Automated bricklaying equipment

Abstract

This invention provides an automated bricklaying device, comprising a traveling gantry, a lifting column, a lifting seat, a bricklaying module, a manual work platform, a bricklaying conveying system, a circumferential scanning mechanism, and a control system. The lifting column is slidably connected to the traveling gantry; the lifting seat is fitted onto and slidably engages with the lifting column, and has a bricklaying gripping station; the bricklaying module is mounted on the lifting seat; the manual work platform is arranged around the lifting column and connected to the lifting seat; the bricklaying conveying system is located on the traveling gantry and the lifting column, used to continuously convey bricks to the bricklaying gripping station; the circumferential scanning mechanism is slidably connected to the lifting column and used to acquire peripheral wall point cloud data; the control system, based on the peripheral wall point cloud data, controls the bricklaying module to lay the gripped bricks at the target position. The automated bricklaying device provided by this invention can improve the operating efficiency and quality of automated bricklaying equipment and increase the overall machine transfer efficiency.

Description

Technical Field

[0001] This invention belongs to the field of automated masonry construction technology, and specifically relates to an automated masonry equipment. Background Technology

[0002] As the population ages and young people change their career choices, the labor shortage problem will become increasingly serious. For the construction of various structures such as blast furnaces, steel ladles and building complexes, it is essential to develop automated masonry equipment to replace manual masonry work.

[0003] Currently, most automated bricklaying equipment can only perform fixed-point operations based on a lifting platform. When it is necessary to move the work area, it can only be disassembled and reassembled, which consumes a lot of time and labor costs. In addition, current equipment usually requires a separate system for feeding bricks. Currently, most of them are used with tower cranes to hoist and transport bricks for stacking. This not only results in poor coordination between brick feeding and bricklaying operations, which is not conducive to construction efficiency, but also increases the load on the lifting platform because the brick stacks need to be stacked on the lifting platform. This can easily lead to an imbalance of forces on the lifting platform and cause it to shake, which in turn affects the motion accuracy and bricklaying quality of the bricklaying robot. Summary of the Invention

[0004] This invention provides an automatic masonry equipment, which aims to improve the operating efficiency and quality of the automatic masonry equipment and increase the overall machine transfer efficiency.

[0005] To achieve the above objectives, the present invention provides an automatic masonry equipment, comprising:

[0006] A mobile gantry crane is used to span across a work area and can move between different work areas;

[0007] The lifting column is slidably connected to the middle of the traveling gantry frame. It has a supporting state where it descends to the bottom and touches the foundation of the structure or the ground, and a suspended state where it rises to the bottom and is higher than the top surface of the structure.

[0008] The lifting frame is fitted onto the lifting column and slides vertically with the lifting column. The lifting frame has at least two brick-laying gripping stations.

[0009] The bricklaying module, mounted on the lifting frame, is used to pick up bricks from the bricklaying grabbing station.

[0010] A manual operation platform is set around the lifting column and connected to the lifting frame;

[0011] A bricklaying conveying system, installed on a traveling gantry and a lifting column, is used to continuously convey at least one type of bricklaying material to various bricklaying gripping stations.

[0012] The circumferential scanning mechanism is slidably connected to the lifting column and is used to perform circumferential scanning of the surrounding wall of the structure to obtain point cloud data of the surrounding wall;

[0013] The control system is used to receive the point cloud data of the surrounding wall and control the masonry module to lay the captured bricks at the target position based on the point cloud data of the surrounding wall.

[0014] In one possible implementation, the bricklaying conveying system includes:

[0015] The follow-up trolley is connected to the traveling gantry and is used to follow the traveling gantry. The follow-up trolley has two stacking areas for stacking bricks. The follow-up trolley is also equipped with a first scanning camera located directly above the two stacking areas. The first scanning camera is used to scan and obtain the brick position information of the stacking area and feed the brick position information back to the control system.

[0016] Two feeding conveyors are set in parallel and horizontally connected to the traveling gantry. The feeding end of the feeding conveyor is located above the follow-up trolley, and the discharging end is aligned with the lifting column.

[0017] The depalletizing robot is mounted on a follow-up trolley and electrically connected to the control system. The depalletizing robot is used to grab bricks from the two stacking areas and place them at the feed ends of the two feeding conveyors.

[0018] Two vertical conveyor lines are set vertically on opposite sides of the lifting column, and are used to receive bricks from the discharge end of the two feeding conveyors and vertically convey the bricks they receive.

[0019] Two bidirectional conveyors are installed on the lifting frame and located on both sides of the lifting column. Each bidirectional conveyor forms a brick-grabbing station at both ends. The two bidirectional conveyors are used to pick up bricks from the two column conveyor lines and alternately transfer the bricks they pick up to each brick-grabbing station.

[0020] In some embodiments, the column conveyor line has a reciprocating rotary motion trajectory, and multiple brick boxes are distributed at intervals along its rotary motion trajectory. The side of the brick box away from the lifting column is open to form a brick-laying inlet and outlet. The discharge end of the feeding conveyor is equipped with a horizontal jacking component, which is used to push the bricks into the brick box at the same height as the feeding conveyor. The bidirectional conveyor is equipped with a receiving mechanism in the middle and vertical jacking components at both ends. The receiving mechanism is used to pick up the bricks from the brick box at the same height as the bidirectional conveyor, and the vertical jacking components are used to lift the bricks that have traveled above it.

[0021] For example, the feeding conveyor includes a flat belt conveyor and a roller conveyor that are connected to each other and driven independently. The roller conveyor is provided with a horizontal pusher and a brick baffle plate, which is used to block the bricks at a position that is horizontally aligned with the horizontal pusher and the corresponding brick box.

[0022] The bottom of the brick box is open and has multiple support rods at intervals to support the bricklaying;

[0023] The bidirectional conveyor is a roller conveyor, and limit stops are set at both ends of the bidirectional conveyor. The limit stops are used to block the bricks at a position aligned with the vertical jacking component.

[0024] Both the receiving mechanism and the vertical pushing component include a bracket, on which multiple top plates are spaced apart, and each top plate is inserted into the gap between the rollers of the bidirectional conveyor.

[0025] The receiving mechanism also includes a slide on the lifting frame, a sliding drive, and a lifting drive on the slide; wherein, the output end of the lifting drive is provided with a bracket, and the sliding drive is used to drive the slide to move horizontally so that the bracket reciprocates between the column conveyor line and the bidirectional conveyor.

[0026] For example, a swing arm is hinged to each side of the brick box. The two swing arms can swing to a closed state to cooperate with the brick-making inlet and outlet, and can also swing to an open state to the sides of the brick-making inlet and outlet. Each swing arm is connected to an elastic reset member, which is used to make the swing arm automatically swing back from the open state to the closed state.

[0027] Two first contact plates are provided at the same height as the lifting column and the horizontal jacking component, and two second contact plates are provided at the same height as the lifting seat and the receiving mechanism. The two second contact plates are aligned vertically with the two first contact plates and vertically with the two swing arms of each brick box. When the brick box travels to the point where its two swing arms contact the two first contact plates or the two second contact plates, the two swing arms switch from the closed state to the open state.

[0028] In one possible implementation, the traveling gantry includes two main crossbeams, with a lifting frame fixedly connected between the two main crossbeams, and a lifting column vertically passing through the lifting frame and slidingly engaging with the lifting frame; the lifting seat includes a drive seat slidably sleeved on the lifting column, and a self-driving lifting assembly disposed on the drive seat and connected to the lifting column in a transmission manner; both the lifting frame and the drive seat are provided with at least two sets of rolling limit members spaced vertically.

[0029] Each set of rolling limit components includes four rolling limit components distributed at the four corner positions corresponding to the lifting column. Each rolling limit component includes a fixed base, and at least one first roller and at least one second roller provided on the fixed base. The first roller and the second roller are respectively rolled and supported on the edge positions of two adjacent side walls of the lifting column near the same corner.

[0030] In some embodiments, the lifting self-drive assembly includes two first motors and two first racks. The two first motors are respectively located on both sides of the drive base, and the output end of the first motor is fitted with a first gear. The two first racks are respectively vertically fixed on both sides of the lifting column and are respectively meshed with the two first gears.

[0031] Both the drive seat and the lifting frame are equipped with anti-fall brakes, and the brake gears of each anti-fall brake are respectively engaged with one of the first racks.

[0032] For example, the circumferential scanning mechanism includes a ring seat that is slidably mounted on a lifting column, a rotating seat that is slidably connected to the ring seat circumferentially, a rotary drive unit mounted on the ring seat, and a second scanning camera mounted on the rotating seat; wherein, a second motor is provided on the ring seat, a second gear is mounted on the output end of the second motor, and the second gear is meshed with one of the first racks; the rotary drive unit includes a third motor and a gear ring fixedly connected to the rotating seat, a third gear is mounted on the output end of the third motor, and the third gear is meshed with the gear ring.

[0033] For example, the masonry module includes a mounting base with a ring-shaped lifting column and a masonry robot that is horizontally slidably connected to two opposite side walls of the mounting base. The masonry robot is electrically connected to the control system. The mounting base is fixedly connected to the top of the lifting frame. A fourth motor is provided on the base of the masonry robot. A fourth gear is sleeved on the output end of the fourth motor. A second rack is horizontally provided on each of the two opposite side walls of the mounting base. The two second racks are respectively meshed with the two fourth gears.

[0034] In some embodiments, the structure includes a column body, a ball joint support, a winch, two guide wheels, and two traction ropes. The column body is slidably connected to the middle of the traveling gantry frame. The ball joint support is connected to the lower end of the column body and is used to support the foundation of the structure or the ground. The winch is mounted on the traveling gantry frame, and its output end is coaxially connected to two drums. The two guide wheels are coaxially arranged and rotatably connected to the middle of the traveling gantry frame. The two traction ropes are wound around the two drums and extend vertically downwards around the two guide wheels and are connected to the lower end of the column body.

[0035] The beneficial effects of the automatic masonry equipment provided by this invention are as follows: Compared with the prior art, the automatic masonry equipment of this invention allows the lifting column to rise and fall relative to the traveling gantry. The masonry module and the manual work platform are directly or indirectly connected to the lifting column. Therefore, when the entire machine needs to be moved to a different work area, it is only necessary to raise the lifting column until its bottom is higher than the top surface of the structure, then operate the traveling gantry to move it directly above the next work area, and then lower the lifting column until its bottom supports the foundation of the structure or the ground in that work area. The transfer process does not require disassembly and reassembly, which can greatly reduce labor costs and time, and improve the overall machine transfer efficiency; during the masonry construction process, the lifting column can be raised to a height where its bottom is higher than the top surface of the structure. The bricklaying transmission system, mounted on the traveling gantry and lifting columns, sequentially transports bricks to various brick-grabbing stations on the lifting frame. The bricklaying module simply picks up bricks alternately from each station and lays them at the target location based on the point cloud data of the building's perimeter walls acquired by the circumferential scanning mechanism. This not only achieves coordinated and synchronized bricklaying transport and laying, improving efficiency, but also avoids the load imbalance caused by bricks piling up on the manual work platform. Furthermore, the support provided by the lifting columns on the building's foundation or ground prevents the bricklaying module from swaying, thus ensuring stability and improving the quality of the bricklaying. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the main structure of the automatic masonry equipment provided in an embodiment of the present invention;

[0037] Figure 2 This is a three-dimensional structural diagram of the traveling gantry and the following trolley in an embodiment of the present invention;

[0038] Figure 3 for Figure 2 A magnified schematic diagram of the local structure at point A;

[0039] Figure 4 This is a schematic diagram of the column conveyor line in an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the bricklaying conveying system used in an embodiment of the present invention;

[0041] Figure 6 This is a three-dimensional structural diagram of the feeding conveyor used in an embodiment of the present invention;

[0042] Figure 7 This is a three-dimensional structural diagram of the bidirectional conveyor used in an embodiment of the present invention;

[0043] Figure 8 This is a three-dimensional structural diagram of the receiving mechanism used in an embodiment of the present invention;

[0044] Figure 9 This is a three-dimensional structural diagram of the brick box used in an embodiment of the present invention;

[0045] Figure 10 This is a schematic diagram of the installation structure of the lifting frame and the masonry module used in an embodiment of the present invention.

[0046] Figure 11 This is a schematic diagram of the cooperation structure between the rolling limiting component and the lifting column used in the embodiments of the present invention;

[0047] Figure 12 This is a three-dimensional structural diagram of the circumferential scanning mechanism used in an embodiment of the present invention;

[0048] Figure 13 This is a schematic diagram of the assembly of the lifting column and the main crossbeam used in an embodiment of the present invention.

[0049] In the diagram: 10. Traveling gantry frame; 11. Main crossbeam; 12. Lifting frame; 121. Rolling limit component; 1211. Fixed seat; 1212. First roller; 1213. Second roller; 13. End beam; 14. Support leg beam; 15. Crossbeam; 16. Rail wheel; 17. Rail clamp; 20. Lifting column; 200. First contact plate; 21. Column body; 22. Ball joint support seat; 23. Winch; 231. Drum; 24. Guide wheel; 25. Traction rope; 3 0. Lifting frame; 300. Second contact plate; 31. Drive seat; 311. Anti-fall brake; 32. Lifting self-drive assembly; 321. First motor; 322. First rack; 40. Masonry module; 41. Mounting seat; 411. Second rack; 42. Masonry robot; 421. Fourth motor; 50. Manual work platform; 60. Bricklaying conveying system; 61. Follow-up trolley; 611. Stacking area; 612. First scanning camera; 613. Camera bracket; 6 2. Feeding conveyor; 620. Hanger; 621. Horizontal jacking component; 622. Flat belt conveyor; 623. Roller conveyor; 6231. Brick baffle; 63. Destacking robot; 64. Column conveyor line; 640. Brick box; 6401. Support rod; 6402. Swing arm; 6403. Elastic reset component; 641. Rotary drive component; 642. Drive sprocket; 643. Driven sprocket; 644. Transmission chain; 65. Bidirectional conveyor; 651. Receiving mechanism; 6 511. Carriage; 6512. Sliding drive component; 6513. Lifting drive component; 652. Vertical pushing component; 653. Limit stop; 654. Bracket; 6541. Top plate; 70. Circumferential scanning mechanism; 71. Ring seat; 711. Second motor; 712. Second gear; 72. Rotary seat; 73. Rotary drive component; 731. Third motor; 732. Gear ring; 733. Third gear; 74. Second scanning camera; 80. Control system; 90. Heavy rail. Detailed Implementation

[0050] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0051] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or indirectly on the other element. It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0052] Please refer to the following: Figures 1 to 5 The automatic bricklaying equipment provided by the present invention will now be described. The automatic bricklaying equipment includes a traveling gantry frame 10, a lifting column 20, a lifting seat 30, a bricklaying module 40, a manual working platform 50, a bricklaying conveying system 60, a circumferential scanning mechanism 70, and a control system 80.

[0053] The traveling gantry 10 is used to span across the work area and can move between different work areas.

[0054] It should be noted that, as Figure 2 As shown, in this embodiment, both sides of the traveling gantry 10 adopt an isosceles trapezoidal structure. The isosceles trapezoidal structure consists of an end beam 13, two support beams 14 connected to both ends of the end beam 13, and a crossbeam 15 connected to the top of the two support beams 14. The end beam 13, support beams 14, and crossbeam 15 are all box beam structures, thereby improving the overall structural strength and load-bearing capacity of the traveling gantry 10, especially its dynamic load performance, and ensuring the stability of the machine during the transfer process.

[0055] Based on the above, see Figure 3 A heavy rail 90 can be set on both sides of the work area along the distribution route of each work area; a row of rail wheels 16 rolling on the heavy rail 90 is set at the bottom of the two end beams 13 respectively. At the same time, in order to avoid derailment, rail clamps 17 for clamping the heavy rail 90 are set at both ends of the end beams 13 respectively. When the masonry operation is carried out, each rail clamp 17 clamps the heavy rail 90, which is equivalent to stopping the traveling gantry 10. When it is necessary to move to the next work area, the rail clamps 17 are released so that a movement gap is created between the clamping jaw of the rail clamp 17 and the heavy rail 90.

[0056] The lifting column 20 is slidably connected to the middle of the traveling gantry 10, and has a supporting state where it descends to the bottom end to abut against the foundation of the structure or the ground, and also has a suspended state where it rises to the bottom end above the top surface of the structure.

[0057] During the masonry construction process, all loads on the lifting column 20 can be transferred to the foundation of the structure or the ground, thereby preventing the traveling gantry 10 from being overloaded and deformed. At the same time, it can also improve the stability of the lifting column 20 and prevent the lifting column 20 from shaking and affecting the construction quality. When the construction of a work area is completed, the lifting column 20 can be raised to a suspended state where its bottom end is higher than the top surface of the structure, and then it can be moved with the traveling gantry 10 to the next work area and lowered back to the supporting state. The time for the whole machine to move to the work area can be shortened to less than ten minutes, which greatly reduces the manpower and time costs of the whole machine transfer.

[0058] The lifting frame 30 is fitted onto the lifting column 20 and slides vertically with the lifting column 20. The lifting frame 30 has at least two brick-grabbing stations. By setting at least two brick-grabbing stations on the lifting frame 30, the masonry module 40 can sequentially grab bricks from different brick-grabbing stations, thereby eliminating the waiting time for the masonry module 40 to grab bricks (if there is only one brick-grabbing station, the brick may not have been delivered to the correct position when the masonry module 40 grabs it). On the other hand, for cylindrical structures with a certain taper, such as steel ladles, the masonry of their perimeter walls usually uses at least two types of bricks with different sizes. In this case, different bricks can be delivered to the corresponding brick-grabbing stations, which makes it convenient for the masonry module 40 to grab bricks of the appropriate size as needed, thereby improving the brick-grabbing accuracy of the masonry module 40.

[0059] The bricklaying module 40 is mounted on the lifting frame 30 and is used to pick up bricks from the bricklaying grabbing station. The manual work platform 50 is arranged around the lifting column 20 and connected to the lifting frame 30. In this embodiment, the bricklaying module 40 can be a single bricklaying robot 42 or multiple bricklaying robots 42. The manual work platform 50 is mainly used to support operators to work collaboratively with the bricklaying module 40. For example, in the construction of steel ladle walls, operators can perform tasks such as leveling, spreading steel sand, and laying jointing bricks on the manual work platform 50. By connecting the bricklaying module 40 and the manual work platform 50 together on the lifting frame 30, the manual work platform 50 can rise and fall synchronously with the bricklaying module 40, which is beneficial for human-machine collaboration.

[0060] like Figure 5As shown, the bricklaying conveying system 60 is installed on the traveling gantry 10 and the lifting column 20, and is used to continuously convey at least one type of brick to each bricklaying grabbing station. Specifically, in this embodiment, the bricks on the brick stack can be grabbed sequentially by the destacking robot 63 and fed into the bricklaying conveying system 60. Then, using the traveling gantry 10 and the lifting column 20 as the installation base, the bricks are horizontally conveyed along the traveling gantry 10 to the lifting column 20, and then vertically conveyed along the lifting column 20 to each bricklaying grabbing station on the masonry module 40. This achieves the integration of bricklaying conveying and masonry, eliminating the need for a separate brick feeding system, and improving the coordination and synchronization of brick feeding and masonry.

[0061] The circumferential scanning mechanism 70 is slidably connected to the lifting column 20 and is used to perform circumferential scanning on the perimeter wall of the structure to obtain the perimeter wall point cloud data; the control system 80 is used to receive the perimeter wall point cloud data and control the masonry module 40 to lay the grasped bricks at the target position based on the perimeter wall point cloud data.

[0062] In this embodiment, the circumferential scanning mechanism 70 can specifically perform circumferential scanning based on a 3D laser scanning camera to obtain point cloud data of the perimeter wall of a structure such as a steel ladle. The control system 80 performs three-dimensional reconstruction based on the perimeter wall point cloud data to determine the target position of the bricks to be laid and generates control commands to be fed back to the bricklaying module 40. The bricklaying module 40 lays the bricks to the target position according to the control commands. It can be said that the circumferential scanning mechanism 70 is the core of the whole machine's operation. Only by obtaining the perimeter wall point cloud data through the circumferential scanning mechanism 70 can the control system 80 calculate the type and quantity of bricks required at the current position, thereby controlling the bricklaying conveying system 60 to convey the required bricks to each bricklaying grabbing station, and at the same time controlling the bricklaying module 40 to execute the bricklaying action commands.

[0063] Compared with the prior art, the automatic masonry equipment provided in this embodiment has a lifting column 20 that can be raised and lowered relative to the traveling gantry 10. The masonry module 40 and the manual work platform 50 are directly or indirectly connected to the lifting column 20. Therefore, when the entire machine needs to be moved to a different work area, it is only necessary to raise the lifting column 20 until its bottom is higher than the top surface of the structure, then start the traveling gantry 10 to move it directly above the next work area, and then lower the lifting column 20 until its bottom is supported on the foundation of the structure or the ground in that work area. The transfer process does not require disassembly and reassembly, which can greatly reduce labor costs and time, and improve the efficiency of the entire machine transfer. During the masonry construction process, the lifting column 20 can be raised and lowered relative to the traveling gantry 10. The bricklaying transmission system on the gantry 10 and the lifting column 20 sequentially transmits bricks to each bricklaying grabbing station on the lifting frame 30. The bricklaying module 40 only needs to alternately grab bricks from each bricklaying grabbing station and lay the grabbed bricks at the target position based on the point cloud data of the surrounding wall of the structure obtained by the circumferential scanning mechanism 70. This not only achieves coordinated and synchronized bricklaying transmission and laying, which is conducive to improving the efficiency of bricklaying operations, but also avoids the load imbalance caused by the accumulation of bricks on the manual work platform 50. With the support of the lifting column 20 on the foundation of the structure or the ground, the bricklaying module 40 can be prevented from shaking, which would affect the stability of the bricklaying action, thereby improving the quality of bricklaying.

[0064] In some embodiments, see Figures 2 to 9 The bricklaying conveying system 60 includes a follow-up trolley 61, two feeding conveyors 62, a destacking robot 63, two column conveying lines 64, and two bidirectional conveyors 65.

[0065] The follower trolley 61 is connected to the traveling gantry 10 and is used to follow the traveling gantry 10. The follower trolley 61 has two stacking areas 611 for stacking bricks. The follower trolley 61 is also equipped with a first scanning camera 612 located directly above the two stacking areas 611. The first scanning camera 612 is used to scan and obtain the brick laying position information of the stacking area 611 and feed the brick laying position information back to the control system 80.

[0066] like Figure 2 As shown, in this embodiment, the follower trolley 61 can be fixed on one end beam 13 of the traveling gantry frame 10 on one side, and a rail wheel 16 is set at the bottom of the other side. A heavy rail 90 is added to the ground on the side of the traveling gantry frame 10 to support the rail wheel 16. This allows the follower platform to travel together with the traveling gantry frame 10, while ensuring that the relative position between the stacking area 611 set on the follower trolley 61 and the traveling gantry frame 10 is fixed. In addition, the setting of the follower trolley 61 can avoid directly setting the stacking area 611 on the traveling gantry frame 10, which would affect the dynamic load balance of the traveling gantry frame 10, thereby improving the stability of the traveling gantry frame 10 and thus improving the support stability of the lifting column 20.

[0067] Based on this, a gantry-shaped camera bracket 613 can be installed on the follow-up trolley 61, and to improve the stability of the camera bracket 613, it can be fixedly connected to the traveling gantry frame 10. The first scanning camera 612 is fixedly installed on the camera bracket 613 and scans the two stacking areas 611 below it. Specifically, it can be a 3D laser camera. By scanning, the bricklaying position information of the brick stacks placed on the two stacking areas 611 is obtained. The control system 80 converts the bricklaying position information into control commands and transmits them to the destacking robot 63, so that the destacking robot 63 can perform precise actions according to the control commands.

[0068] In this embodiment, two feeding conveyors 62 are arranged in parallel and horizontally connected to the traveling gantry frame 10. The feeding end of the feeding conveyor 62 is located above the follow-up trolley 61, and the discharging end is aligned with the lifting column 20. A depalletizing robot 63 is located on the follow-up trolley 61 and electrically connected to the control system 80. The depalletizing robot 63 is used to grab the bricks from the two stacking areas 611 and feed them to the feeding ends of the two feeding conveyors 62. Two column conveyor lines 64 are vertically arranged on opposite sides of the lifting column 20 and are used to receive the bricks from the discharging ends of the two feeding conveyors 62 and vertically transport the bricks they have received. Two bidirectional conveyors 65 are both arranged on the lifting frame 30 and are located on both sides of the lifting column 20. Each bidirectional conveyor 65 forms a brick grabbing station at both ends. The two bidirectional conveyors 65 are used to receive the bricks from the two column conveyor lines 64 and alternately transfer the bricks they have received to each brick grabbing station.

[0069] Each palletizing area 611 corresponds to one feeding conveyor 62. Depending on the brick type requirements of the structure, if two types of bricks need to be used in combination, each palletizing area 611 will stack one type of brick. The depalletizing robot 63 will grab the two types of bricks and place them on one of the feeding conveyors 62. Each feeding conveyor 62 corresponds to one column conveyor line 64 and one bidirectional conveyor 65, thus conveying the two types of bricks to the brick-grabbing stations formed at both ends of the two bidirectional conveyors 65. Of course, if the structure only needs to be constructed using one type of brick, the same conveying method will ensure that each brick-grabbing station has bricks. Based on the four brick-grabbing stations formed by the two bidirectional conveyors 65, the masonry module 40 can be equipped with two or even four masonry robots 42 to work collaboratively, thereby improving masonry efficiency.

[0070] Furthermore, it should be understood that, see also Figure 4In this embodiment, two column conveying lines 64 are respectively set on both sides of the column. The two column conveying lines 64 simultaneously convey bricks up and down, which can ensure that the loads on both sides of the lifting column 20 are balanced, thereby avoiding the lifting column 20 from being tilted and shaking, which helps to improve the stability of the lifting column 20, and thus ensures the accuracy of the masonry module 40.

[0071] For some possible implementations, please refer to [link / reference]. Figures 4 to 9 The column conveyor line 64 has a reciprocating rotary motion trajectory, and multiple brick boxes 640 are distributed at intervals along its rotary motion trajectory. The brick boxes 640 are open on the side away from the lifting column 20 to form a brick-laying inlet and outlet. The discharge end of the feeding conveyor 62 is provided with a horizontal pushing component 621, which is used to push the bricks into the brick boxes 640 at the same height. The bidirectional conveyor 65 is provided with a receiving mechanism 651 in the middle and vertical pushing components 652 at both ends. The receiving mechanism 651 is used to pick up the bricks from the brick boxes 640 at the same height on the bidirectional conveyor 65, and the vertical pushing components 652 are used to lift the bricks that have traveled above it.

[0072] For example, see Figure 4 The aforementioned column conveying line 64 includes a rotary drive 641 located at the top of the lifting column 20, a drive shaft rotatably connected to the top of the lifting column 20 and connected to the rotary drive 641, and a driven shaft rotatably connected to the bottom of the lifting column 20. The rotary drive 641 can be a motor and is electrically connected to the control system 80. Two drive sprockets 642 are spaced apart on the drive shaft, and two driven sprockets 643 are spaced apart on the driven shaft. The two driven sprockets 643 and the two drive sprockets 642 are aligned vertically and respectively connected to the transmission chains 644 to form a rotary motion trajectory. Each brick box 640 is connected to the two transmission chains 644. Since the two drive sprockets 642 and the two driven sprockets 643 are coaxially connected, the synchronicity of the movement of the two transmission chains 644 can be guaranteed, thereby ensuring the movement stability of each brick box 640.

[0073] See Figure 6 and Figure 8In this embodiment, both the horizontal jacking member 621 and the vertical jacking member 652 are components driven by cylinders, hydraulic cylinders or electric push rods that can perform linear telescopic movements; the column conveyor line 64 moves intermittently, and the distance traveled each time, i.e. the step length, is the distance between two adjacent brick boxes 640. When one of the brick boxes 640 travels to the same height as the horizontal jacking member 621, the horizontal jacking member 621 pushes the brick that is traveling in front of it on the feeding conveyor 62 into the brick box 640. Then the column conveyor line 64 travels one step length, and the horizontal jacking member 621 pushes the next brick into the next brick box 640. Meanwhile, bricks placed in the brick box 640, which is level with the height of the bidirectional conveyor 65, are picked up by the receiving mechanism 651 and transferred to the bidirectional conveyor 65. When the bricks on the bidirectional conveyor 65 reach directly above the vertical pusher 652, the vertical pusher 652 lifts the bricks up. Then the bidirectional conveyor 65 runs in the opposite direction, causing the next brick transferred from the receiving mechanism 651 to travel to the other end of the bidirectional conveyor 65. When it reaches another vertical pusher 652, it is lifted up. This process is repeated to achieve continuous and alternating transfer of bricks to the two vertical pushers 652.

[0074] It should be explained that the position of the brick after the vertical jacking component 652 lifts the brick is the brick grabbing position. In actual operation, the vertical jacking component 652 has already lifted the brick before the bricklaying module 40 grabs the brick each time, which can save the brick grabbing waiting time of the bricklaying module 40. The relative coordinates between the lifted brick position and the space of the bricklaying module 40 can always remain fixed, so the bricklaying module 40 can grab the brick at a fixed point, thereby saving the time of the bricklaying module 40 in positioning the bricklaying position (i.e., the time for dismantling the stack), which is conducive to improving the operation efficiency of the bricklaying module 40.

[0075] It should also be understood that, since the bricks reaching the end of the bidirectional conveyor 65 are lifted by the vertical pusher 652, the bricks no longer contact the conveying surface of the bidirectional conveyor 65. Therefore, the bidirectional conveyor 65 can immediately reverse as the bricks are lifted, which not only avoids the bricks from going backward and ensures that the bricklaying module 40 can be accurately grasped, but also saves waiting time, thereby improving the conveying efficiency of the bidirectional conveyor 65.

[0076] For details, please see Figure 5 and Figure 6 The aforementioned feeding conveyor 62 includes a flat belt conveyor section 622 and a roller conveyor section 623 that are connected to each other and driven independently. The roller conveyor section 623 is provided with a horizontal pushing member 621 and a brick-blocking plate 6231. The brick-blocking plate 6231 is used to block the bricks at a position that is horizontally aligned with the horizontal pushing member 621 and the corresponding brick box 640.

[0077] Two feeding conveyors 62 can be fixed to one of the main beams 11 of the traveling gantry frame 10 by a hanger 620, which is not only stable but also saves space. At the same time, baffles are set on the hanger 620 to form side barriers for the bricks traveling on the bidirectional conveyor belt, preventing bricks from falling and causing safety hazards. By setting a brick baffle plate 6231 to stop the bricks that have traveled to the correct position, it is convenient for the horizontal jacking component 621 to accurately push the bricks into the brick box 640.

[0078] The feeding conveyor 62 employs a combined conveying structure formed by the docking of two conveying structures. The flat belt conveyor 622 can smoothly transport the received bricks to a position close to the lifting column 20, ensuring the stability of the brick support compared to the roller conveyor 623, thus ensuring stable brick movement. The roller conveyor 623 transports the bricks to a position aligned with the column conveyor line 64. Since the two conveyor sections are driven independently, the flat belt conveyor 622 can continuously transport bricks, while the roller conveyor 62... 3 can be intermittent operation corresponding to the movement interval of the column conveyor line 64. Of course, the roller conveyor section 623 can also be continuously operated. It is only necessary to use the brick baffle plate 6231 to block the bricks at the position aligned with the brick box 640, and then use the horizontal pusher 621 to push the bricks into the brick box 640. During the pushing process, since the contact area between the bricks and the roller conveyor section 623 is small, the sliding resistance of the bricks is small, thereby avoiding the phenomenon of bricks tipping over during the pushing of the brick box 640 and improving the stability of brick pushing.

[0079] like Figure 9 As shown, the bottom of the brick box 640 is open and has multiple support rods 6401 spaced apart to support the bricks. Using multiple support rods 6401 as the bottom can reduce the frictional resistance between the bricks and the bottom of the brick box 640, thus facilitating the entry and exit of bricks into and out of the brick box 640; at the same time, the space between the support rods 6401 can be used to facilitate the material receiving mechanism 651 to take out the bricks from the brick box 640.

[0080] Bidirectional conveyor 65 is as follows Figure 7 The roller conveyor shown has limit stops 653 at both ends of the bidirectional conveyor 65. The limit stops 653 are used to block the bricks at a position aligned vertically with the vertical pusher 652. Both the receiving mechanism 651 and the vertical pusher 652 include brackets 654. See [reference needed]. Figure 8The bracket 654 has multiple top plates 6541 spaced apart, each of which is inserted into the gap between the rollers of the bidirectional conveyor 65. Using a roller conveyor allows the receiving mechanism 651 and the vertical pusher 652 to fully utilize the roller gap. Specifically, the top plates 6541 on the bracket 654 can be inserted into the roller gap to lift or lower the bricks. The limiting stop 653 stops the traveling bricks directly above the vertical pusher 652, ensuring not only the positional accuracy of the brick-laying gripping station (i.e., the position of the vertical pusher 652 when lifting the bricks) but also preventing the bricks from overtraveling and falling.

[0081] Based on this, see Figure 7 and Figure 8 The aforementioned receiving mechanism 651 also includes a slide 6511 and a sliding drive 6512 mounted on the lifting frame 30, and a lifting drive 6513 mounted on the slide 6511; wherein, the output end of the lifting drive 6513 is provided with a bracket 654, and the sliding drive 6512 is used to drive the slide 6511 to move horizontally so that the bracket 654 reciprocates between the column conveyor line 64 and the bidirectional conveyor 65.

[0082] Both the sliding drive 6512 and the lifting drive 6513 can be pneumatic cylinders, hydraulic cylinders, or electric push rods. When the brick box 640 travels to the same height as the receiving mechanism 651, the sliding drive 6512 pushes the slide 6511 to move, so that the bracket 654 connected to the lifting drive 6513 reaches directly below the brick box 640. Then, the lifting drive 6513 pushes the bracket 654 upward, so that the top plate 6541 extends into the brick box 640 through the space between the support rods 6401 to lift the brick. Then, the sliding drive 6512 drives the slide 6511 to move in the opposite direction. Each top plate 6541 is inserted into the gap between the rollers so that the lifted brick reaches above the roller. Then, the lifting drive 6513 drives the bracket 654 to descend and place the brick on the roller. This completes the transfer of the brick from the brick box 640 to the bidirectional conveyor 65.

[0083] To prevent bricks from falling off the column conveyor line 64 during transport and to improve the stability and safety of brick transport on the column conveyor line 64, please refer to [link to relevant documentation]. Figure 4 and Figure 9Each brick box 640 has a swing arm 6402 hinged to one of its two sides. The two swing arms 6402 can swing to a closed state to cooperate with the brick-laying inlet and outlet, and can also swing to an open state to the sides of the brick-laying inlet and outlet. Each swing arm 6402 is connected to an elastic reset member 6403, which is used to automatically swing the swing arm 6402 from the open state back to the closed state. The lifting column 20 is provided with two first contact plates 200 at the same height as the horizontal pusher 621, and the lifting frame 30 is provided with two second contact plates 300 at the same height as the receiving mechanism 651. The two second contact plates 300 are vertically aligned with the two first contact plates 200 and vertically aligned with the two swing arms 6402 of each brick box 640. When the brick box 640 travels to the point where its two swing arms 6402 abut against the two first contact plates 200 or the two second contact plates 300 respectively, the two swing arms 6402 switch from the closed state to the open state.

[0084] When the brick box 640 travels to a position level with or nearly level with the feeding conveyor 62, the two swing arms 6402 respectively abut against the two first contact plates 200, causing the two swing arms 6402 to swing outward to avoid the brick inlet. After the bricks on the feeding conveyor 62 are pushed into the brick box 640, the column conveyor line 64 begins to travel to separate the two swing arms 6402 from the first contact plates 200, thereby restoring the closed state under the rebound action of the elastic reset member 6403 to allow the bricks in the brick box 640 to be fed. Similarly, when the brick box 640 travels to a position where it is level with or close to level with the bidirectional conveyor 65, the two swing arms 6402 abut against the two second contact plates 300 respectively, thereby causing the two swing arms 6402 to open again, which facilitates the receiving mechanism 651 to take out bricks from the brick box 640 for laying. The brick box 640 has a simple and compact structure, and the opening and resetting of the two swing arms 6402 can be realized without additional control and drive. It has a low failure rate and can improve the stability of brick laying and conveying.

[0085] It should be noted that, please refer to Figure 2 , Figure 10 and Figure 11 The traveling gantry 10 includes two main crossbeams 11, with a lifting frame 12 fixedly connected between the two main crossbeams 11. The lifting column 20 passes vertically through the lifting frame 12 and slides with the lifting frame 12. The lifting seat 30 includes a drive seat 31 slidably sleeved on the lifting column 20, and a self-driving lifting assembly 32 disposed on the drive seat 31 and connected to the lifting column 20 in a transmission manner. Both the lifting frame 12 and the drive seat 31 are provided with at least two sets of rolling limit members 121 spaced vertically.

[0086] The main crossbeam 11 adopts a variable cross-section box girder structure with the dimensions gradually increasing from both ends to the middle. This improves the load-bearing capacity of the main crossbeam 11 and prevents deformation of the main crossbeam 11 when the lifting column 20 is suspended. At the same time, the lifting frame 12 fixed between the two main crossbeams 11 not only improves the overall structural strength and stability of the traveling gantry 10, but also increases the constraint length on the lifting column 20, thereby improving the connection stability of the lifting column 20. On this basis, both the lifting frame 12 and the drive seat 31 use the rolling limit member 121 to roll the lifting column 20, thus converting the sliding contact into rolling contact. On the one hand, this reduces the lifting resistance of both and improves the smoothness of the lifting movement. On the other hand, the rolling contact eliminates the movement gap between the lifting column 20 and the driving seat 31, thereby improving the connection stability of the lifting column 20 and the drive seat 31, preventing the lifting column 20 and the masonry module 40 from shaking, and thus improving the operational stability.

[0087] Specifically, such as Figure 11 As shown, each set of rolling limiting members 121 includes four rolling limiting members 121 distributed at the four corner positions corresponding to the lifting column 20. Each rolling limiting member 121 includes a fixed base 1211, and at least one first roller 1212 and at least one second roller 1213 disposed on the fixed base 1211. The first roller 1212 and the second roller 1213 are respectively rolled and supported on the edge positions of two adjacent side walls of the lifting column 20 near the same corner.

[0088] For the lifting column 20 with a square or rectangular column structure, the first roller 1212 and the second roller 1213 on each rolling limit member 121 are perpendicular to each other in axis. This allows the first roller 1212 and the second roller 1213 to roll on the two side wall edges of the lifting column 20 near the same corner. Thus, by using the four rolling limit members 121 in each group to limit the lifting column 20 in both directions at the four corners, the circumferential constraint of the lifting column 20 is achieved. On this basis, multiple first rollers 1212 and multiple second rollers 1213 can be arranged vertically and vertically on each rolling limit member 121. With the multiple groups of rolling limit members 121 distributed vertically and vertically, not only can sufficient rolling contact points be ensured on the side wall of the lifting column 20, but the contact length with the lifting column 20 is also increased, thereby improving the connection reliability and relative motion stability between the lifting frame 12 and the drive seat 31 and the lifting column 20.

[0089] Specifically, in this embodiment, the optional structure of the lifting self-driving component 32 is as follows: Figure 10As shown, the lifting self-drive assembly 32 includes two first motors 321 and two first racks 322. The two first motors 321 are respectively located on both sides of the drive base 31, and the output end of the first motor 321 is fitted with a first gear. The two first racks 322 are respectively vertically fixed on both sides of the lifting column 20 and are respectively meshed with the two first gears. Both the drive base 31 and the lifting frame 12 are equipped with anti-fall brakes 311, and the brake gear of each anti-fall brake 311 is respectively meshed with one of the first racks 322.

[0090] The first motor 321 drives the first gear to rotate, thereby causing the first gear to roll up and down along the first rack 322 to achieve the lifting and lowering of the drive seat 31. The structure is simple and reliable. On this basis, since both sides of the lifting column 20 are equipped with a combination of the first motor 321 and the first rack 322 to output the lifting driving force, it can ensure that the two sides of the drive seat 31 are subjected to balanced forces, thereby avoiding the drive seat 31 from jamming due to unbalanced forces and improving the lifting and lowering stability of the drive seat 31.

[0091] The anti-fall brake 311 can quickly brake and lock falling objects within a limited distance. A brake gear is sleeved on its shaft. The brake gear is engaged with one of the first racks 322. It can brake its output shaft in case of a failure in the lifting drive of the self-driving lifting assembly 32 or the lifting column 20. This causes the brake gear to lock the first rack 322 and prevent the drive seat 31 or the lifting column 20 from falling. The anti-fall braking is achieved by means of the first rack 322, which can improve the structural compactness and operational safety.

[0092] To further improve operational safety and to avoid jamming between the lifting frame 12 or drive seat 31 and the lifting column 20 due to imbalance of forces on both sides after braking on one side, thus affecting the lifting movement after the fault is eliminated, two anti-fall brakes 311 are provided on the drive seat 31 and the lifting frame 12 for each of the two first racks 322. The brake gears of the two anti-fall brakes 311 are respectively meshed with the two first racks 322.

[0093] Figure 12The diagram illustrates one embodiment of the circumferential scanning mechanism 70. The circumferential scanning mechanism 70 includes a ring seat 71 slidably mounted on a lifting column 20, a rotating seat 72 slidably connected to the ring seat 71 circumferentially, a rotary drive 73 mounted on the ring seat 71, and a second scanning camera 74 mounted on the rotating seat 72. The ring seat 71 has a second motor 711, and the output end of the second motor 711 is fitted with a second gear 712, which meshes with one of the first racks 322. The rotary drive 73 includes a third motor 731 and a gear ring 732 fixedly connected to the rotating seat 72. The output end of the third motor 731 is fitted with a third gear 733, which meshes with the gear ring 732.

[0094] The second scanning camera 74 can be a 3D laser scanning camera. With the help of the first rack 322, the second motor 711 drives the second gear 712 to rotate, thereby rolling the first rack 322 and realizing the lifting and lowering of the ring seat 71. Not only is the lifting and lowering drive structure compact, but it can also realize the autonomous lifting and lowering of the ring seat 71, improving the flexibility of circumferential scanning. The third motor 731 drives the third gear 733 to rotate, which can make the third gear 733 roll the gear ring 732, thereby causing the gear ring 732 to drive the rotating seat 72 to rotate, thus realizing the circumferential scanning action of the second scanning camera 74.

[0095] Specifically, taking the ladle wall construction operation as an example, the circumferential scanning mechanism 70 can scan the ladle wall to obtain its peripheral wall point cloud data. Based on the peripheral wall point cloud data, a 3D model can be reconstructed, and the control system 80 can calculate the required number, type and size of bricks and generate control commands (the specific calculation method and data conversion method are common data processing methods in the field of automation control and belong to existing technology, so they will not be described in detail). The construction module 40 only needs to execute the corresponding control commands. At the same time, the number, frequency and type of bricks fed by the brick conveying system 60 are also determined based on the peripheral wall point cloud data obtained by the second scanning camera 74. Therefore, the circumferential scanning mechanism 70 is the basis for the coordinated operation of all parts of the whole machine.

[0096] Of course, the circumferential scanning mechanism 70 can also be a ring seat 71 directly connected to the lifting frame 30, so that it can rise and fall synchronously with the lifting frame 30. In this way, the number and type of bricks required for the next masonry layer can be determined by scanning the previous masonry layer with the second scanning camera 74, which can also avoid excessive accumulation of errors between masonry layers and affect the masonry quality.

[0097] For example, please see Figure 10The masonry module 40 includes a mounting base 41 provided around the lifting column 20 and a masonry robot 42 that is horizontally slidably connected to two opposite side walls of the mounting base 41. The masonry robot 42 is electrically connected to the control system 80. The mounting base 41 is fixedly connected to the top of the lifting frame 30. A fourth motor 421 is provided on the base of the masonry robot 42. A fourth gear is sleeved on the output end of the fourth motor 421. A second rack 411 is horizontally provided on each of the two opposite side walls of the mounting base 41. The two second racks 411 are respectively meshed with the two fourth gears.

[0098] Two bricklaying robots 42 are symmetrically arranged on both sides of the mounting base 41 to ensure that the load on the lifting column 20 is balanced, thereby avoiding the lifting column 20 from shaking due to load imbalance. This improves the stability and accuracy of the bricklaying robot 42's movements, which is beneficial to improving the quality of bricklaying. On this basis, the fourth motor 421 drives the fourth gear to rotate, which causes the fourth gear to roll the second rack 411 and drive the bricklaying robot 42 to move horizontally on the mounting base 41, thereby increasing the effective working radius of the bricklaying robot 42.

[0099] For example, please see Figure 13 The lifting column 20 includes a column body 21, a ball joint support, a winch 23, two guide wheels 24, and two traction ropes 25. The column body 21 is slidably connected to the middle of the traveling gantry frame 10. The ball joint support 22 is connected to the lower end of the column body 21 and is used to support the foundation of the structure or the ground. The winch 23 is mounted on the traveling gantry frame 10 and has two drums 231 coaxially connected to its output end. The two guide wheels 24 are coaxially arranged and rotatably connected to the middle of the traveling gantry frame 10. The two traction ropes 25 are wound around the two drums 231 and extend vertically downwards around the two guide wheels 24 and are connected to the lower end of the column body 21.

[0100] Since the foundation or ground of the structure may not be level, such as the lining of a steel ladle which is usually spherical, the ball joint support 22 is used to support the foundation or ground. The ball joint support 22 can adapt to the flatness of the foundation or ground to achieve stable support, thereby avoiding the situation where the column body 21 is subjected to non-vertical forces when there is an uneven support surface, thus improving the stability of the support state of the column body 21. By synchronously winding or releasing the two traction ropes 25 through the two coaxially rotating drums 231 of the winch 23, the column body 21 can be pulled up and down, and the traction force received by the column body 21 is balanced, thereby improving the stability of the column body 21 during the lifting process.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic bricklaying device, characterized in that, include: A mobile gantry crane is used to span across a work area and can move between different work areas; The lifting column is slidably connected to the middle of the traveling gantry frame, and has a supporting state where it descends to the bottom end to abut against the base of the structure or the ground, and also has a suspended state where it rises to the bottom end above the top surface of the structure. A lifting frame is fitted onto the lifting column and slides vertically with the lifting column. The lifting frame has at least two brick-grabbing stations. A bricklaying module, mounted on the lifting frame, is used to pick up bricks from the bricklaying grabbing station; A manual operation platform is arranged around the lifting column and connected to the lifting frame; A bricklaying conveying system, installed on the traveling gantry and the lifting column, is used to continuously convey at least one type of bricklaying to each of the bricklaying gripping stations. A circumferential scanning mechanism is slidably connected to the lifting column and is used to perform circumferential scanning on the perimeter wall of the structure to obtain point cloud data of the perimeter wall; The control system is used to receive the peripheral wall point cloud data and control the masonry module to lay the captured bricks at the target position based on the peripheral wall point cloud data. The bricklaying conveying system includes: The follower trolley is connected to the traveling gantry frame and is used to follow the traveling gantry frame. The follower trolley has two stacking areas for stacking bricks. The follower trolley is also equipped with a first scanning camera located directly above the two stacking areas. The first scanning camera is used to scan and obtain the brick position information of the stacking area and feed the brick position information back to the control system. Two feeding conveyors are arranged in parallel and horizontally connected to the traveling gantry frame. The feeding end of the feeding conveyor is located above the follow-up trolley, and the discharging end is aligned with the lifting column. A destacking robot is mounted on the follow-up trolley and electrically connected to the control system. The destacking robot is used to grab the bricks from the two stacking areas and place them at the feeding ends of the two feeding conveyors. Two vertical conveyor lines are respectively set vertically on opposite sides of the lifting column, and are used to receive bricks from the discharge ends of the two feeding conveyors and vertically convey the bricks they receive. Two bidirectional conveyors are installed on the lifting frame and located on both sides of the lifting column. Each bidirectional conveyor forms a brick-grabbing station at both ends. The two bidirectional conveyors are used to pick up bricks from the two column conveyor lines and alternately transfer the picked-up bricks to each brick-grabbing station.

2. The automatic masonry equipment as described in claim 1, characterized in that, The column conveyor line has a reciprocating rotary motion trajectory, and multiple brick boxes are distributed at intervals along its rotary motion trajectory. The side of the brick box away from the lifting column is open to form a brick-laying inlet and outlet. The discharge end of the feeding conveyor is equipped with a horizontal pushing component, which is used to push the bricks into the brick box at the same height. The bidirectional conveyor is equipped with a receiving mechanism in the middle and vertical pushing components at both ends. The receiving mechanism is used to pick up the bricks from the brick box at the same height on the bidirectional conveyor, and the vertical pushing components are used to lift the bricks that have traveled above it.

3. The automatic masonry equipment as described in claim 2, characterized in that, The feeding conveyor includes a flat belt conveyor and a roller conveyor that are connected to each other and driven independently. The roller conveyor is provided with the horizontal pushing member and a brick-blocking plate. The brick-blocking plate is used to block the bricks from being laid at a position that is horizontally aligned with the horizontal pushing member and the corresponding brick box. The bottom of the brick box is open and has multiple support rods at intervals to support the bricklaying. The bidirectional conveyor is a roller conveyor, and the two ends of the bidirectional conveyor are provided with limit stops. The limit stops are used to block the bricks at a position aligned vertically with the vertical jacking member. Both the receiving mechanism and the vertical pushing component include a bracket, on which multiple top plates are spaced apart, and each top plate is inserted into the gap between the rollers of the bidirectional conveyor. The receiving mechanism further includes a slide and a sliding drive on the lifting frame, and a lifting drive on the slide; wherein the output end of the lifting drive is provided with the bracket, and the sliding drive is used to drive the slide to move horizontally so that the bracket reciprocates between the column conveyor line and the bidirectional conveyor.

4. The automatic masonry equipment as described in claim 3, characterized in that, A swing arm is hinged to each side of the brick box. The two swing arms can swing to a closed state to cooperate and block the brick-laying inlet and outlet, and can also swing to an open state to the sides of the brick-laying inlet and outlet. Each swing arm is connected to an elastic reset member, which is used to make the swing arm automatically swing back from the open state to the closed state. The lifting column is provided with two first contact plates at the same height as the horizontal jacking member, and the lifting seat is provided with two second contact plates at the same height as the receiving mechanism. The two second contact plates are respectively aligned vertically with the two first contact plates and vertically with the two swing arms of each brick box. When the brick box moves to the point where its two swing arms abut against the two first contact plates or the two second contact plates, the two swing arms switch from the closed state to the open state.

5. The automatic masonry equipment as described in claim 1, characterized in that, The traveling gantry includes two main crossbeams, with a lifting frame fixedly connected between the two main crossbeams. The lifting column passes vertically through the lifting frame and slides with it. The lifting seat includes a drive seat slidably sleeved on the lifting column, and a self-driven lifting assembly disposed on the drive seat and connected to the lifting column in a transmission manner. Both the lifting frame and the drive seat are provided with at least two sets of rolling limiters spaced vertically. Each set of rolling limiting components includes four rolling limiting components distributed at the four corner positions corresponding to the lifting column. Each rolling limiting component includes a fixed base, and at least one first roller and at least one second roller disposed on the fixed base. The first roller and the second roller are respectively rolled and supported at the edge positions of two adjacent side walls of the lifting column near the same corner.

6. The automatic masonry equipment as described in claim 5, characterized in that, The self-driving lifting assembly includes two first motors and two first racks. The two first motors are respectively located on both sides of the drive base, and the output end of the first motor is fitted with a first gear. The two first racks are respectively vertically fixed on both sides of the lifting column and are respectively meshed with the two first gears. Both the drive seat and the lifting frame are equipped with anti-fall brakes, and the brake gears of each anti-fall brake are respectively meshed with one of the first racks.

7. The automatic masonry equipment as described in claim 6, characterized in that, The circumferential scanning mechanism includes a ring seat that is slidably mounted on the lifting column, a rotating seat that is slidably connected to the ring seat circumferentially, a rotary drive unit mounted on the ring seat, and a second scanning camera mounted on the rotating seat; wherein, a second motor is provided on the ring seat, and a second gear is mounted on the output end of the second motor, and the second gear meshes with one of the first racks; the rotary drive unit includes a third motor and a gear ring fixedly connected to the rotating seat, and a third gear is mounted on the output end of the third motor, and the third gear meshes with the gear ring.

8. The automatic masonry equipment as described in claim 1, characterized in that, The masonry module includes a mounting base surrounding the lifting column and a masonry robot that is horizontally slidably connected to two opposite side walls of the mounting base. The masonry robot is electrically connected to the control system. The mounting base is fixedly connected to the top of the lifting frame. A fourth motor is provided on the base of the masonry robot. A fourth gear is sleeved on the output end of the fourth motor. A second rack is horizontally provided on each of the two opposite side walls of the mounting base. The two second racks are respectively meshed with the two fourth gears.

9. The automatic masonry equipment as described in any one of claims 1-8, characterized in that, The lifting column includes: The column body is slidably connected to the middle of the traveling gantry frame; A ball joint support is connected to the lower end of the column body and is used to support the foundation of the structure or the ground. A winch is mounted on the traveling gantry frame, with two drums coaxially connected to its output end; Two guide wheels are coaxially arranged and rotatably connected to the middle of the traveling gantry frame; Two traction ropes are wound around the two drums respectively, and the two traction ropes extend vertically downwards around the two guide wheels and connect to the lower end of the column body.

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