A masonry wall construction apparatus and method

Abstract

The application relates to the field of building construction, in particular to a masonry wall construction equipment and a method thereof, which comprises a bricklaying robot, the bottom of the bricklaying robot is provided with at least two sliding rails, the two sliding rails are parallel to each other, the bottom of the sliding rail is provided with a mechanical calibration device, the mechanical calibration device is used for driving a connecting plate to rotate, the mechanical calibration device comprises a mounting seat and a rotating cylinder, the rotating cylinder is a circular ring structure, one end of the rotating cylinder is connected to the connecting plate, the mounting seat is provided with a rotating groove corresponding to the position of the connecting plate, the rotating cylinder is embedded in the rotating groove, the rotating cylinder can rotate around its own axis, and a plurality of sliding rails are installed on the rotating cylinder, and the bricklaying robot is slidably connected to the sliding rails. The application has the effects of relieving the work burden of construction personnel and improving construction efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building construction, in particular to a masonry wall construction equipment and method. BACKGROUND

[0002] The masonry wall construction method mainly comprises the following steps: 1. cleaning the base surface and wetting it with water; 2. adjusting the parameters of the bricklaying robot and using the bricklaying robot to lay the wall; 3. repeating step 2 to complete the construction of the masonry wall. The bricklaying robot mainly comprises a sliding rail and a clamping device, the clamping device being slidingly connected to the sliding rail in a direction parallel to the length of the wall. The clamping device can move in a direction perpendicular to the wall and in a vertical direction. When the bricklaying robot is working, the clamping device clamps the bricks through a PLC program, and then places them at the designated position to repeat the above steps to complete the construction of the masonry wall.

[0003] In the wall quality acceptance, the length direction of the sliding rail needs to be parallel to the length direction of the wall to be constructed, so as to ensure the accuracy of the wall in the length direction after the wall is laid. In the related art, after the bricklaying robot is moved to the designated position, the construction personnel need to move the entire bricklaying robot to adjust the direction of the sliding rail of the bricklaying robot, and the bricklaying robot itself is heavy, which causes the construction personnel to have a heavy burden and is not conducive to improving the construction efficiency. SUMMARY

[0004] In order to improve the construction efficiency and reduce the work burden of the construction personnel, the present application provides a masonry wall construction equipment and method.

[0005] The masonry wall construction equipment provided by the present application adopts the following technical scheme:

[0006] The bricklaying robot comprises at least two sliding rails arranged at the bottom of the bricklaying robot, the two sliding rails being parallel to each other, a mechanical calibration device being arranged at the bottom of the sliding rail, the mechanical calibration device being used to drive the connecting plate to rotate, the mechanical calibration device comprising a mounting seat and a rotating cylinder, the rotating cylinder being a circular ring structure, one end of the rotating cylinder being connected to the connecting plate, the mounting seat being provided with a rotating groove corresponding to the position of the connecting plate, the rotating cylinder being embedded in the rotating groove, the rotating cylinder being capable of rotating around its own axis, a plurality of sliding rails being installed on the rotating cylinder, and the bricklaying robot being slidingly connected to the sliding rail.

[0007] By adopting the above technical solution, length control lines parallel to the wall length and parallel control lines perpendicular to the wall are set. During equipment use, shims and blocks are installed on the ground base, and the height between multiple slide rails is adjusted so that the upper surfaces of the multiple slide rails are in the same plane. This ensures uniform height during the movement of the bricklaying robot, thereby guaranteeing the uniform height of the same layer of insulation bricks in the wall. Rotating the rotating cylinder drives the slide rails to rotate, achieving adjustment of the slide rail length direction. When the length direction of the slide rail is parallel to the length direction of the wall to be constructed, the tilting of the wall during the movement of the bricklaying robot is reduced. Adjusting the slide rails by rotating the rotating cylinder ensures the angle of the wall along its length during bricklaying, eliminating the need for construction workers to move the entire bricklaying equipment, reducing their workload, and improving construction efficiency.

[0008] Optionally, a connecting plate is provided at the bottom of the slide rail, and both slide rails are mounted on the connecting plate.

[0009] By adopting the above technical solution, the two slide rails are connected to the connecting plate, making them a single unit and facilitating adjustment. Simultaneously, it improves the parallelism between the two slide rails, thereby enhancing the accuracy of the bricklaying robot's construction.

[0010] Optionally, the mechanical calibration device further includes an adjustment assembly, which includes a fixed column and a drive rod. The fixed column is located inside the rotating cylinder and is connected to a mounting base. The drive rod is slidably connected to the fixed column along the length of the rotating cylinder. A drive groove is provided on the inner side wall of the rotating cylinder, and the end of the drive rod away from the fixed column is slidably engaged in the drive groove. The drive groove is a threaded groove.

[0011] By adopting the above technical solution, the movable drive rod slides within the drive groove at the end furthest from the fixed column. The drive groove is a threaded groove, and when the drive rod slides within it, it can drive the rotating cylinder to rotate, thereby adjusting the position of the rotating cylinder.

[0012] Optionally, the adjustment assembly further includes a connecting platform and a drive screw. The connecting platform is slidably connected to the fixed column in a direction parallel to the length of the rotating cylinder. The drive screw is rotatably connected to the mounting base and threadedly connected to the connecting platform. The end of the drive screw away from the rotating cylinder is connected to the connecting platform. Rotating the drive screw can drive the connecting platform to move along the length of the rotating cylinder.

[0013] By adopting the technical scheme, the rotating driving screw can drive the connecting table to move, and then drive the driving rod to move, so that the position of the driving rod is adjusted. Moreover, due to the self-locking property of the screw thread, after the position of the connecting table is adjusted, the connecting table is not easy to move, so that the stability of the sliding rail after the position is adjusted is improved. In addition, due to the large transmission ratio of the screw thread connection, the stability during the adjustment of the position of the sliding rail can be improved, and fine adjustment of the position of the sliding rail is realized, so that the position of the sliding rail is adjusted by the construction personnel, and the accuracy of the adjustment of the position of the sliding rail is improved.

[0014] Optionally, the connecting table is located inside the fixed column, and a plurality of driving rods are arranged along the circumference of the fixed column, and the ends of the plurality of driving rods away from the rotating cylinder are connected to the connecting table.

[0015] By adopting the technical scheme, the plurality of driving rods further improve the stability and accuracy of the adjustment of the position of the rotating cylinder.

[0016] Optionally, the mounting seat is further provided with a speed change mechanism, the speed change mechanism comprises a plurality of speed change gear sets, each speed change gear set comprises a driving gear and a driven gear rotatably connected to the mounting seat, the driving gears and the driven gears of the plurality of speed change gear sets have different transmission ratios, the driving gears and the driven gears are meshed with each other, the driven gears of the plurality of speed change gear sets are coaxial, an extension shaft is coaxially arranged on the driven gears, the extension shaft is arranged on the plurality of driven gears at the same time, the extension shaft is connected with the driving screw, and the extension shaft is rotatable to drive the driving screw to rotate.

[0017] By adopting the technical scheme, the driving gears of different speed change gear sets are rotated at the same speed to drive the driven gears to rotate at different speeds, so as to drive the extension shaft to rotate at different speeds, and then drive the driving screw to rotate at different speeds, so as to realize coarse adjustment and fine adjustment of the sliding rail. The cooperation of coarse adjustment and fine adjustment during construction can improve the efficiency of the construction personnel in calibrating the bricklaying robot, so as to improve the construction efficiency of the construction personnel and shorten the construction period.

[0018] Optionally, the speed change mechanism further comprises a control rod, the driving gears of the plurality of speed change gear sets are coaxial, the control rod passes through the driving gears of the plurality of speed change gear sets in sequence and is connected to the mounting seat, the control rod is rotatable about the axis of the driving gear, the control rod is slidable in a direction parallel to the axis of the driving gear, the driving gear is provided with a through hole corresponding to the position of the control rod, the control rod is rotatable and slidable in the through hole, the control rod is provided with a stop block, a stop groove is formed in the side wall of the through hole, and the stop block can enter the stop groove by moving the control rod.

[0019] By adopting the above technical solution, the movable control lever can drive the stop block to move, thereby allowing the stop block to enter the slots on different drive gears. After the stop block enters the slot, it limits the rotation between the drive gear and the drive gear corresponding to the stop block, thus realizing the control of different drive gears and achieving speed change control of the extension shaft.

[0020] Optionally, the extension shaft is perpendicular to the drive screw, and a steering assembly is provided between the extension shaft and the drive screw. The steering assembly includes a bevel gear set, which includes two meshing bevel gears. The two bevel gears are respectively coaxially connected to the extension shaft and the drive screw.

[0021] By adopting the above technical solution, the rotation of the extension shaft can drive one of the bevel gears to rotate, which in turn drives the bevel gear mounted on the drive screw to rotate, thereby realizing the transmission between the extension shaft and the drive screw.

[0022] Optionally, a sliding groove is provided on the control lever at the position corresponding to the stop block. The stop block slides in a direction perpendicular to the control lever to connect in the sliding groove. An arc-shaped surface is provided on the side of the stop block away from the control lever, and the opening of the arc-shaped surface faces the control lever. A reset component is provided inside the control lever. When the stop block slides into the sliding groove, the reset component can apply a force to the stop block to move it away from the control lever along the sliding direction of the stop block.

[0023] By adopting the above technical solution, when the position of the stop block does not correspond to the stop groove, the stop block automatically sinks into the sliding groove under the action of the arc surface. Once the stop block is fully positioned in the through hole on the drive gear, rotating the control lever causes the stop block to rotate in tandem with the control lever. When the stop block aligns with the stop groove, the reset component automatically inserts the stop block into the stop groove, limiting the rotation between the drive gear and the control lever. The through hole reset component eliminates the need for manual adjustment of the stop block position by the construction personnel, thereby improving the efficiency of the construction personnel when adjusting the slide rail and thus increasing the overall construction efficiency.

[0024] This application discloses a method for constructing masonry walls, which adopts the following technical features:

[0025] A method for constructing a masonry wall, comprising:

[0026] Clean the base surface;

[0027] Set length control lines parallel to the wall length and parallel control lines perpendicular to the wall;

[0028] Adjust the height of the slide rails of the bricklaying robot so that the upper surfaces of the two slide rails of the bricklaying robot are tangent to the parallel control line;

[0029] The mechanical calibration device of the bricklaying robot is adjusted to make the slide rails parallel to the length control line.

[0030] By adopting the technical scheme, the bricklaying robot slides along the length direction of the wall on the slide rails. The heights of the two slide rails are adjusted to make the upper surfaces of the two slide rails tangent to the parallel control line, so as to reduce the inclination of the bricklaying robot in the vertical direction when holding the thermal bricks, improve the flatness and perpendicularity of the wall after the wall is built. The length direction of the slide rail is parallel to the wall by adjusting the slide rail through the mechanical calibration device, so as to reduce the inclination of the wall in the length direction of the wall, and the labor burden of the construction personnel is reduced and the construction efficiency is improved by adjusting the slide rail through the mechanical calibration device. Moreover, the mechanical structure is convenient to process and manufacture, and the cost is low, so that the production cost of the bricklaying robot is reduced, and the popularization of the bricklaying robot is facilitated.

[0031] In summary, the present application includes at least one of the following beneficial technical effects:

[0032] 1. The length control line is set according to the length of the wall, then the connecting plate is rotated by rotating the rotating cylinder, and then the position of the slide rail is adjusted. After the position of the slide rail is adjusted, the accuracy of the bricklaying robot is improved.

[0033] 1. The rotating control rod can drive the rotating cylinder to rotate, thereby adjusting the position of the slide rail. Due to the large transmission ratio between the connecting table and the drive screw, the construction personnel can rotate the slide rail more easily, thereby reducing the labor burden of the construction personnel.

[0034] 2. The sliding control rod can connect the driving gear of different gear sets with the control rod, so as to realize coarse adjustment and fine adjustment of the position of the slide rail, further facilitate the construction personnel to adjust the position of the slide rail, and improve the accuracy of the construction personnel to adjust the position of the slide rail. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application.

[0036] Figure 2 is a schematic diagram of the mechanical calibration device structure of the embodiment of the present application.

[0037] Figure 3 is a schematic diagram of the mechanical calibration device structure of the embodiment of the present application. Figure 2 is an enlarged view of part A of the embodiment of the present application, mainly used to show the structure of the adjusting assembly.

[0038] Figure 4 is a schematic diagram of the adjusting assembly of the embodiment of the present application.

[0039] Figure 5 is a schematic diagram of the speed change mechanism of the embodiment of the present application.

[0040] Figure 6 is an embodiment of the present application Figure 5 is an enlarged view of part A in the figure.

[0041] Reference signs: 1, steering assembly; 11, bevel gear set; 12, extension shaft 2, slide rail; 21, base; 22, connecting plate; 3, base driving mechanism; 31, threaded rod; 32, driving piece; 33, baffle; 4, mechanical calibration device; 41, mounting seat; 42, rotating cylinder; 43, fixed plate; 5, adjusting assembly; 51, fixed column; 52, driving rod; 53, connecting table; 54, driving screw; 55, driving groove; 6, gear shifting mechanism; 61, gear shifting gear set; 62, control rod; 63, stop block; 64, hand wheel; 7, reset assembly; 71, connecting rod; 72, driving ring; 73, sliding rod; 74, elastic member; 8, lifting block; 81, moving block; 9, locking assembly; 91, locking plate; 92, locking screw; 93, arc-shaped groove. DETAILED DESCRIPTION

[0042] The following will be described in detail below with reference to the accompanying Figures 1-6 The present application will be further described in detail.

[0043] The present application discloses a masonry wall construction equipment.

[0044] With reference to Figure 1 , a masonry wall construction equipment comprises a bricklaying robot, and the bricklaying robot is provided with a slide rail 2 at the bottom, which is used to guide the bricklaying robot to slide along the length direction of the wall to be constructed. A mechanical calibration device 4 is arranged below the slide rail 2, which is used to drive the slide rail 2 to rotate around a vertical axis, so that the length direction of the slide rail 2 is parallel to the length direction of the wall. The position of the slide rail is adjusted by the mechanical calibration device 4 to assist the construction personnel, thereby reducing the work burden of the construction personnel and improving the construction efficiency.

[0045] With reference to Figure 1 , the slide rail 2 is provided in two, and the two slide rails 2 are arranged in parallel and spaced apart in the horizontal direction and perpendicular to the length direction of the slide rail 2. The bricklaying robot comprises a base 21, which is located above the slide rail 2, and the base 21 is provided with a rail groove on the side surface close to the slide rail 2. The slide rail 2 is embedded in the rail groove, and the base 21 can slide along the length direction of the slide rail 2. The side of the slide rail 2 close to the ground is provided with a connecting plate 22, and the two slide rails 2 are welded on the connecting plate 22.

[0046] With reference to Figure 1The base driving mechanism 3 is arranged on the connecting plate 22, and comprises a driving block. The driving block is in a rectangular rod structure, is arranged between the two slide rails 2 along the length direction of the slide rail 2, and can slide along the length direction of the slide rail 2. The base 21 is provided with a clamping groove penetrating along the length direction of the slide rail 2 at a position corresponding to the driving block, and the driving block is embedded in the clamping groove. The two side surfaces of the driving block perpendicular to the length of the slide rail 2 are flush with the two side surfaces of the base 21 perpendicular to the length of the slide rail 2. The two side surfaces of the driving block perpendicular to the length of the driving block are both welded with a baffle 33, and the side surfaces of the two baffles 33 close to each other abut against the base 21. The movement of the driving block can drive the base 21 to move.

[0047] With reference to Figure 1 , the base driving mechanism 3 further comprises a threaded rod 31 and a driving piece 32. The threaded rod 31 is arranged on the connecting plate 22 along the length direction of the slide rail 2, and can rotate around the axis of the threaded rod 31. The driving block is provided with a threaded hole at a position corresponding to the threaded rod 31, and the threaded rod 31 is threadedly connected in the threaded hole. The driving piece 32 is installed on the connecting plate 22 and used to drive the threaded rod 31 to rotate. In the embodiment, the driving piece 32 is a servo motor. The shell of the servo motor is welded on the connecting plate 22, and the output shaft end of the servo motor is coaxially welded with one end of the threaded rod 31. The rotation of the threaded rod 31 can drive the driving block to move, and further drive the base 21 to move.

[0048] With reference to Figure 2 , the baffle 33 is provided with a through hole, and a screw is arranged in the through hole. The base 21 is provided with a threaded hole at a position corresponding to the screw, and the screw is threadedly connected in the threaded hole through the through hole of the baffle 33, so as to realize the detachable connection between the driving block and the base 21. After the position of the slide rail 2 is adjusted, the base 21 is placed above the slide rail 2, and then is fixed by the screw, so as to realize the installation of the brick laying robot.

[0049] With reference to Figure 2 and Figure 3 , the mechanical calibration device 4 is arranged below the connecting plate 22, and is used to drive the connecting plate 22 to rotate. The mechanical calibration device 4 comprises a mounting seat 41 and a rotating cylinder 42. The rotating cylinder 42 is in a circular cylinder structure, one end of the rotating cylinder 42 is connected to the side of the connecting plate 22 away from the slide rail 2, and the other end extends in a direction perpendicular to the connecting plate 22 and towards the ground. The mounting seat 41 is located below the connecting plate 22, and the mounting seat 41 is provided with a rotating groove at a position corresponding to the rotating cylinder 42, and the rotating cylinder 42 is embedded in the rotating groove. The outer side wall of the rotating cylinder 42 is attached to the side wall of the rotating groove, and the rotating cylinder 42 can rotate around the axis of the rotating cylinder 42. The rotation of the rotating cylinder 42 can drive the connecting plate 22 to rotate, and further drive the slide rail 2 to rotate, so as to realize the adjustment of the position of the slide rail 2.

[0050] With reference to Figure 2 and Figure 3The fixed plate 43 is coaxially arranged in the rotating sleeve close to the one end of the connecting plate 22. In order to facilitate manufacturing and processing, the fixed plate 43 is integrally formed with the rotating cylinder 42. The one end of the fixed plate 43 close to the connecting plate 22 is attached to and welded with the connecting plate 22. The fixed plate 43 increases the contact area between the rotating cylinder 42 and the connecting plate 22, thereby improving the stability of the connection between the rotating cylinder 42 and the connecting plate 22.

[0051] With reference to Figure 2 , Figure 3 and Figure 4 , the mechanical calibration device 4 further comprises an adjusting assembly 5, which comprises a fixed column 51 and a driving rod 52. The fixed column 51 is a cylindrical structure, one end of which is welded to the side wall of the rotating groove close to the ground, and the other end extends vertically away from the ground. The fixed column 51 is coaxially arranged inside the rotating cylinder 42, and the side wall of the fixed column 51 is attached to the inner side wall of the rotating cylinder 42, thereby improving the stability of the rotating cylinder 42 during rotation. The driving rod 52 is arranged on the fixed column 51 radially and can slide along the length direction of the fixed column 51. A driving groove 55 is formed in the inner side wall of the rotating cylinder 42, which is a threaded groove extending along the length direction of the rotating cylinder 42. The one end of the driving rod 52 away from the fixed column 51 is inserted into the driving groove 55 and is in sliding fit with the driving groove 55. Sliding the driving rod 52 along the length direction of the fixed column 51 can drive the rotating cylinder 42 to rotate, thereby achieving adjustment of the rotating cylinder 42. In order to improve the stability of the rotation of the rotating cylinder 42, the driving rod 52 can be arranged in multiple numbers along the circumference of the fixed column 51, and in this embodiment, four driving rods 52 are arranged uniformly and spaced apart along the circumference of the fixed column 51, and the driving groove 55 is provided with four driving rods 52 correspondingly.

[0052] With reference to Figure 2 , Figure 3 and Figure 4 , the adjusting assembly 5 further comprises a connecting table 53, and a sliding cavity is formed in the fixed column 51, and the connecting table 53 is slidably connected in the sliding cavity along the length direction of the fixed column 51. The one end of each of the plurality of driving rods 52 close to the fixed column 51 penetrates through the avoiding groove and is welded to the connecting table 53. An avoiding groove is formed in the side wall of the fixed column 51 and is in communication with the sliding cavity. Moving the connecting table 53 can drive the plurality of driving rods 52 to slide in the avoiding groove along the length direction of the fixed column 51, thereby achieving simultaneous movement of the plurality of driving rods 52 and facilitating the construction personnel to adjust the position of the rotating cylinder 42.

[0053] With reference to Figure 2 , Figure 3 and Figure 4The adjusting assembly 5 further comprises a drive screw 54 arranged along the sliding direction of the connecting table 53. The end of the drive screw 54 away from the ground penetrates through the connecting table 53 and is rotationally connected to the side of the sliding cavity away from the ground. A threaded hole corresponding to the position of the drive screw 54 is formed on the connecting table 53, and the drive screw 54 is threadedly connected in the threaded hole. By rotating the drive screw 54, the drive screw 54 can drive the connecting table 53 to move, and then drive the plurality of drive rods 52 to move to adjust the position of the sliding rail 2. Moreover, due to the self-locking property of the thread, the position of the connecting table 53 is not easy to move after adjustment, thereby improving the stability of the rotating cylinder 42 after adjustment, and further improving the stability of the brick laying robot during use.

[0054] With reference to Figure 2 , Figure 3 and Figure 4 , the inside of the mounting seat 41 is further provided with an accommodating cavity below the mounting groove. The turning assembly 1 is arranged in the accommodating cavity, and the end of the drive screw 54 close to the ground extends into the accommodating cavity and is connected with the turning assembly 1. The turning assembly 1 comprises a bevel gear set 11 and an extension shaft 12. The bevel gear set 11 comprises two bevel gears which are meshed with each other and whose axes are perpendicular to each other. One of the bevel gears is coaxially welded to the end of the drive rod 52, and the other bevel gear is rotationally connected to the mounting seat 41. The extension shaft 12 is coaxially welded at one end to the bevel gear away from the drive rod 52 and extends in a direction perpendicular to the length of the sliding rail 2 at the other end. The extension shaft 12 is rotationally connected to the mounting seat 41 about its own axis, and rotating the extension shaft 12 can drive the drive screw 54 to rotate, so that the construction personnel do not need to rotate the drive screw 54 at the bottom of the mounting seat 41, which facilitates the adjustment of the drive screw 54 by the construction personnel.

[0055] With reference to Figure 2 , Figure 3 and Figure 4 , the mounting seat 41 is provided with an avoiding cavity, and the end of the extension shaft 12 away from the bevel gear extends into the avoiding cavity. The avoiding cavity is provided with a speed change mechanism 6, and the speed change mechanism 6 comprises a speed change gear set 61. The speed change assembly comprises a plurality of speed change gear sets 61 which are uniformly spaced along the length direction of the extension shaft 12 and have different transmission ratios. The speed change gear set 61 comprises a driving gear and a driven gear which are meshed with each other. The driven gear is coaxially welded to the extension shaft 12, and the driving gear is rotationally connected to the side wall of the avoiding cavity. Rotating the driving gear can drive the driven gear to rotate.

[0056] With reference to Figure 5 and Figure 6The variable speed mechanism 6 further comprises a control rod 62 coaxial with the driving gears of the plurality of variable speed gear sets 61. The control rod 62 is in the shape of a cylindrical rod. The control rod 62 is coaxially arranged with the driving gears. One end of the control rod 62 sequentially penetrates the driving gears of the plurality of variable speed gear sets 61 and is rotationally connected to the side wall of the placement cavity. The other end of the control rod 62 penetrates out of the mounting seat 41. A hand wheel 64 is mounted on the end of the control rod 62 away from the mounting seat 41. A through hole is formed in the driving gear at a position corresponding to the control rod 62. The control rod 62 is rotationally fitted in the through hole and can slide along the length direction of the control rod 62. A stop block 63 is arranged on the side wall of the control rod 62. A stop groove is formed in the side wall of the through hole at a position corresponding to the stop block 63. The stop block 63 is embedded in the stop groove to limit the relative rotation between the driving gear and the control rod 62. Sliding the control rod 62 can make the stop block 63 on the control rod 62 embedded in the stop groove of different driving gears, thereby realizing the conversion of the connection between the control rod 62 and the plurality of driving gears and further realizing the variable speed of the extension shaft 12, which facilitates the coarse or fine adjustment of the position of the slide rail 2 by the construction personnel. In order to improve the stability of the connection between the control rod 62 and the driving gear, a plurality of stop blocks 63 can be uniformly and spacedly arranged along the circumferential direction of the control rod 62.

[0057] With reference to Figure 5 and Figure 6 A sliding groove is formed in the side wall of the control rod 62 at a position corresponding to the stop block 63. The stop block 63 is radially and slidingly connected in the sliding groove. An installation cavity is arranged in the control rod 62 and communicates with the sliding groove. A reset assembly 7 is arranged in the sliding cavity. The reset assembly 7 is used to apply a force to the stop block 63 to move the stop block 63 to the outside of the sliding groove when the stop block 63 moves to the inside of the sliding groove. An arc-shaped surface is arranged on the side of the stop block 63 away from the control rod 62. The opening of the arc-shaped surface faces the axis of the control rod 62. Moving the control rod 62 can make the stop block 63 automatically sink into the sliding groove when the stop block 63 abuts against the side wall of the through hole in the driving gear. Rotating the control rod 62 can drive the stop block 63 to rotate when the stop block 63 is entirely in the through hole. The stop block 63 is automatically inserted into the stop groove to limit the rotation between the driving gear and the control rod 62 under the action of the reset assembly 7 when the stop block 63 corresponds to the stop groove.

[0058] With reference to Figure 5 and Figure 6The reset assembly 7 comprises a connecting rod 71, a driving ring 72, a sliding rod 73 and an elastic member 74. The sliding rod 73 is arranged along the length direction of the control rod 62, and both ends of the sliding rod 73 are welded on two side walls of the installation cavity which are parallel to each other. The driving ring 72 is in the form of a ring, and the driving ring 72 is slidably sleeved on the sliding rod 73 along the length direction of the sliding rod 73. One end of the connecting rod 71 is rotatably connected to the outer side wall of the driving ring 72, and the other end is rotatably connected to the side of the stop block 63 close to the axis of the control rod 62. A plurality of connecting rods 71 are arranged corresponding to the stop block 63, and the driving ring 72 can drive the plurality of stop blocks 63 to slide simultaneously.

[0059] With reference to Figure 5 and Figure 6 , the rotation axis between the stop block 63 and the connecting rod 71 is defined as the first axis, and the rotation axis between the connecting rod 71 and the driving ring 72 is defined as the second axis. In the normal state, i.e. the state that one side of the stop block 63 is located outside the sliding groove, the first axis and the second axis are not in the same vertical plane. The elastic member 74 is installed on the side of the driving ring 72 away from the first axis, and is used to apply a force to the driving ring 72 in the direction close to the first axis along the length direction of the sliding rod 73 when the driving ring 72 moves away from the first axis. In the embodiment, the elastic member 74 is a compression spring, which is sleeved on the sliding rod 73, one end of the compression spring is welded to the side of the driving ring 72 away from the first axis, and the other end is welded to the side wall of the installation cavity. Under the action of the compression spring, when the driving ring 72 moves away from the first axis, the compression spring is compressed and applies a force to the driving ring 72 in the direction close to the first axis along the direction of the sliding rod 73, so as to realize the automatic reset of the stop block 63 after the position corresponding to the stop groove. When the length direction of the slide rail 2 is parallel to the length control line, the position of the slide rail 2 can be coarsely adjusted first, and then the position of the slide rail 2 is finely adjusted by moving the control rod 62.

[0060] With reference to Figure 1 and Figure 2 , the mounting seat 41 is provided with a locking assembly 9, and the locking assembly 9 comprises a locking plate 91 and a locking screw 92. The locking plate 91 is in the form of an arc, and the locking plate 91 is arranged on the axis of the rotating cylinder 42. The mounting seat 41 is provided with an arc-shaped groove 93 corresponding to the position of the locking plate 91, and the locking plate 91 is embedded in the arc-shaped groove 93 and can rotate around the axis of the rotating cylinder 42. The side of the locking plate 91 close to the connecting plate 22 is provided with a threaded sleeve, and one end of the threaded sleeve is welded perpendicularly on the locking plate 91. The connecting plate 22 is provided with a through hole corresponding to the position of the threaded sleeve, and the locking screw 92 passes through the through hole and is threadedly connected in the threaded sleeve. Rotating the locking screw 92 can make the locking plate 91 abut against the side of the arc-shaped groove 93 away from the ground.

[0061] With reference to Figure 1 and Figure 2In order to improve the stability of the bricklaying robot during the working process, the locking screw 92 can be arranged at intervals along the length direction of the locking plate 91, and in the embodiment, two are arranged. In order to further improve the stability of the bricklaying robot during the working process, the locking assembly 9 can be arranged around the axis of the rotating cylinder 42, and in the embodiment, two groups are arranged. After the position of the slide rail 2 is adjusted, the locking assembly 9 is used to fix and lock the connecting plate 22, and the stability of the bricklaying robot during the working process is further improved.

[0062] With reference to Figure 1 Before construction, a length control line is arranged according to the length of the wall to be constructed, the length control line is horizontal and parallel to the length direction of the wall to be constructed, and the two ends of the length control line are fixed on the structural column or the ground by steel nails. The horizontal control line is horizontal and perpendicular to the wall. During construction, the length control line and the horizontal control line should be arranged with the help of a level. The gaskets are arranged on the ground, and the upper surfaces of the two slide rails 2 are attached to the horizontal control line. Then the connecting plate 22 is rotated by rotating the control rod 62, so that the side surface of one of the slide rails 2 perpendicular to the ground coincides with the length control line, so that the length direction of the slide rail 2 is parallel to the wall to be constructed.

[0063] With reference to Figure 1 The lifting block 8 is arranged above the base 21 and is connected to the base 21 in the vertical direction and is driven by a screw rod driving mechanism. The moving block 81 is arranged on the side of the lifting block 8 close to the wall and is connected to the lifting block 8 in the direction perpendicular to the wall and is driven by a screw rod driving mechanism. The moving block 81 is provided with a clamping jaw for clamping the insulation bricks. During the operation of the wall building robot, the screw rod driving mechanism of the lifting block 8 and the moving block 81 is controlled by the controller to realize the taking and placing of the insulation bricks.

[0064] The implementation principle of the wall construction equipment and method according to the embodiment of the application is as follows: during construction, first, the length control line and the horizontal control line are fixed according to the position of the wall to be constructed; the gaskets are arranged on the ground, and the horizontal degree of the connecting plate 22 is adjusted so that the upper surfaces of the two slide rails 2 are attached to the horizontal control line. The connecting plate 22 is rotated by rotating the control rod 62, the rotating cylinder 42 is controlled by the control rod 62 to rotate, and the connecting plate 22 is further rotated, so that the length direction of the slide rail 2 is parallel to the wall, and the flatness of the wall built by the wall building robot in the length direction is ensured. During the process of rotating the control rod 62, the slide rail 2 can be coarsely adjusted and finely adjusted by the slidable control rod 62, so that the slide rail 2 is quickly parallel to the length control line.

[0065] The application also discloses a wall construction method

[0066] The wall construction equipment and method comprises

[0067] I. Clean the surface of the base layer. Clean the surface of the base layer to make the surface of the base layer flat, so as to facilitate the adjustment of the height of the slide rail.

[0068] II. Hang the length control line and the parallel control line. The length control line and the parallel control line are set by the level, which is used to compare the slide rail 2 and facilitate the adjustment of the position of the slide rail 2.

[0069] III. Determine the position of the slide rail 2 of the brick laying robot according to the length control line and the parallel control line, and adjust the slide rail 2 through the mechanical calibration device 4 on the brick laying robot. The position of the slide rail 2 is adjusted manually through the mechanical calibration device 4, so as to improve the accuracy of the gripping and placing of the insulation bricks by the gripper of the brick laying robot, and thus improve the quality of the wall.

[0070] V. Load the mortar, and start the brick laying robot.

[0071] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made on the basis of the structure, shape and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A bricklaying construction device, comprising a bricklaying robot, characterized in that: The bricklaying robot has at least two slide rails (2) at its bottom, and the slide rails (2) are parallel to each other. The bottom of the slide rails (2) is provided with a connecting plate (22), and the two slide rails (2) are installed on the connecting plate (22). The bottom of the slide rails (2) is provided with a mechanical calibration device (4), which is used to drive the connecting plate (22) to rotate. The mechanical calibration device (4) includes a mounting base (41) and a rotating cylinder (42). The rotating cylinder (42) is a circular structure. One end of the rotating cylinder (42) is connected to the connecting plate (22). The mounting base (41) has a rotating groove at the position corresponding to the connecting plate (22). The rotating cylinder (42) is embedded in the rotating groove. The rotating cylinder (42) can rotate around its own axis. The slide rails (2) are installed on the rotating cylinder (42), and the bricklaying robot is slidably connected to the slide rails (2). The mechanical calibration device (4) further includes an adjustment assembly (5), which includes a fixed column (51) and a drive rod (52). The fixed column (51) is located inside the rotating cylinder (42) and is connected to the mounting base (41). The drive rod (52) is slidably connected to the fixed column (51) along the length of the rotating cylinder (42). A drive groove (55) is provided on the inner wall of the rotating cylinder (42). The end of the drive rod (52) away from the fixed column (51) is slidably fitted in the drive groove (55). The drive groove (55) is a threaded groove; the adjustment assembly (5) also includes a connecting platform (53) and a drive screw (54). The connecting platform (53) is slidably connected to the fixed column (51) in a direction parallel to the length direction of the rotating cylinder (42). The drive screw (54) is rotatably connected to the mounting base (41) and threadedly connected to the connecting platform (53). The end of the drive rod (52) away from the rotating cylinder (42) is connected to the connecting platform (53). Rotating the drive screw (54) can drive the connecting platform (53) to move along the length direction of the rotating cylinder (42).

2. The masonry wall construction equipment according to claim 1, characterized in that: The connecting platform (53) is located inside the fixed column (51). Multiple driving rods (52) are arranged along the circumference of the fixed column (51). The ends of the multiple driving rods (52) away from the rotating cylinder (42) are all connected to the connecting platform (53).

3. The masonry wall construction equipment according to claim 2, characterized in that: The mounting base (41) is also provided with a speed change mechanism (6). The speed change mechanism (6) includes multiple sets of speed change gears (61). Each set of speed change gears (61) includes a driving gear and a driven gear rotatably connected to the mounting base (41). The driving gear and the driven gear of the multiple sets of speed change gears (61) have different transmission ratios. The driving gear and the driven gear mesh with each other. The driven gears of the multiple sets of speed change gears (61) are coaxial. An extension shaft (12) is coaxially passed through the driven gear. The extension shaft (12) is simultaneously passed through multiple driven gears. The extension shaft (12) is connected to the drive screw (54). The rotation of the extension shaft (12) can drive the drive screw (54) to rotate.

4. The masonry wall construction equipment according to claim 3, characterized in that: The transmission mechanism (6) also includes a control rod (62). The driving gears of the multiple sets of transmission gears (61) are coaxial. The control rod (62) passes through the driving gears of the multiple sets of transmission gears (61) and is connected to the mounting base (41). The control rod (62) can rotate around the axis of the driving gear. The control rod (62) can slide in a direction parallel to the axis of the driving gear. The driving gear has a through hole corresponding to the position of the control rod (62). The control rod (62) can rotate and slide in the through hole. The control rod (62) is provided with a stop block (63). A retaining groove is provided on the side wall of the through hole. Moving the control rod (62) can make the stop block (63) enter the retaining groove.

5. The masonry wall construction equipment according to claim 4, characterized in that: The extension shaft (12) is perpendicular to the drive screw (54). A steering assembly (1) is provided between the extension shaft (12) and the drive screw (54). The steering assembly (1) includes a bevel gear set (11). The bevel gear set (11) includes two meshing bevel gears. The two bevel gears are coaxially connected to the extension shaft (12) and the drive screw (54), respectively.

6. The masonry wall construction equipment according to claim 5, characterized in that: A sliding groove is provided on the control lever (62) at the position corresponding to the stop block (63). The stop block (63) slides in a direction perpendicular to the control lever (62) to connect in the sliding groove. An arc-shaped surface is provided on the side of the stop block (63) away from the control lever (62). The opening of the arc-shaped surface faces the control lever (62). A reset component (7) is provided inside the control lever (62). When the stop block (63) slides into the sliding groove, the reset component (7) can apply a force to the stop block (63) to move it away from the control lever (62) along the sliding direction of the stop block (63).

7. A method for constructing masonry walls, using the masonry wall construction equipment described in any one of claims 1-6, characterized in that: include, Clean the base surface; Set length control lines parallel to the wall length and parallel control lines perpendicular to the wall; Adjust the height of the slide rail (2) of the bricklaying robot so that the upper surface of the multiple slide rails (2) of the bricklaying robot is tangent to the parallel control line; Adjust the mechanical calibration device (4) of the bricklaying robot so that the slide rail (2) is parallel to the length control line.

Images