixed plate, arranged on the base; Movable plate, arranged parallel and spaced apart from the fixed plate, the movable plate is slidably connected to the fixed plate, the mortaring mechanism is rotatably connected to the movable plate, and a plurality of shielding plates are arranged on the movable plate to shield the gap between the fixed plate and the movable plate; The third rotation driving assembly is installed on the movable plate and arranged between the fixed plate and the movable plate, and is used for driving the smearing mechanism to rotate.

14. The plastering device according to claim 13, characterized in that, The lifting mechanism also includes: a rack, arranged on the movable plate along a moving direction of the movable plate relative to the fixed plate; A gear, rotatably connected to the fixed plate, the gear meshing with the rack, the gear and the rack being arranged between the movable plate and the fixed plate; The motor is used to drive the gear to rotate.

15. A plastering system, characterized in that, It comprises a slurry spreading device as described in any one of claims 1-14.

16. The plastering system according to claim 15, wherein The screed system includes a control module, which is electrically connected to the screed mechanism, the transfer mechanism and the measuring mechanism. When the measuring mechanism detects the brick along the first direction, the control module obtains the positions of the screed mechanism and the brick along the first direction, and controls the transfer mechanism to move the brick to the screed position along the first direction according to the positions of the two.

17. The plastering system according to claim 15, wherein: When the measuring mechanism detects the brick along the first direction, the screeding mechanism is in a side screeding posture.

18. A bricklaying system, characterized in that, It comprises a slurry spreading device as described in any one of claims 1-14.

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