A wall building robot capable of automatically applying concrete

Abstract

The application provides a wall building robot capable of automatically applying concrete, and particularly relates to the technical field of building instruments.The wall building robot capable of automatically applying concrete comprises an application mechanism, wherein the application mechanism comprises a telescopic cylinder, the telescopic cylinder is internally provided with a containing cavity, the containing cavity is internally provided with a piston, the outer side of the piston is provided with a sealing ring, the bottom of the piston is further provided with a guide rod, the bottom of the containing cavity is further provided with a first elastic element, the application mechanism further comprises an application plate, the containing cavity is internally further provided with a limiting groove, the two sides of the guide rod are provided with protruding portions matched with the limiting groove, the top of the telescopic cylinder is provided with an air nozzle, the air nozzle is connected with an air pump through a pipeline, and the air pump drives the piston to move and drives the guide rod and the application plate to move and press the concrete under the limitation of the limiting groove. The application mechanism can press and apply the concrete, and the stacking quality of the bricks is improved.

Description

Technical Field

[0001] This invention relates to the field of construction machinery technology, and in particular to a bricklaying robot capable of automatically applying concrete. Background Technology

[0002] Currently, bricklaying in China is mostly done manually, resulting in inconsistent quality. Bricklaying robots can replace manual labor, enabling highly efficient and automated operations. Using bricklaying robots can not only reduce the probability of accidents but also improve work efficiency.

[0003] Existing bricklaying robots, such as the integrated automatic bricklaying robot disclosed in application number CN116025183A, address the shortcomings of existing technologies where bricklaying robots are unsuitable for high-efficiency on-site operations and for ease of operation by workers. This robot includes a tracked chassis and a lifting platform mounted on the chassis, a conveyor line, a grouting system, a control cabinet, and an operation screen assembly. A robotic arm is mounted on the lifting platform, with a gripping component at its top. The conveyor line is installed on one side of the lifting platform and includes long and short conveyor belts arranged at varying heights. This application achieves automatic bricklaying through a mobile tracked chassis, an automatic brick-turning and conveying mechanism mounted on the tracked chassis, a robotic arm with a lifting platform above, and a grouting mechanism located between the conveying mechanism and the robotic arm. It offers good stability, unlimited operating height, convenient coordination, wide equipment selection, and long service life.

[0004] Although existing bricklaying robots can automatically deliver bricks, most of them can only provide concrete slurry by spraying, and cannot apply or press it, thus failing to guarantee the quality of the concrete application. Summary of the Invention

[0005] To address the problem that existing bricklaying robots cannot apply and press concrete during bricklaying, this invention proposes a bricklaying robot that can automatically apply concrete.

[0006] This invention is achieved through the following technical solution:

[0007] This invention proposes a bricklaying robot capable of automatically applying concrete, comprising an application mechanism, wherein:

[0008] The coating mechanism includes a telescopic cylinder with an internal receiving cavity. A piston is located inside the receiving cavity, and a sealing ring is located on the outside of the piston. The piston is movably connected to the telescopic cylinder. A guide rod is also provided at the bottom of the piston. The top of the guide rod is fixedly connected to the bottom of the piston, and the other side of the guide rod passes through the telescopic cylinder. A first elastic element is also provided at the bottom of the receiving cavity. One end of the first elastic element is fixedly connected to the guide rod, and the other end is fixedly connected to the bottom of the receiving cavity.

[0009] The coating mechanism also includes a coating plate, which is located on one side of the bottom of the telescopic cylinder and is fixedly connected to the guide rod. The cavity is also provided with a limiting groove. The guide rod has protrusions on both sides that cooperate with the limiting groove. The top of the telescopic cylinder is provided with an air nozzle, which is connected to an air pump through a pipe. The air pump drives the piston to move and moves the guide rod and the coating plate to coat the concrete.

[0010] Furthermore, it also includes a first storage device, a first frame of the first storage device, a storage box on one side of the first frame, a first motor on the top of the storage box, the first motor being fixedly connected to the top of the storage box, the output end of the first motor facing the bottom of the storage box, and a stirring claw fixed to the output end of the first motor.

[0011] Furthermore, it also includes a first conveying device, which includes a chain drive mechanism located on the other side of the first frame. A second motor is provided on one side of the chain drive mechanism, which is used to drive the chain drive mechanism to operate. The second motor is fixed to the top of the first frame, and multiple containers are provided on the chain of the chain drive mechanism.

[0012] Furthermore, a collection box is provided on one side of the chain drive mechanism, a concrete outlet is provided at the bottom of the collection box, a lever is provided on the side of the collection box near the chain drive mechanism, the lever is tilted toward the side of the collection box, and the application mechanism is located on one side of the collection box.

[0013] Furthermore, the lever is rotatably connected to the first frame, and a second elastic element is provided inside the lever. The first frame is provided with a residual material collection port on the side near the collection box, and the concrete outlet at the bottom of the collection box is aligned with the residual material collection port.

[0014] Furthermore, it also includes a second storage device, which includes a second frame. The first frame is fixed to one side of the top of the second frame. A storage area is provided on the top of the other side of the second frame. A first conveyor belt is provided at the bottom of the storage area. A push plate is provided on one side of the storage area. The push plate is movably connected to the second frame. A first opening communicating with the storage area is also provided on one side of the second frame. A plurality of drive wheels are provided at the bottom of the second frame. The drive wheels are movably connected to the frame.

[0015] Furthermore, it also includes a cooking device, which includes a fixed frame located on one side of the second frame. The fixed frame is fixedly connected to the second frame. A receiving plate is provided on the top surface of one side of the fixed frame. The receiving plate is flush with the first opening. An inclined second conveyor belt and a baffle are sequentially provided on one side of the fixed frame. Multiple protrusions are provided on the outer side of the second conveyor belt.

[0016] Furthermore, a drive wheel is provided on the inner side of the bottom of the second conveyor belt, and a tension wheel and a driven wheel are provided on the inner side of the top of the second conveyor belt. One side of the tension wheel, the driven wheel, and the drive wheel are movably connected to the fixed frame, and the other side is movably connected to the baffle.

[0017] Furthermore, it also includes a clamping device, which includes a support frame located on the side of the second frame away from the storage area and movably connected to the second frame. A third motor is respectively provided on the bottom side and the top side of the support frame. A lead screw is provided on the inner side of the support frame. One of the third motors has a worm gear mechanism at its output end, which drives the support frame to rotate. The other third motor drives the lead screw to rotate. A joint mechanism is also connected to the lead screw. One end of the joint mechanism is movably connected to the lead screw, and the other end is connected to a pneumatic gripper.

[0018] Furthermore, the joint mechanism includes a base, and a guide rod is provided on the support frame. The guide rod passes through the base and is fixedly connected to the support frame. The base is movably connected to the lead screw. A robotic arm is provided on one side of the base. The robotic arm includes a first rotary joint, a second rotary joint, and a first telescopic joint. One side of the robotic arm is fixedly connected to the base, and the bottom of the other side is fixedly connected to the pneumatic gripper. A camera is fixedly mounted on the bottom of the base.

[0019] The beneficial effects of this invention are:

[0020] (1) The wall-building robot that can automatically apply concrete proposed in this invention is equipped with an application mechanism. The application mechanism can press concrete onto the bricks for application by pushing the application mechanism with an air pump, which can significantly improve the construction quality of concrete. The wall surface produced by the robot is of higher and more stable quality than that produced by the traditional wall-building robot.

[0021] (2) The wall-building robot that can automatically apply concrete proposed in this invention delivers concrete through a first conveying device. The concrete is continuously stirred in the storage box. Then, the chain drive mechanism drives the container to deliver the concrete to the collection box, and it flows out through the opening at the bottom of the collection box to the application plate for application. Compared with the method of delivering concrete through a pipeline, the concrete is less likely to solidify and block the pipeline when it is delivered through the container and collection box and applied with cement.

[0022] (3) The bricklaying robot that can automatically apply concrete proposed in this invention stores and transports bricks through a second storage device and a cooking device. The second frame is provided with a groove for arranging and storing bricks, which makes it more convenient to add bricks. The cooking device adjusts the posture of the bricks and transports them to the clamping area, making it more convenient for the clamping device to clamp them. Attached Figure Description

[0023] Figure 1 The overall structure of the bricklaying robot capable of automatically applying concrete according to the present invention;

[0024] Figure 2 This is a cross-sectional view of the application mechanism of the automatic concrete application robot of the present invention.

[0025] Figure 3 This is a structural diagram of the first conveying device and the first storage device of the bricklaying robot capable of automatically applying concrete according to the present invention.

[0026] Figure 4 This is a structural diagram of the second storage device of the bricklaying robot capable of automatically applying concrete according to the present invention.

[0027] Figure 5 This is a structural diagram of the concrete-applying wall-building robot of the present invention.

[0028] Figure 6 This is a structural diagram of the clamping device of the bricklaying robot capable of automatically applying concrete according to the present invention.

[0029] In the diagram: 1. Spreading mechanism; 11. Telescopic cylinder; 111. Limiting groove; 12. Piston; 13. Sealing ring; 14. Guide rod; 15. First elastic element; 16. Spreading plate; 17. Air nozzle; 18. Air pump; 2. First storage device; 21. First frame; 22. First motor; 23. Storage box; 231. Residual material discharge port; 232. Residual material collection port; 24. Mixing claw; 35. First conveying device; 31. Chain drive mechanism; 32. Second motor; 33. Container; 34. Collection box; 341. Concrete outlet; 35. Paddle; 46. Second storage device; 41. Second frame; 42. Storage area; 43. Push plate; 47. Transmission. Wheel 44, ultrasonic ranging sensor 45, first conveyor belt 46, cooking device 5, fixed frame 51, receiving plate 52, baffle 53, second conveyor belt 54, boss 541, driving wheel 542, driven wheel 543, tensioning wheel 544, photoelectric sensor 55, clamping device 6, support frame 61, third motor 62, lead screw 63, worm gear mechanism 64, pneumatic gripper 65, joint mechanism 66, base 661, first rotating joint 6621, second rotating joint 6622, first telescopic joint 6623, camera 663, guide rod 67, brick 7;

[0030] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] To more clearly and completely illustrate the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings.

[0032] Please refer to Figures 1-6 This invention proposes a bricklaying robot capable of automatically applying concrete, comprising an application mechanism 1, wherein:

[0033] The applicator includes a telescopic cylinder 11, which has a receiving cavity inside. A piston 12 is located inside the receiving cavity, and a sealing ring 13 is located on the outside of the piston 12. The piston 12 is movably connected to the telescopic cylinder 11. A guide rod 14 is also provided at the bottom of the piston 12. The top of the guide rod 14 is fixedly connected to the bottom of the piston 12, and the other side of the guide rod 14 passes through the telescopic cylinder 11. A first elastic element 15 is also provided at the bottom of the receiving cavity. One end of the first elastic element 15 is fixedly connected to the guide rod 14, and the other end is fixedly connected to the bottom of the receiving cavity.

[0034] The coating mechanism also includes a coating plate 16, which is located on one side of the bottom of the telescopic cylinder 11 and is fixedly connected to the guide rod 14. The cavity is also provided with a limiting groove 111. The guide rod 14 has protrusions on both sides that cooperate with the limiting groove 111. The top of the telescopic cylinder 11 is provided with an air nozzle 17, which is connected to an air pump 18 through a pipe. The air pump 18 drives the piston 12 to move and drives the guide rod 14 and the coating plate 16 to move to coat the concrete.

[0035] In this embodiment:

[0036] Telescopic cylinder 11 is used to provide a housing structure for guide rod 14;

[0037] Air pump 18 is used to push piston 12 to move inside telescopic cylinder 11;

[0038] The first elastic element 15 is used for the springback guide rod 14;

[0039] Application board 16 is used for applying concrete;

[0040] The limiting groove 111 and the protrusion are used to rotate the guide rod 14;

[0041] Specifically, piston 12 divides telescopic cylinder 11 into upper and lower parts. Air pump 18 introduces gas into the upper part of telescopic cylinder 11. Under the pressure of the gas, piston 12 moves downward, driving guide rod 14 downward. A portion of the lower end of guide rod 14 has a larger diameter. One end of the first elastic element 15 is in contact with telescopic cylinder 11, and the other end is in contact with the larger diameter portion. The protrusions on both sides of guide rod 14 are inserted into limiting groove 111. Limiting groove 111 has two sections: one spiral and one straight. When air pump 18 pushes piston 12 and guide rod 14 downward, the limiting groove 111... Under the constraint of the guide rod 14, the guide rod 14 rotates and moves downward while moving downward, and then moves vertically downward. The spreading plate 16 connected to the guide rod 14 also rotates and moves downward while moving downward. When the piston 12 moves downward from the top of the telescopic cylinder 11, the guide rod 14 compresses the first elastic element 15. When the air pump 18 stops supplying gas and the pressure relief valve on the pipeline is activated to release pressure, the compressed first elastic element 15 releases its elastic force and drives the guide rod 14 and the spreading plate 16 to reset. The present invention uses the spreading mechanism 1 to spread and press concrete, which can improve the quality of masonry and is more efficient.

[0042] Furthermore, it also includes a first storage device 2, a first frame 21 of the first storage device 2, a storage box 23 on one side of the first frame 21, a first motor 22 on the top of the storage box 23, the first motor 22 being fixedly connected to the top of the storage box 23, the output end of the first motor 22 facing the bottom of the storage box 23, and a stirring claw 24 fixed to the output end of the first motor 22.

[0043] In this embodiment:

[0044] The first frame 21 is used to provide a fixing structure;

[0045] The first motor 22 and the mixing claw 24 are used for mixing concrete;

[0046] Storage box 23 is used to store concrete;

[0047] Specifically, the storage tank 23 is placed inside the first frame 21, and the first motor 22 is placed on the crossbeam of the first frame 21. Then, the output end of the first motor 22 is connected to the mixing rotor and faces the inside of the storage tank 23. The storage tank 23 is equipped with a gravity sensor. When concrete is poured into the concrete storage tank 23, the gravity sensor detects that concrete has been poured in. The control system issues a command and drives the first motor 22 to rotate, while driving the mixing claw 24 to mix the concrete. Mixing the concrete can prevent the concrete from solidifying inside the storage tank 23.

[0048] In one embodiment, the storage tank 23 is further provided with a residual material discharge port 231 on one side for discharging the remaining residual material in the storage tank 23.

[0049] Furthermore, it also includes a first conveying device 3, which includes a chain drive mechanism 31 located on the other side of the first frame 21. A second motor 32 is provided on one side of the chain drive mechanism 31. The second motor 32 is used to drive the chain drive mechanism 31 to operate. The second motor 32 is fixed to the top of the first frame 21. Multiple containers 33 are provided on the chain of the chain drive mechanism 31.

[0050] A collection box 34 is provided on one side of the chain drive mechanism 31. A concrete outlet 341 is provided at the bottom of the collection box 34. A paddle 35 is provided on the side of the collection box 34 near the chain drive mechanism 31. The paddle 35 is tilted toward the side of the collection box 34. The coating mechanism 1 is located on one side of the collection box 34.

[0051] The lever 35 is rotatably connected to the first frame 21. The lever 35 is provided with a second elastic element. The first frame 21 is provided with a residual material collection port 232 on the side near the collection box 34. The concrete outlet 341 at the bottom of the collection box 34 is aligned with the residual material collection port 232.

[0052] In this embodiment:

[0053] The chain drive mechanism 31 and the container 33 are used to transport concrete;

[0054] The second motor 32 is used to drive the chain drive mechanism.

[0055] Paddle 35 is used for conveying concrete;

[0056] The second elastic element is used for the spring-loaded paddle 35;

[0057] Collection box 34 is used to hold concrete;

[0058] Specifically, the chain drive mechanism 31 is located inside the first frame 21. The chain drive mechanism 31 has two vertically arranged chains. The container 33 is located between the two chains and fixed to each chain. The chains drive the container 33, causing it to move sequentially. Driven by the chains, the container 33 fills with concrete from the storage tank 23 and transports the concrete to the top of the chains. The top of the chains then flips the container 33, causing the concrete to pour out and fall onto the lever 35, sliding down into the collection box 34. This transfers the concrete from the container 33 to the collection box 34. After flipping, the container 33 continues to move downwards under the drive of the chains. Simultaneously, the downward movement of the container 33 rotates the lever 35, compressing the second elastic element, causing the container 33 to completely separate from the lever 35. At 5 o'clock, the lever 35 rebounds under the elastic force of the second elastic element, thus returning to its original tilted state, preparing for the next container 33 to deliver concrete. The bottom of the collection box 34 has a concrete outlet 341, which can be opened and closed by the system. When opened, concrete will flow out from the concrete outlet 341 to facilitate the application of concrete by the application mechanism 1. The concrete overflowing from the collection box 34 will flow down along the outer wall of the collection box 34 and fall into the residual material collection port 232, and then flow back into the storage box 23 for further mixing. Compared with the concrete conveying through pipelines in the art, the first conveying device 3 of the present invention is used to convey concrete. Pipeline conveying is prone to blockage of the conveying pipeline. The present invention is less likely to cause concrete to solidify into lumps and blockage, and the equipment maintenance cost is lower.

[0059] Furthermore, it also includes a second storage device 4, which includes a second frame 41. A first frame 21 is fixed to one side of the top of the second frame 41. A storage area 42 is provided on the top of the other side of the second frame 41. A first conveyor belt 46 is provided at the bottom of the storage area 42. A push plate 43 is provided on one side of the storage area 42. The push plate 43 is movably connected to the second frame 41. A first opening communicating with the storage area 42 is also provided on one side of the second frame 41. A plurality of drive wheels 44 are provided at the bottom of the second frame 41. The drive wheels 44 are movably connected to the frame.

[0060] In this embodiment:

[0061] The second frame 41 is used to provide a support structure for the bricks 7 and other devices;

[0062] The first conveyor belt 46 and push plate 43 are used to transport bricks 7;

[0063] Drive wheel 44 is used to move the entire robot;

[0064] Specifically, the second frame 41 is equipped with a storage area 42, which is a recessed section. A first conveyor belt 46 is located at the bottom of the recessed section. Bricks 7 are neatly arranged on the first conveyor belt 46. The first conveyor belt 46 transports the bricks 7 to the first opening side and then from the first opening to the cooking device 5. The second frame 41 is equipped with a drive mechanism that drives a pusher plate 43 to move. The pusher plate 43 moves and pushes the bricks 7 forward a certain distance. Driven by the conveyor belt, each brick 7 is transported from the first opening to the outside in sequence. After a row of bricks 7 has been transported, the pusher plate 43 pushes the bricks 7 a certain distance, pushing the row of bricks 7 to the first opening side. Then the conveyor belt transports the next row of bricks 7 to the outside. The storage area 42 is equipped with a gravity sensor. When the storage area 42 is depleted of bricks 7, it will emit a prompt sound to remind the worker to replenish the bricks 7.

[0065] In one embodiment, the drive wheel 44 is a Mecanum wheel, and an ultrasonic ranging sensor 45 is also provided next to the drive wheel 44. A rechargeable battery, a drive motor, and a control system for the overall motion of the robot are arranged inside the frame. The drive motor drives the four drive wheels 44 to rotate in the same or opposite directions, enabling the robot to achieve free movement in a plane. At the same time, the ultrasonic ranging sensor 45 is used to prevent the robot from colliding with objects. Other types of drive wheels 44 can also be selected.

[0066] Furthermore, it also includes a cooking device 5, which includes a fixed frame 51 located on one side of the second frame 41. The fixed frame 51 is fixedly connected to the second frame 41. A receiving plate 52 is provided on the top surface of one side of the fixed frame 51. The receiving plate 52 is flush with the first opening. An inclined second conveyor belt 54 and a baffle 53 are sequentially provided on one side of the fixed frame 51. Multiple protrusions 541 are provided on the outer side of the second conveyor belt 54.

[0067] In this embodiment:

[0068] The mounting bracket 51 and the baffle 53 are used to provide a housing structure for the conveyor belt;

[0069] The receiving plate 52 is used to receive the bricks 7 being transported to the outside of the first opening.

[0070] The second conveyor belt 54 is used to transport bricks 7 to the area that can be clamped by the clamping device 6;

[0071] Specifically, the brick 7, conveyed by the first conveyor belt 46 to the outside of the first opening, falls onto the receiving plate 52. Since the receiving plate 52 is tilted to one side of the conveyor belt, it slides onto the second conveyor belt 54. At the same time, the brick 7 is adjusted in posture by the boss 541 so that the long side of the brick 7 is perpendicular to the movement direction of the second conveyor belt 54. Then, the brick 7 moves with the movement of the second conveyor belt 54 to the platform part at the top of the second conveyor belt 54. A photoelectric sensor 55 is provided on one side of the platform part. After the photoelectric sensor 55 detects the brick 7, the control system issues a command to stop the movement and adjusts the clamping device 6 to clamp the fastener. After the photoelectric sensor 55 detects that the brick 7 has left the platform part, the controller issues a command to make the second conveyor belt 54 continue to move.

[0072] Furthermore, the inner side of the bottom of the second conveyor belt 54 is provided with a drive wheel 542, and the inner side of the top of the second conveyor belt 54 is provided with a tension wheel 544 and a driven wheel 543. The tension wheel 544, the driven wheel 543, and the drive wheel 542 are movably connected to the fixed frame 51 on one side and to the baffle 53 on the other side.

[0073] In this embodiment:

[0074] The drive wheel 542 is used to drive the second conveyor belt 54 to move;

[0075] Tensioning pulley 544 is used to tension the second conveyor belt 54;

[0076] Driven wheel 543 is used to support the second conveyor belt 54;

[0077] Specifically, the driving wheel 542 is located on one side of the bottom of the second conveyor belt 54, near the baffle 53, while the driven wheel 543 supports the other side of the second conveyor belt 54. The top surface of the tension wheel 544 coincides with the top surface of the driven wheel 543, thereby forming a platform section at the top of the second conveyor belt 54.

[0078] Furthermore, it also includes a clamping device 6, which includes a support frame 61. The support frame 61 is located on the side of the second frame 41 away from the storage area 42 and is movably connected to the second frame 41. A third motor 62 is provided on the bottom side and the top side of the support frame 61 respectively. A lead screw 63 is provided on the inner side of the support frame 61. A worm gear mechanism 64 is provided at the output end of one third motor 62 and drives the support frame 61 to rotate through the worm gear mechanism 64. The other third motor 62 drives the lead screw 63 to rotate. A joint mechanism 66 is also connected to the lead screw 63. One end of the joint mechanism 66 is movably connected to the lead screw 63, and the other end is connected to a pneumatic gripper 65.

[0079] The joint mechanism 66 includes a base 661, and a guide rod 67 is provided on the support frame 61. The guide rod 67 passes through the base 661 and is fixedly connected to the support frame 61. The base 661 is movably connected to the lead screw 63. A robotic arm is provided on one side of the base 661. The robotic arm includes a first rotary joint 6621, a second rotary joint 6622 and a first telescopic joint 6623. One side of the robotic arm is fixedly connected to the base 661, and the bottom of the other side is fixedly connected to the pneumatic gripper 65. A camera 663 is fixedly installed at the bottom of the base 661.

[0080] In this embodiment:

[0081] Support frame 61 provides a support structure for clamping device 6;

[0082] Two third motors 62 are used to drive the lead screw 63 and the base 661 to move respectively;

[0083] Pneumatic gripper 65 is used to hold brick 7;

[0084] Guide rod 67 is used to limit the rotation of base 661;

[0085] The base 661 is used to connect the robotic arm and the lead screw 63;

[0086] Camera 663 is used to guide the movement of the robotic arm;

[0087] The robotic arm is used to provide degrees of freedom so that the pneumatic gripper 65 can hold the brick 7;

[0088] Specifically, a third motor 62 drives the worm gear mechanism 64 to operate, causing the entire support frame 61 to rotate. Another third motor 62 drives the lead screw 63 to rotate, causing the base 661 on the lead screw 63 to move accordingly. Due to the restriction of the guide rod 67, the base 661 can only move upwards or downwards under the drive of the lead screw 63. The second rotating joint 6622 and the first telescopic joint 6623 enable the pneumatic gripper 65 to precisely grip the brick 7, while also allowing for 360° adjustment of the brick. The position of block 7; after the air pump 18 supplies air to the pneumatic gripper 65, the gripper is activated to clamp the brick 7. Then the second rotating joint 6622 rotates 180° so that the bottom surface of the clamped brick 7 faces upward. Then the coating mechanism 1 applies concrete. After the concrete is applied, the control system sends a command to rotate the robotic arm. Under the guidance of the camera 663, the robotic arm uses the first rotating joint 6621, the second rotating joint 6622 and the first telescopic joint 6623 to allow the brick 7 to be stacked in a specific posture.

[0089] In one embodiment, the entire support frame 61 is set in a groove on one side of the storage area 42 of the second fixed frame 51. A third motor 62 drives the worm gear mechanism 64 to rotate the support frame 61 and move the pneumatic gripper 65 to the top of the brick 7. Then the robotic arm adjusts its position, and another third motor 62 drives the entire robotic arm to move down and clamp the brick 7. Finally, the third motor 62 continues to drive the robotic arm and move the brick 7 to the side of the coating mechanism 1 to apply concrete and complete the stacking of the bricks 7.

[0090] In one embodiment, the degrees of freedom of the robotic arm can be selected according to the actual situation. Three degrees of freedom or four degrees of freedom can be selected. The camera 663 is a 3D camera 663 set at the bottom of the base. The camera 663 identifies the position of the pneumatic gripper 65 to facilitate the movement of the robotic arm and drive the pneumatic gripper 65 to move.

[0091] Of course, the present invention may have many other embodiments. Based on this embodiment, other embodiments obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention.

Claims

1. A bricklaying robot capable of automatically applying concrete, characterized in that, Including the application mechanism, wherein: The coating mechanism includes a telescopic cylinder with an internal receiving cavity. A piston is located inside the receiving cavity, and a sealing ring is located on the outside of the piston. The piston is movably connected to the telescopic cylinder. A guide rod is also provided at the bottom of the piston. The top of the guide rod is fixedly connected to the bottom of the piston, and the other side of the guide rod passes through the telescopic cylinder. A first elastic element is also provided at the bottom of the receiving cavity. One end of the first elastic element is fixedly connected to the guide rod, and the other end is fixedly connected to the bottom of the receiving cavity. The coating mechanism also includes a coating plate, which is located on one side of the bottom of the telescopic cylinder and is fixedly connected to the guide rod. The cavity is also provided with a limiting groove. The guide rod has protrusions on both sides that cooperate with the limiting groove. The top of the telescopic cylinder is provided with an air nozzle, which is connected to an air pump through a pipe. The air pump drives the piston to move and moves the guide rod and the coating plate to coat the concrete.

2. The bricklaying robot capable of automatically applying concrete according to claim 1, characterized in that, It also includes a first storage device, a first frame of the first storage device, a storage box on one side of the first frame, a first motor on the top of the storage box, the first motor being fixedly connected to the top of the storage box, the output end of the first motor facing the bottom of the storage box, and a stirring claw fixed to the output end of the first motor.

3. The bricklaying robot capable of automatically applying concrete according to claim 2, characterized in that, It also includes a first conveying device, which includes a chain drive mechanism located on the other side of the first frame. A second motor is provided on one side of the chain drive mechanism. The second motor is used to drive the chain drive mechanism to operate. The second motor is fixed to the top of the first frame. Multiple containers are provided on the chain of the chain drive mechanism.

4. The bricklaying robot capable of automatically applying concrete according to claim 3, characterized in that, A collection box is provided on one side of the chain drive mechanism, and a concrete outlet is provided at the bottom of the collection box. A lever is provided on the side of the collection box near the chain drive mechanism, and the lever is tilted toward the side of the collection box. The coating mechanism is located on one side of the collection box.

5. The bricklaying robot capable of automatically applying concrete according to claim 4, characterized in that, The lever is rotatably connected to the first frame. The lever is provided with a second elastic element. The first frame is provided with a residual material collection port on the side near the collection box. The concrete outlet at the bottom of the collection box is aligned with the residual material collection port.

6. The bricklaying robot capable of automatically applying concrete according to claim 2, characterized in that, It also includes a second storage device, which includes a second frame. The first frame is fixed to one side of the top of the second frame. A storage area is provided on the top of the other side of the second frame. A first conveyor belt is provided at the bottom of the storage area. A push plate is provided on one side of the storage area. The push plate is movably connected to the second frame. A first opening communicating with the storage area is also provided on one side of the second frame. A plurality of drive wheels are provided at the bottom of the second frame. The drive wheels are movably connected to the frame.

7. The bricklaying robot capable of automatically applying concrete according to claim 6, characterized in that, It also includes a cooking device, which includes a fixed frame located on one side of the second frame. The fixed frame is fixedly connected to the second frame. A receiving plate is provided on the top surface of one side of the fixed frame. The receiving plate is flush with the first opening. An inclined second conveyor belt and a baffle are sequentially provided on one side of the fixed frame. Multiple protrusions are provided on the outer side of the second conveyor belt.

8. The bricklaying robot capable of automatically applying concrete according to claim 7, characterized in that, The second conveyor belt has a drive wheel on the inner side of its bottom and a tension wheel and a driven wheel on the inner side of its top. The tension wheel, the driven wheel, and the drive wheel are movably connected to the fixed frame on one side and to the baffle on the other side.

9. The bricklaying robot capable of automatically applying concrete according to claim 6, characterized in that, It also includes a clamping device, which includes a support frame located on the side of the second frame away from the storage area and movably connected to the second frame. A third motor is provided on the bottom side and the top side of the support frame, and a lead screw is provided on the inner side of the support frame. One of the third motors has a worm gear mechanism at its output end, which drives the support frame to rotate. The other third motor drives the lead screw to rotate. A joint mechanism is also connected to the lead screw. One end of the joint mechanism is movably connected to the lead screw, and the other end is connected to a pneumatic gripper.

10. The bricklaying robot capable of automatically applying concrete according to claim 9, characterized in that, The joint mechanism includes a base, and a guide rod is provided on the support frame. The guide rod passes through the base and is fixedly connected to the support frame. The base is movably connected to the lead screw. A robotic arm is provided on one side of the base. The robotic arm includes a first rotary joint, a second rotary joint, and a first telescopic joint. One side of the robotic arm is fixedly connected to the base, and the bottom of the other side is fixedly connected to the pneumatic gripper. A camera is fixedly mounted on the bottom of the base.

Images