Bricklaying robot

Abstract

The present application relates to a bricklaying robot, belonging to the technical field of construction machinery. The bricklaying robot includes a carrying platform, a brick-loading manipulator and a jig platform. The brick-loading manipulator is movably arranged on the carrying platform and is used for grasping bricks. The jig platform is movably arranged on the carrying platform along a first direction and is used for receiving the bricks grasped by the brick-loading manipulator and clamping the bricks. Wherein, a buffer platform is arranged on the carrying platform, and the buffer platform is used for storing bricks so that the brick-loading manipulator can grasp the bricks located on the buffer platform and transfer them to the jig platform. This kind of bricklaying robot can improve the brick-loading efficiency of bricks.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and more particularly, to a bricklaying robot. Background Art

[0002] Currently, during the construction of a building, after the concrete frame is poured, the non-load-bearing walls of the building usually adopt the operation methods of manual wall building or automated wall building with bricklaying equipment. However, completing this process manually has problems such as high technical level requirements, unstable construction quality, construction risks, and high labor intensity and low efficiency. When the existing brick supply robot supplies bricks to the bricklaying robot, since the brick supply robot and the bricklaying robot are separately arranged, the brick supply robot needs to adjust its position when supplying bricks to the bricklaying robot. Only after the two robots are aligned can bricks be supplied to the bricklaying robot, resulting in a relatively low brick supply efficiency. Summary of the Invention

[0003] The purpose of the present application is to provide a bricklaying robot to improve the above problems.

[0004] An embodiment of the present application provides a bricklaying robot, which includes a carrier, a brick loading manipulator, and a fixture table. The brick loading manipulator is movably arranged on the carrier, and the brick loading manipulator is used to grab bricks; the fixture table is movably arranged on the carrier along a first direction, and the fixture table is used to receive the bricks grabbed by the brick loading manipulator and clamp the bricks; wherein, a buffer platform is arranged on the carrier, and the buffer platform is used to store bricks for the brick loading manipulator to grab the bricks located on the buffer platform and transfer them to the fixture table.

[0005] In this solution, by arranging a brick loading manipulator on the carrier, that is, the brick loading manipulator is integrally arranged with the bricklaying robot, the bricklaying robot not only has the function of bricklaying but also has the function of automatic brick loading, making the overall integration degree of the bricklaying robot higher. And a buffer platform cooperating with the brick loading manipulator is arranged on the carrier. The buffer platform can store bricks for the brick loading manipulator to pick up. In this way, when supplying bricks to the fixture table, the brick loading manipulator can directly pick up the bricks on the buffer platform and transfer them to the fixture table, greatly improving the brick loading efficiency of the bricklaying robot. It solves the problem that the traditional separate brick loading robot and bricklaying robot need to adjust their positions with each other when loading bricks, and the bricks can only be loaded after the positions and angles of the two robots are aligned. In this solution, by integrally arranging the brick loading manipulator and the buffer platform on the bricklaying robot, only need to pre-store the bricks on the buffer platform in advance, and then the brick loading manipulator can directly supply bricks to the fixture table, shortening the time required for brick feeding, greatly improving the brick loading efficiency, and correspondingly improving the construction efficiency of the bricklaying robot.

[0006] In addition, the bricklaying robot provided by the embodiments of the present application further has the following additional technical features:

[0007] In some embodiments, there is at least one placement position for placing the bricks on the buffer platform.

[0008] In the above technical solution, in order to ensure a better buffering effect of the buffer platform on the bricks, a plurality of placement positions can be provided on the buffer platform, so that multiple bricks can be placed on the buffer platform, thereby improving the buffering function of the buffer platform and avoiding the situation where there are no bricks to be placed on the buffer platform after the clamping table moves into place.

[0009] In some embodiments, the position of the buffer platform in the height direction is not lower than that of the clamping table.

[0010] In the above technical solution, by setting the height position of the buffer platform to be not lower than that of the clamping table, when the brick loading manipulator clamps the brick on the buffer platform, it can directly traverse horizontally in the first direction to the upper part of the clamping table, and then lower the brick onto the clamping table, without the need to lift the brick in the height direction again and then move it to the upper part of the clamping table. It can directly traverse horizontally to the upper part of the clamping table, and then fall to an appropriate height and release the brick. Therefore, by setting the height position of the buffer platform to be not lower than that of the clamping table, the transfer efficiency of the brick loading manipulator for the bricks is more efficient, and the brick loading efficiency of transferring the bricks to the clamping table is improved.

[0011] In some embodiments, the bricklaying robot includes a traversing frame, a lifting frame, a first driving component, and a second driving component. The traversing frame is arranged on the bearing platform and is located above the clamping table. The traversing frame has a first guide rail extending in the second direction, and the second direction is perpendicular to the first direction; the lifting frame is movably arranged on the traversing frame along the second direction. One end of the lifting frame close to the traversing frame is slidably matched with the first guide rail. The lifting frame has a second guide rail extending in the third direction, and the third direction is perpendicular to both the first direction and the second direction; the brick loading manipulator is movably arranged on the lifting frame along the third direction and is slidably matched with the second guide rail; the first driving component is arranged on the traversing frame, and the first driving component is used to drive the lifting frame to move along the second direction on the traversing frame; the second driving component is arranged on the lifting frame, and the second driving component is used to drive the brick loading manipulator to move along the third direction on the lifting frame.

[0012] In the above technical solution, by providing a lifting frame and a transverse movement frame on the bearing platform, the first guide rail and the second guide rail mainly play a guiding role. Therefore, under the driving action of the first driving component, the lifting frame can be driven to move in the second direction on the transverse movement frame, thereby realizing the position adjustment of the lifting frame in the second direction. Furthermore, after adjusting the brick loading manipulator to align with the fixture table in the second direction, the second driving component can be used to drive the brick loading manipulator to move in the third direction (vertical direction) on the lifting frame, thereby adjusting the vertical distance between the brick loading manipulator and the fixture table. Therefore, under the combined action of the first driving component and the second driving component, the brick loading manipulator can move in the second direction and the third direction, so that the brick loading manipulator can accurately transfer the bricks on the buffer platform to the fixture table. The structure is simple and easy to implement.

[0013] In some embodiments, the brick loading manipulator includes a first base, two first clamping arms, and a third driving component. The first base is slidably engaged with the second guide rail; the two first clamping arms are movably arranged at intervals on both sides of the first base in the second direction, so that the two first clamping arms can approach or move away from each other in the second direction; the two first clamping arms are used to cooperate to clamp the bricks; the third driving component is arranged on the first base, and the third driving component is used to drive the two first clamping arms to approach or move away from each other on the first base.

[0014] In the above technical solution, through the two first clamping arms on the brick loading manipulator, the two first clamping arms can slide along the second guide rail on the first base. Therefore, under the driving action of the third driving component, the two first clamping arms can approach or move away from each other in the second direction, thereby realizing the clamping or loosening of the bricks on the buffer platform. The structure is simple and easy to operate.

[0015] In some embodiments, the bricklaying robot further includes a transverse movement mechanism. The transverse movement mechanism is arranged on the bearing platform, and the fixture table is arranged on the transverse movement mechanism. The transverse movement mechanism is used to drive the fixture table to reciprocate along the first direction on the bearing platform.

[0016] In the above technical solution, by providing a transverse movement mechanism on the bearing platform, the transverse movement mechanism can drive the fixture table to reciprocate along the first direction on the bearing platform, so that the fixture table can have multiple working stations on the bearing platform, and the multiple working stations are relatively independent of each other. When the fixture table receives the bricks provided by the brick loading manipulator, the fixture table can be driven by the transverse movement mechanism to transfer the bricks to other working stations on the bearing platform, so as to facilitate other operations such as plastering and laying bricks on the bricks by the bricklaying robot in the future. There is no need for manual participation in transferring the bricks, thereby ensuring the overall bricklaying efficiency of the bricklaying robot.

[0017] In some embodiments, the jig table includes a positioning table, two second clamping arms, and a fourth driving assembly. The positioning table is connected to the transverse movement mechanism, and the positioning table is used to receive the bricks grabbed by the brick loading manipulator. The two second clamping arms are movably arranged on the positioning table. The two second clamping arms are spaced apart on both sides of the positioning table in the second direction. The two second clamping arms are used to clamp the bricks grabbed by the brick loading manipulator. The second direction is perpendicular to the first direction. The fourth driving assembly is arranged on the positioning table, and the fourth driving assembly is used to drive the two second clamping arms to move closer to or away from each other on the positioning table.

[0018] In the above technical solution, by providing two second clamping arms on the positioning table, after the brick loading manipulator places the bricks on the positioning table, the two second clamping arms can move along the second direction on the positioning table under the action of the fourth driving assembly, so as to clamp both sides of the bricks on the positioning table in the second direction, avoiding the displacement of the bricks during the transfer process. At the same time, it is also convenient for the subsequent mortar spreading mechanism to spread mortar on the bricks on the jig table, preventing the bricks from moving during the mortar spreading process and affecting the mortar spreading quality of the bricks.

[0019] In some embodiments, the bricklaying robot further includes a mortar spreading mechanism and a bricklaying manipulator. The mortar spreading mechanism is movably arranged on the carrying table and is located on the moving path of the jig table on the carrying table. The mortar spreading mechanism is used to spread mortar on the surface of the bricks located on the jig table. The bricklaying manipulator is movably arranged on the carrying table, and the bricklaying manipulator is used to grab the bricks after mortar spreading by the mortar spreading mechanism and transfer the bricks to the masonry position for bricklaying.

[0020] In the above technical solution, by providing a mortar spreading mechanism on the carrying table, the mortar spreading mechanism can spread mortar on the bricks clamped on the jig table. And under the action of the transverse movement mechanism, it can drive the bricks after mortar spreading on the jig table to move forward along the first direction to the position to be transferred, so that the bricklaying manipulator can transfer the bricks on the jig table at the position to be transferred to the masonry position to realize the piling up of the wall. Therefore, by arranging the mortar spreading mechanism on the moving path of the jig table, the linear transportation of the bricks along the first direction on the carrying table is realized, and under the action of the bricklaying manipulator, the bricks are directly laid on the wall for masonry, which is beneficial to saving the bricklaying time for the bricks to be laid on the wall and improving the bricklaying efficiency of the bricklaying robot.

[0021] In some embodiments, the plastering mechanism includes an actuator and a plastering head. The plastering head is mounted on the carrier table through the actuator. The plastering head has a first position and a second position in the second direction, and the brick is located between the first position and the second position in the second direction. The actuator is configured to drive the plastering head to move between the first position and the second position, and the actuator is further configured to drive the plastering head to rotate about an axis extending in the second direction, so that the plastering end of the plastering head can abut against the upper surface of the brick located on the fixture table and the two end faces of the brick in the first direction.

[0022] In the above technical solution, the plastering head is connected to the carrier table through the actuator. The actuator can drive the plastering head to move in the second direction and can also drive the plastering head to rotate about an axis arranged in the second direction, so that the plastering end of the plastering head can abut against the upper surface of the brick and the two end faces of the brick in the first direction when the plastering head moves from the first position to the second position, thereby realizing plastering of the upper surface and the two end faces of the brick by the plastering head.

[0023] In some embodiments, the plastering mechanism is provided with a first distance measuring assembly, and the first distance measuring assembly is used to measure the distance between the brick on the buffer platform and the plastering head.

[0024] In the above technical solution, by providing a first distance measuring assembly on the plastering mechanism, the first distance measuring assembly can measure the distance between the brick on the buffer platform and the plastering head in the plastering mechanism. Since the brick loading manipulator does not displace in the first direction, after measuring the distance between the brick on the buffer platform and the plastering head in the first direction, when the brick is clamped by the brick loading manipulator to the fixture table, the distance between the brick located on the fixture table and the plastering head in the first direction is determined, so that it can be determined how much distance the fixture table needs to move towards the plastering head in the first direction, thereby improving the accuracy and efficiency of moving the brick to the plastering mechanism for plastering.

[0025] Additional aspects and advantages of the present application will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1Schematic structural diagram of the bricklaying robot provided by an embodiment of the present application from one angle;

[0028] Figure 2 Schematic structural diagram of the bricklaying robot provided by an embodiment of the present application from another angle;

[0029] Figure 3 Schematic structural diagram of the bricklaying robot with a bricklaying manipulator in the embodiment of the present application;

[0030] Figure 4 For Figure 1 Schematic structural diagram of the bricklaying robot with the brick-loading manipulator removed in

[0031] Figure 5 For Figure 4 Another angle's schematic structural diagram of

[0032] Figure 6 For Figure 4 Rear view of

[0033] Figure 7 For Figure 4 Schematic structural diagram of the flipping mechanism in

[0034] Figure 8 Schematic structural diagram of the cooperation between the mortar spreading mechanism and the bearing platform in the bricklaying robot provided by an embodiment of the present application;

[0035] Figure 9 Schematic structural diagram of the cooperation between the brick-loading manipulator and the buffer platform in the bricklaying robot provided by an embodiment of the present application;

[0036] Figure 10 For Figure 9 Another angle's schematic structural diagram of

[0037] Figure 11 For Figure 10 Explosion diagram of

[0038] Icons: 100 - Bricklaying robot; 10 - Bearing platform; 11 - Transverse moving frame; 110 - First guide rail; 12 - Lifting frame; 120 - Second guide rail; 20 - Fixture table; 21 - Positioning table; 22 - Second clamping arm; 30 - Buffer platform; 40 - Brick-loading manipulator; 41 - First base; 42 - First clamping arm; 50 - Transverse moving mechanism; 60 - Mortar spreading mechanism; 61 - Execution mechanism; 62 - Mortar spreading head; 70 - Flipping mechanism; 71 - Lifting seat; 72 - Rotating seat; 73 - Rotating manipulator; 74 - Upright frame; 80 - Bricklaying manipulator; 200 - Brick; X - First direction; Y - Second direction; Z - Third direction. Detailed implementation manners

[0039] The following further describes the embodiments of the present application in conjunction with the accompanying drawings and embodiments. The detailed descriptions and drawings of the following embodiments 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.

[0040] In the description of the present application, it should be noted that unless otherwise specified, the meaning of "a plurality" is two or more; 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 thus cannot be construed as a limitation of 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.

[0041] The orientation words 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 "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For 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.

[0042] An embodiment of the present application provides a bricklaying robot. Please refer to Figure 1 、 Figure 2 and Figure 3 , the bricklaying robot 100 includes a carrier table 10, a brick loading manipulator 40, and a fixture table 20. The brick loading manipulator 40 is movably arranged on the carrier table 10, and the brick loading manipulator 40 is used to grasp bricks 200; the fixture table 20 is movably arranged on the carrier table 10 along the first direction X, and the fixture table 20 is used to receive the bricks 200 grasped by the brick loading manipulator 40 and clamp the bricks 200; wherein, a buffer platform 30 is arranged on the carrier table 10, and the buffer platform 30 is used to store bricks 200 for the brick loading manipulator 40 to grasp the bricks 200 on the buffer platform 30 and transfer them to the fixture table 20.

[0043] In this solution, a brick loading manipulator 40 is provided on the carrier table 10, that is, the brick loading manipulator 40 is integrally provided with the bricklaying robot 100, so that the bricklaying robot 100 not only has the function of bricklaying, but also has the function of automatic brick loading, making the overall integration of the bricklaying robot 100 higher. A buffer platform 30 is provided on the carrier table 10 and is matched with the brick loading manipulator 40. The buffer platform 30 can store bricks 200 for the brick loading manipulator 40 to pick up. In this way, when supplying bricks to the fixture table 20, the brick loading manipulator 40 can directly pick up the bricks 200 on the buffer platform 30 and transfer them to the fixture table 20, greatly improving the brick loading efficiency of the bricklaying robot, and solving the problem that the traditional split brick loading robot and the bricklaying robot need to adjust their positions relative to each other when loading bricks, and the bricks can only be loaded after aligning the positions and angles of the two robots. In this solution, by integrally providing the brick loading manipulator 40 and the buffer platform 30 on the bricklaying robot 100, only need to pre-store the bricks 200 on the buffer platform 30 in advance, and then the brick loading manipulator 40 can directly supply bricks to the fixture table 20, shortening the time required for loading the bricks 200, greatly improving the brick loading efficiency, and correspondingly improving the construction efficiency of the bricklaying robot 100.

[0044] In addition, the bricklaying robot 100 provided in the embodiment of the present application further has the following additional technical features:

[0045] In some embodiments, there is at least one placement position for storing the bricks 200 on the buffer platform 30. In order to ensure a better buffering effect of the buffer platform 30 on the bricks 200, a plurality of placement positions can be provided on the buffer platform 30, so that multiple bricks 200 can be placed on the buffer platform 30, thereby improving the buffering function of the buffer platform 30 and avoiding the situation where there are no bricks 200 to be placed on the buffer platform 30 after the fixture table 20 moves into place.

[0046] Among them, the number of placement positions on the buffer platform 30 can be one or multiple. When there are multiple placement positions on the buffer platform 30, the multiple placement positions can be spaced apart along the arrangement direction of the buffer platform 30 and the fixture table 20 on the buffer platform 30. In this embodiment, the number of placement positions on the buffer platform 30 is set to one.

[0047] In addition, the position of the buffer platform 30 and the fixture table 20 in the height direction can also be in various situations. For example, the height of the buffer platform 30 can be lower than the height of the fixture table 20, or equal to or higher than the height of the fixture table 20. When the height of the buffer platform 30 is lower than the height of the fixture table 20, after the brick loading manipulator 40 clamps the bricks 200 on the buffer platform 30, it needs to rise to a certain height, then move to the upper side of the fixture table 20, and then fall to an appropriate height to release the bricks 200.

[0048] In some embodiments, the position of the buffer platform 30 in the height direction is not lower than that of the jig table 20. By setting the height position of the buffer platform 30 to be not lower than that of the jig table 20, when the brick loading manipulator 40 grips the brick 200 on the buffer platform 30, it can directly traverse horizontally in the first direction X to above the jig table 20, and then lower the brick 200 onto the jig table 20. There is no need to lift the brick 200 in the height direction again and then move it above the jig table 20. It can directly traverse horizontally to above the jig table 20, and then fall to an appropriate height and release the brick 200. Therefore, by setting the height position of the buffer platform 30 to be not lower than that of the jig table 20, the transfer efficiency of the brick loading manipulator 40 for the brick 200 is made more efficient, and the brick loading efficiency of transferring the brick 200 to the jig table 20 is improved.

[0049] In some embodiments, please refer to Figure 4 、 Figure 5 and Figure 6 Figure, the bricklaying robot 100 further includes a traversing mechanism 50. The traversing mechanism 50 is arranged on the carrier table 10, and the jig table 20 is arranged on the traversing mechanism 50. The traversing mechanism 50 is used to drive the jig table 20 to reciprocate in the first direction X on the carrier table 10. By arranging the traversing mechanism 50 on the carrier table 10, the traversing mechanism 50 can drive the jig table 20 to reciprocate in the first direction X on the carrier table 10, so that the jig table 20 can have multiple working stations on the carrier table 10, and the multiple working stations are relatively independent of each other. When the jig table 20 receives the brick 200 provided by the brick loading manipulator 40, the jig table 20 can, under the driving action of the traversing mechanism 50, transfer the brick 200 to other working stations on the carrier table 10, so as to facilitate other operations such as plastering and laying bricks on the brick 200 by the bricklaying robot later, without the need for manual participation in transferring the brick 200, thus ensuring the overall bricklaying efficiency of the bricklaying robot.

[0050] Among them, the traversing mechanism 50 can be various driving structures. A synchronous belt driving structure can be adopted. The synchronous belt driving structure can include a driving motor, a driving wheel and a belt wheel mechanism. The jig table 20 is connected to the belt wheel mechanism. The driving motor drives the driving wheel to rotate, thereby driving the belt wheel mechanism to move, so as to realize the movement of the jig table 20 in the first direction X on the carrier table 10. Of course, the traversing mechanism 50 can also be a lead screw-nut pair driving mechanism, or a gear-rack or electric push rod and other driving mechanisms. The specific structure of the traversing mechanism 50 will not be elaborated here.

[0051] In some embodiments, please refer to Figure 7, the bricklaying robot 100 further includes a flipping mechanism 70. The flipping mechanism 70 may include a rotating manipulator 73. The rotating manipulator 73 is used to pick up the brick 200 located on the fixture table 20 and flip the brick 200 so that the plastering surface of the brick 200 is flipped from the upper side to the lower side. The bricklaying manipulator 80 is used to pick up the brick 200 flipped by the rotating manipulator 73 and transfer the brick 200 to the stacking position. By arranging the rotating manipulator 73 above the bearing table 10, the brick 200 placed on the fixture table 20 can be flipped by the rotating manipulator 73, so that the plastering surface of the brick 200 is flipped from the upper side to the lower side, which is convenient for the bricklaying manipulator 80 to directly place the brick 200 flipped by the rotating manipulator 73 at the stacking position of the wall body after grasping it. Furthermore, it is not necessary for the bricklaying manipulator 80 to flip the brick 200 during the bricklaying process, and it is convenient for the bricklaying manipulator 80 to avoid the plastering surface of the brick 200 to grasp the brick 200, which is beneficial to improving the bricklaying efficiency of the wall body.

[0052] Among them, the flipping mechanism 70 may include a lifting seat 71, a rotating seat 72, a rotating manipulator 73 and a vertical frame 74. The vertical frame 74 is arranged on the bearing table 10. The lifting seat 71 is movably arranged on the vertical frame 74 and can move up and down along the vertical frame 74. The rotating seat 72 is rotatably arranged on the lifting seat 71 and can rotate relative to the lifting seat 71. The rotating manipulator 73 is arranged on the rotating seat 72 and can rotate along with the rotation. The rotating manipulator 73 is used to grasp the brick 200 after the plastering by the plastering mechanism 60 is completed.

[0053] In some embodiments, please refer to Figure 8 , Figure 9 , Figure 10 and Figure 11 , the bricklaying robot includes a transverse moving frame 11, a lifting frame 12, a first driving component and a second driving component. The transverse moving frame 11 is arranged on the bearing table 10 and above the fixture table 20. The transverse moving frame 11 has a first guide rail 110 extending along the second direction Y, and the second direction Y is perpendicular to the first direction X. The lifting frame 12 is movably arranged along the second direction Y on the transverse moving frame 11. One end of the lifting frame 12 close to the transverse moving frame 11 is slidably matched with the first guide rail 110. The lifting frame 12 has a second guide rail 120 extending along the third direction Z, and the third direction Z is perpendicular to both the first direction X and the second direction Y. The brick loading manipulator 40 is movably arranged along the third direction Z on the lifting frame 12 and is slidably matched with the second guide rail 120. The first driving component is arranged on the transverse moving frame 11, and the first driving component is used to drive the lifting frame 12 to move along the second direction Y on the transverse moving frame 11. The second driving component is arranged on the lifting frame 12, and the second driving component is used to drive the brick loading manipulator 40 to move along the third direction Z on the lifting frame 12.

[0054] By providing a lifting frame 12 and a transverse movement frame 11 on the carrier table 10, the first guide rail 110 and the second guide rail 120 mainly play a guiding role. Therefore, under the driving action of the first driving component, the lifting frame 12 can be driven to move in the second direction Y on the transverse movement frame 11, thereby realizing the position adjustment of the lifting frame 12 in the second direction Y. Furthermore, after the brick loading manipulator 40 is aligned with the fixture table 20 in the second direction Y, the second driving component can be used to drive the brick loading manipulator 40 to move in the third direction Z (vertical direction) on the lifting frame 12, thereby adjusting the vertical distance between the brick loading manipulator 40 and the fixture table 20. Therefore, under the combined action of the first driving component and the second driving component, the brick loading manipulator 40 can move in the second direction Y and the third direction Z, so that the brick loading manipulator 40 can accurately transfer the bricks 200 on the buffer platform 30 to the fixture table 20. The structure is simple and easy to implement.

[0055] In addition, the first driving component and the second driving component can be various driving structures. The driving mechanism can be a rack and pinion type driving mechanism. The first driving component can include a motor, a gear, and a rack. The motor is installed on the transverse movement frame 11, the gear is connected to the output shaft of the motor, the rack is installed on the transverse movement frame 11 and extends along the second direction Y, the rack meshes with the gear, the lifting frame 12 is connected to the rack, and is slidably engaged with the first guide rail 110 on the transverse movement frame 11, so as to drive the lifting frame 12 to move along the second direction Y on the first guide rail 110 by the motor. In other embodiments, the first driving component can also be other structures. For example, the first driving component can be a cylinder or an electric push rod, etc. Similarly, the second driving component and the first driving component can be of the same driving structure, which will not be elaborated here.

[0056] Among them, the number of the first guide rail 110 and the second guide rail 120 can be one or more. Exemplarily, the number of the first guide rails 110 is set to two, and the two first guide rails 110 are arranged on the transverse movement frame 11 at intervals in the first direction X. The guiding effect of the two first guide rails 110 on the lifting frame 12 is better, so that the transverse movement of the lifting frame 12 on the transverse movement frame 11 is more stable.

[0057] In some embodiments, please refer to Figure 11, the brick loading manipulator 40 includes a first base 41, two first clamping arms 42 and a third driving assembly. The first base 41 is slidably engaged with the second guide rail; the two first clamping arms 42 are movably arranged at intervals on both sides of the second direction Y of the first base 41, so that the two first clamping arms 42 can approach or separate from each other in the second direction Y; the two first clamping arms 42 are used to cooperate to clamp the bricks 200; the third driving assembly is arranged on the first base 41, and the third driving assembly is used to drive the two first clamping arms 42 to approach or separate from each other on the first base 41. Through the two first clamping arms 42 on the brick loading manipulator 40, the two first clamping arms 42 can slide along the second guide rail on the first base 41. Therefore, under the driving action of the third driving assembly, the two first clamping arms 42 can approach or separate from each other in the second direction Y, so as to realize the clamping or loosening of the bricks 200 on the buffer platform 30. The structure is simple and easy to operate. The third driving assembly can be a double-acting cylinder, and the two output ends of the double-acting cylinder are respectively connected to the two first clamping arms 42, so as to drive the two first clamping arms 42 to approach or separate from each other to realize the clamping of the bricks 200.

[0058] In some embodiments, the fixture table 20 includes a positioning table 21, two second clamping arms 22 and a fourth driving assembly. The positioning table 21 is connected to the transverse movement mechanism 50, and the positioning table 21 is used to receive the bricks 200 grabbed by the brick loading manipulator 40; the two second clamping arms 22 are movably arranged on the positioning table 21, and the two second clamping arms 22 are arranged at intervals on both sides of the second direction Y of the positioning table 21. The two second clamping arms 22 are used to clamp the bricks 200 grabbed by the brick loading manipulator 40, and the second direction Y is perpendicular to the first direction X; the fourth driving assembly is arranged on the positioning table 21, and the fourth driving assembly is used to drive the two second clamping arms 22 to approach or separate from each other on the positioning table 21. By providing two second clamping arms 22 on the positioning table 21, after the brick loading manipulator 40 places the bricks 200 on the positioning table 21, the two second clamping arms 22 can move along the second direction Y on the positioning table 21 under the action of the fourth driving assembly, so as to clamp both sides of the bricks 200 in the second direction Y on the positioning table 21, avoiding the displacement of the bricks 200 during the transfer process. At the same time, it is also convenient for the subsequent grouting mechanism 60 to grout the bricks 200 on the fixture table 20, preventing the bricks 200 from moving during the grouting process and affecting the grouting quality of the bricks 200.

[0059] Among them, the fourth driving component can also be a double-acting cylinder. The two output ends of the double-acting cylinder are respectively connected to the two second clamping arms 22, so as to be able to drive the two second clamping arms 22 to approach or move away from each other along the second direction Y. In other embodiments, the fourth driving component can also be other structures. For example, a motor, a rack and two gears are arranged on the positioning table 21. The motor is installed on the positioning table 21, the gear is connected to the output end of the motor, the motor is used to drive the gear to rotate, the two racks are respectively connected to the two second clamping arms 22, and the gear is located between the two racks and meshes with the two racks, so as to drive the two second clamping arms 22 to approach or move away from each other along the second direction Y through the motor.

[0060] In some embodiments, please refer to Figure 1 and Figure 3 , the bricklaying robot further includes a mortar spreading mechanism 60 and a bricklaying manipulator 80. The mortar spreading mechanism 60 is movably arranged on the bearing platform 10 and is located on the moving path of the jig platform 20 on the bearing platform 10. The mortar spreading mechanism 60 is used to spread mortar on the surface of the brick 200 located on the jig platform 20; the bricklaying manipulator 80 is movably arranged on the bearing platform 10, and the bricklaying manipulator 80 is used to grab the brick 200 after being spread with mortar by the mortar spreading mechanism 60 and transfer the brick 200 to the masonry position for bricklaying. By arranging the mortar spreading mechanism 60 on the bearing platform 10, the mortar spreading mechanism 60 can spread mortar on the brick 200 clamped on the jig platform 20, and under the action of the transverse movement mechanism 50, it can drive the brick 200 after being spread with mortar on the jig platform 20 to move forward along the first direction X to the position to be transferred, so that the bricklaying manipulator 80 can transfer the brick 200 on the jig platform 20 at the position to be transferred to the masonry position, realizing the piling up of the wall. Therefore, by arranging the mortar spreading mechanism 60 on the moving path of the jig platform 20, the linear handling of the brick 200 on the bearing platform 10 along the first direction X is realized, and under the action of the bricklaying manipulator 80, the brick 200 is directly built on the wall, which is beneficial to saving the bricklaying time of the brick 200 on the wall and improving the bricklaying efficiency of the bricklaying robot 100.

[0061] Among them, the bricklaying manipulator 80 is installed on the bearing platform 10. The bricklaying manipulator 80 can be a four-axis robotic arm. A jaw for clamping the brick 200 is installed at the end of the four-axis robotic arm to transfer the brick 200 from the jig platform 2012 to the bricklaying position of the wall, realizing the bricklaying operation. The specific structure of the bricklaying manipulator 80 can refer to the related technology and will not be elaborated here.

[0062] In some embodiments, the plastering mechanism 60 includes an actuating mechanism 61 and a plastering head 62. The plastering head 62 is mounted on the carrier table 10 through the actuating mechanism 61. The plastering head 62 has a first position and a second position in the second direction Y, and the brick 200 is located between the first position and the second position in the second direction Y. The actuating mechanism 61 is configured to drive the plastering head 62 to move between the first position and the second position, and the actuating mechanism 61 is further configured to drive the plastering head 62 to rotate about an axis extending along the second direction Y, so that the plastering end of the plastering head 62 can abut against the upper surface of the brick 200 located on the fixture table 20 and the two end faces of the brick 200 in the first direction X.

[0063] The plastering head 62 is connected to the carrier table 10 through the actuating mechanism 61. Through the actuating mechanism 61, the plastering head 62 can be driven to move in the second direction Y, and the plastering head 62 can also be driven to rotate about an axis arranged along the second direction Y, so that the plastering end of the plastering head 62 can abut against the upper surface of the brick 200 and the two end faces of the brick 200 in the first direction X during the process of the plastering head 62 moving from the first position to the second position, thereby realizing plastering of the upper surface and the two end faces of the brick 200 by the plastering head 62.

[0064] Among them, the actuating mechanism 61 can first drive the plastering head 62 to move along the second direction Y from the first position, so that the plastering end of the plastering head 62 abuts against one end face of the brick 200 in the first direction X. Then, the plastering mechanism 60 plasters the brick 200. After that, the actuating mechanism 61 continues to drive the plastering head 62 to abut against the upper surface of the brick 200 and move along the second direction Y to the second position to plaster the upper surface of the brick 200. For the specific structure of the actuating mechanism 61, reference can be made to the related art and will not be elaborated here.

[0065] In some embodiments, the plastering mechanism 60 is provided with a first distance measuring component, and the first distance measuring component is used to measure the distance between the brick 200 on the buffer platform 30 and the plastering head 62. By providing the first distance measuring component on the plastering mechanism 60, the first distance measuring component can measure the distance between the brick 200 on the buffer platform 30 and the plastering head 62 in the plastering mechanism 60. Since the brick loading manipulator 40 does not displace in the first direction X, after measuring the distance between the brick 200 on the buffer platform 30 in the first direction X and the plastering head 62, after the brick 200 is clamped by the brick loading manipulator 40 onto the fixture table 20, the distance between the brick 200 located on the fixture table 20 in the first direction X and the plastering head 62 is determined, and thus it can be determined how much distance the fixture table 20 needs to move in the first direction X towards the plastering head 62, thereby improving the accuracy and efficiency of moving the brick 200 to the plastering mechanism 60 for plastering.

[0066] Among them, the first distance measurement component can be a distance measurement sensor, and the number of distance measurement sensors in the first distance measurement component can be one or more. The distance measurement sensor can be a laser distance measurement sensor. In other embodiments, the distance measurement sensor can also be an infrared distance measurement sensor or an ultrasonic distance measurement sensor, etc.

[0067] Although the present application has been described with reference to the preferred embodiments, various improvements can be made to it and components therein 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 way. 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. Bricklaying robot, characterized in that, Comprising: A loading platform; A brick-loading manipulator movably arranged on the loading platform, and the brick-loading manipulator is used for grasping bricks; A jig platform movably arranged on the loading platform along a first direction, and the jig platform is used for receiving the bricks grasped by the brick-loading manipulator and clamping the bricks; A transverse moving frame arranged on the loading platform and above the jig platform, and the transverse moving frame has a first guide rail extending along a second direction, and the second direction is perpendicular to the first direction; A lifting frame movably arranged on the transverse moving frame along the second direction, one end of the lifting frame close to the transverse moving frame is in sliding fit with the first guide rail, and the lifting frame has a second guide rail extending along a third direction, and the third direction is perpendicular to both the first direction and the second direction; The brick-loading manipulator is movably arranged on the lifting frame along the third direction and is in sliding fit with the second guide rail; A first driving assembly arranged on the transverse moving frame, and the first driving assembly is used for driving the lifting frame to move along the second direction on the transverse moving frame; A second driving assembly arranged on the lifting frame, and the second driving assembly is used for driving the brick-loading manipulator to move along the third direction on the lifting frame; Wherein, a buffer platform is arranged on the loading platform, and the buffer platform is used for storing bricks for the brick-loading manipulator to grasp the bricks on the buffer platform and transfer them to the jig platform.

2. The bricklaying robot according to claim 1, characterized in that, The buffer platform has at least one placement position for storing the bricks.

3. The bricklaying robot according to claim 1, characterized in that, The position of the buffer platform in the height direction is not lower than that of the jig platform.

4. The bricklaying robot according to claim 1, characterized in that, The brick-loading manipulator comprises: A first base in sliding fit with the second guide rail; Two first clamping arms movably arranged at two sides of the first base in the second direction at intervals, so that the two first clamping arms can approach or separate from each other in the second direction; the two first clamping arms are used for cooperatively clamping the bricks; A third driving assembly arranged on the first base, and the third driving assembly is used for driving the two first clamping arms to approach or separate from each other on the first base.

5. The bricklaying robot according to claim 1, characterized in that, The bricklaying robot further comprises: A transverse moving mechanism arranged on the loading platform, the jig platform is arranged on the transverse moving mechanism, and the transverse moving mechanism is used for driving the jig platform to reciprocate along the first direction on the loading platform.

6. The bricklaying robot according to claim 5, characterized in that, The jig platform comprises: A positioning platform connected to the transverse moving mechanism, and the positioning platform is used for receiving the bricks grasped by the brick-loading manipulator; Two second clamping arms movably arranged on the positioning platform, the two second clamping arms are arranged at two sides of the positioning platform in the second direction at intervals, and the two second clamping arms are used for clamping the bricks grasped by the brick-loading manipulator, and the second direction is perpendicular to the first direction; A fourth driving assembly arranged on the positioning platform, and the fourth driving assembly is used for driving the two second clamping arms to approach or separate from each other on the positioning platform.

7. The bricklaying robot according to claim 1, characterized in that, The bricklaying robot further comprises: The plastering mechanism is movably arranged on the bearing table and is located on the moving path of the fixture table on the bearing table. The plastering mechanism is used for applying slurry to the surface of the bricks located on the fixture table; The bricklaying manipulator is movably arranged on the bearing table. The bricklaying manipulator is used for grasping the bricks plastered by the plastering mechanism and transferring the bricks to the masonry position for bricklaying.

8. The bricklaying robot according to claim 7, characterized in that, The plastering mechanism includes an actuating mechanism and a plastering head. The plastering head is installed on the bearing table through the actuating mechanism. The plastering head has a first position and a second position in the second direction. The bricks are located between the first position and the second position in the second direction. The actuating mechanism is used for driving the plastering head to move between the first position and the second position. The actuating mechanism is also used for driving the plastering head to rotate around an axis extending in the second direction, so that the plastering end of the plastering head can abut against the upper surface of the bricks located on the fixture table and the two end faces of the bricks in the first direction.

9. The bricklaying robot according to claim 8, characterized in that, The plastering mechanism is provided with a first distance measuring component. The first distance measuring component is used for measuring the distance between the bricks on the buffer platform and the plastering head.

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