Intelligent masonry system based on mortise and tenon splicing pieces

Abstract

This invention discloses an intelligent bricklaying system based on mortise and tenon joints, comprising a ground-transporting knob-integrated robot, a wall-drilling robot, and several mortise and tenon joints. The ground-transporting knob-integrated robot has a first gripper device for grasping the mortise and tenon joints and a knob device for installing screws. The wall-drilling robot has a second gripper device for grasping the mortise and tenon joints and a drilling device for drilling holes in at least a portion of the mortise and tenon joints. The several mortise and tenon joints are provided with interlocking mortise and tenon structures. This invention enables automated brick and tile construction, improves construction efficiency and quality, and reduces labor and time costs.

Description

Technical Field

[0001] This invention relates to the field of automated bricklaying construction, and in particular to an intelligent bricklaying system based on mortise and tenon joints. Background Technology

[0002] In traditional construction, bricklaying largely relies on manual labor, which is not only inefficient but also lacks precision. In recent years, with technological advancements, robotics has been widely applied in various fields, including construction. However, most existing bricklaying robot systems can only perform simple bricklaying tasks and cannot achieve complex three-dimensional spatial positioning and automated operations. Furthermore, existing robot systems are typically unable to adapt to different brick types and sizes, lacking flexibility and versatility. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing an intelligent masonry system based on mortise and tenon joints, which can realize automated brick and tile construction, improve construction efficiency and quality, and reduce labor and time costs.

[0004] The technical solution adopted by this invention to solve its technical problem is: an intelligent masonry system based on mortise and tenon joints, including a ground transport knob integrated robot, a wall drilling robot, and several mortise and tenon joints; the ground transport knob integrated robot has a first gripper device for gripping the mortise and tenon joints and a knob device for installing screws; the wall drilling robot has a second gripper device for gripping the mortise and tenon joints and a drilling device for drilling holes in at least a portion of the mortise and tenon joints; several mortise and tenon joints are provided with interlocking mortise and tenon structures; the first gripper device, or the first gripper device and the second gripper device, transport the mortise and tenon joints to a designated position and assemble them; the drilling device drills holes in the mortise and tenon joints adjacent to columns, top floors, or bottom floors; the knob device installs and tightens screws in the drilled holes, so that the corresponding mortise and tenon joints are fixed to columns, top floors, or bottom floors.

[0005] Furthermore, the ground transport knob integrated robot and the wall drilling robot are equipped with a sensing system capable of autonomous navigation and positioning.

[0006] Furthermore, the ground transport knob integrated robot is equipped with a first robotic arm, the tool end of which is provided with a first gripper device and a knob device; the wall drilling robot is equipped with a second robotic arm, the tool end of which is provided with a second gripper device and a drilling device.

[0007] Furthermore, the wall drilling robot is equipped with a wall-walking device, which includes two mechanical legs and moves on the wall by engaging the tenons of the mortise and tenon joint.

[0008] Furthermore, the plurality of mortise and tenon joints include a plurality of mortise and tenon pieces and a plurality of non-standard mortise and tenon pieces; the mortise and tenon pieces are integrally formed; the non-standard mortise and tenon pieces include a first mortise and tenon block and a second mortise and tenon block, and a plurality of pre-embedded nuts are provided between the first mortise and tenon block and the second mortise and tenon block. The pre-embedded nuts are rotated by the torsion device to open the first mortise and tenon block and the second mortise and tenon block.

[0009] Furthermore, the plurality of mortise and tenon joints include mortise and tenon joint corner pieces, mortise and tenon joint bottom side pieces, mortise and tenon joint vertical side pieces, and standard mortise and tenon joints; the plurality of non-standard mortise and tenon joints include first non-standard mortise and tenon joint corner pieces, second non-standard mortise and tenon joint corner pieces, non-standard mortise and tenon joint pre-tightening side pieces, non-standard mortise and tenon joint vertical tightening pieces, and non-standard mortise and tenon joint pre-tightening corner pieces.

[0010] Furthermore, the mortise and tenon joint corner piece is located at the bottom layer where it connects with the column and is fixed to the bottom layer and the column with screws. The first non-standard mortise and tenon joint corner piece is located at the top layer where it connects with the column and is fixed to the top layer and the column with screws. The second non-standard mortise and tenon joint corner piece is located at the bottom layer furthest from the column and is fixed to the bottom layer with screws. The non-standard pre-tightening mortise and tenon joint corner piece is located at the top layer furthest from the column and is fixed to the top layer with screws.

[0011] Furthermore, the vertical side piece of the mortise and tenon joint is spliced ​​between the mortise and tenon joint corner piece and the first non-standard mortise and tenon corner piece, and is fixed to the column with screws; the bottom side piece of the mortise and tenon joint is spliced ​​between the mortise and tenon joint corner piece and the second non-standard mortise and tenon corner piece, and is fixed to the bottom layer with screws; the non-standard vertical top tightening piece of the mortise and tenon joint is spliced ​​between the first non-standard mortise and tenon corner piece and the non-standard pre-tightening corner piece of the mortise and tenon joint, and is fixed to the top layer with screws; the non-standard pre-tightening side piece of the mortise and tenon joint is spliced ​​between the non-standard pre-tightening corner piece of the mortise and tenon joint and the second non-standard mortise and tenon corner piece; the standard mortise and tenon joint piece is spliced ​​between the mortise and tenon joint corner piece, the bottom side piece of the mortise and tenon joint, the vertical side piece of the mortise and tenon joint, the first non-standard mortise and tenon corner piece, the second non-standard mortise and tenon corner piece, the non-standard pre-tightening side piece of the mortise and tenon joint, the non-standard vertical top tightening piece of the mortise and tenon joint and the non-standard pre-tightening corner piece of the mortise and tenon joint.

[0012] Furthermore, the right side of the second non-standard tenon and mortise corner piece, the non-standard tenon and mortise pre-tightening side piece, and the non-standard tenon and mortise pre-tightening corner piece are respectively provided with grooves for screwing in pre-tightening bolts.

[0013] Furthermore, the first tenon block of the first non-standard tenon and mortise corner piece, the second non-standard tenon and mortise corner piece, the non-standard tenon and mortise vertical clamping piece, and the non-standard tenon and mortise pre-tightening corner piece are provided with notches at the top, and the second tenon block is L-shaped. The second tenon block is upside down on the notch of the first tenon block and connected with screws to form a square structure; the first tenon block and the second tenon block of the non-standard tenon and mortise pre-tightening side piece are respectively L-shaped, and the two are connected with screws to form a square structure.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. This invention enables automated transportation of mortise and tenon joint components through the combined operation of a ground-based rotary robot and a wall-drilling robot. While ensuring a secure and tight wall, it achieves the ability to detach bricks without mortar or joints, thereby realizing automated brick and tile construction, improving construction efficiency and quality, reducing labor and time costs, reducing environmental pollution, and improving construction safety.

[0016] 2. The ground transport knob integrated robot and the wall drilling robot are equipped with a sensing system that enables autonomous navigation and positioning. Therefore, they have good real-time performance, good operability, are not affected by any external factors, and have high precision.

[0017] 3. The wall drilling robot is equipped with a wall-walking device, which includes two mechanical legs. The two mechanical legs engage with the tenons of the mortise and tenon joints to walk on the wall, thereby ensuring its own center of gravity balance, achieving stability when walking on the wall and enabling precise drilling operations.

[0018] 4. Several mortise and tenon joints include several mortise and tenon pieces and several non-standard mortise and tenon pieces, which can adapt to various types and sizes of bricks and realize diversified masonry operations.

[0019] 5. Non-standard mortise and tenon parts include a first mortise and tenon block and a second mortise and tenon block. Multiple pre-embedded nuts are set between the first mortise and tenon block and the second mortise and tenon block. By turning the pre-embedded nuts, the first mortise and tenon block and the second mortise and tenon block are opened up to fill the gap in the building and achieve a perfect fit. This not only enhances the stability of the overall wall surface, but also solves the safety hazards caused by the gap problem.

[0020] 6. The right side of the second non-standard tenon and mortise corner piece, the non-standard tenon and mortise pre-tightening side piece, and the non-standard tenon and mortise pre-tightening corner piece are respectively provided with grooves for screwing in pre-tightening bolts. The pre-tightening force between the tenon and mortise joints is increased by turning the pre-tightening bolts.

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments; however, the intelligent masonry system based on mortise and tenon joints of the present invention is not limited to the embodiments. Attached Figure Description

[0022] Figure 1 This is the overall general drawing of the mortise and tenon joint component of the present invention;

[0023] Figure 2 This is a plan view of the brick wall constructed using mortise and tenon joints according to the present invention;

[0024] Figure 3 This is a front view of the ground transportation knob integrated robot of the present invention;

[0025] Figure 4 This is a front view of the wall drilling robot of the present invention;

[0026] Figure 5 This is an overall drawing of the mortise and tenon joint of the present invention;

[0027] Figure 6 This is the overall drawing of the non-standard mortise and tenon joints of the present invention;

[0028] Figure 7 This is a front view of the mortise and tenon joint corner piece of the present invention;

[0029] Figure 8 This is a top view of the mortise and tenon joint corner piece of the present invention;

[0030] Figure 9 This is a front view of the mortise and tenon joint bottom side piece of the present invention;

[0031] Figure 10 This is a top view of the mortise and tenon joint bottom side piece of the present invention;

[0032] Figure 11 This is a front view of the first non-standard tenon and mortise corner piece of the present invention;

[0033] Figure 12 This is a top view of the first non-standard tenon and mortise corner piece of the present invention;

[0034] Figure 13 This is an exploded view (front view) of the first non-standard corner piece of the present invention;

[0035] Figure 14 This is a front view of the second non-standard tenon and mortise corner piece of the present invention;

[0036] Figure 15 This is a top view of the second non-standard tenon and mortise corner piece of the present invention;

[0037] Figure 16 This is an exploded view (front view) of the second non-standard corner piece of the present invention;

[0038] Figure 17 This is a front view of the non-standard pre-tightened corner piece of the present invention;

[0039] Figure 18This is a top view of the non-standard pre-tightened corner piece of the present invention;

[0040] Figure 19 This is an exploded view (front view) of the non-standard pre-tightened corner piece of the present invention;

[0041] Figure 20 This is a front view of the non-standard vertical clamping component of the mortise and tenon joint of the present invention;

[0042] Figure 21 This is a top view of the non-standard vertical clamping component of the mortise and tenon joint of the present invention;

[0043] Figure 22 This is an exploded view (front view) of the non-standard vertical clamping component of the mortise and tenon joint of the present invention;

[0044] Figure 23 This is a front view of the non-standard pre-tightened side part of the mortise and tenon joint of the present invention;

[0045] Figure 24 This is a top view of the non-standard pre-tightened side part of the mortise and tenon joint of the present invention;

[0046] In the diagram: 10. Mortise and tenon joint; 101. Tenon; 20. Column; 30. Top layer; 40. Bottom layer; 1. Mortise and tenon joint; 11. Mortise and tenon joint corner piece; 12. Mortise and tenon joint vertical side piece; 13. Mortise and tenon joint bottom side piece; 14. Standard mortise and tenon joint; 2. Non-standard mortise and tenon joint; 21. First non-standard mortise and tenon corner piece; 22. Second non-standard mortise and tenon corner piece; 23. Non-standard pre-tightened mortise and tenon corner piece; 24. Non-standard vertical top-tightening mortise and tenon piece; 25. Non-standard pre-tightened side piece; 3. Bottom surface transport knob integrated robot; 31. First gripper device; 32. Twist device; 33 / 43. Robotic arm; 4. Wall drilling robot; 41. Second gripper device; 42. Drilling device; 5. Pre-tightened bolt; 6. Pre-embedded nut. Detailed Implementation

[0047] In this invention, the terms "first," "second," etc., are used only to distinguish similar objects, not to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. The use of terms such as "upper," "lower," "left," "right," "top," and "bottom" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, and is only for the convenience of describing the invention, not to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, it should not be construed as a limitation on the scope of protection of this invention. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" refers to two or more. In the description of this invention, unless otherwise explicitly specified and limited, terms such as "installed," "equipped with," and "connected" should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] Please see Figures 1-24 As shown, the present invention discloses an intelligent masonry system based on mortise and tenon joints, comprising a ground-transporting knob-integrated robot 3, a wall-drilling robot 4, and a plurality of mortise and tenon joints 10. The ground-transporting knob-integrated robot 3 has a first gripper device 31 for grasping the mortise and tenon joints 10 and a knob device 32 for installing screws. The wall-drilling robot 4 has a second gripper device 41 for grasping the mortise and tenon joints 10 and a drilling device 42 for drilling holes in at least a portion of the mortise and tenon joints 10. The plurality of mortise and tenon joints 10 are provided with interlocking mortise and tenon structures. The first gripper device 31, or the first gripper device 31 and the second gripper device 41, transport the tenon and mortise splice 10 to the designated position and splice it. The drilling device 42 drills holes in the tenon and mortise splice 10 adjacent to the column 20, the top layer 30 or the bottom layer 40. The screw-tightening device 32 installs screws in the drilled holes and tightens them so that the corresponding tenon and mortise splice 10 is fixed to the column 20, the top layer 30 or the bottom layer 40.

[0050] The ground transport knob integrated robot 3 and the wall drilling robot 4 are equipped with a control system that can control their work, and a perception system that can autonomously navigate and locate.

[0051] The ground-transporting knob-integrated robot 3 is equipped with a first robotic arm 33, the tool end of which is provided with a first gripper device 31 and a knob device 32. The wall-drilling robot 4 is equipped with a second robotic arm 43, the tool end of which is provided with a second gripper device 41 and a drilling device 42. The wall-drilling robot 4 is equipped with a wall-walking device, which includes two robotic legs (not shown in the figure), and moves on the wall by engaging the two robotic legs with the tenons 101 of the mortise and tenon joint 10.

[0052] The mortise and tenon joint 10 includes several mortise and tenon pieces 1 and several non-standard mortise and tenon pieces 2. The mortise and tenon pieces 1 are integrally formed. The non-standard mortise and tenon pieces 2 include a first mortise and tenon block and a second mortise and tenon block. Multiple pre-embedded nuts 6 are provided between the first mortise and tenon block and the second mortise and tenon block. The pre-embedded nuts 6 are rotated by the torsion device 32 to open up the first mortise and tenon block and the second mortise and tenon block.

[0053] Several mortise and tenon parts 1 include mortise and tenon joint corner pieces 11, mortise and tenon joint bottom side pieces 13, mortise and tenon joint vertical side pieces 12, and standard mortise and tenon joint pieces 14. Several non-standard mortise and tenon parts 2 include first non-standard mortise and tenon joint corner pieces 21, second non-standard mortise and tenon joint corner pieces 22, non-standard mortise and tenon joint pre-tightening side pieces 24, non-standard mortise and tenon joint vertical tightening pieces 23, and non-standard mortise and tenon joint pre-tightening corner pieces 25.

[0054] The right sides of the second non-standard tenon and mortise corner piece 22, the non-standard tenon and mortise pre-tightening side piece 25, and the non-standard tenon and mortise pre-tightening corner piece 23 are respectively provided with grooves 221, 251, and 231 for screwing in the pre-tightening bolt 5.

[0055] The first tenon block 211 of the first non-standard corner piece 21 has a notch 2111 at its top. The second tenon block 212 is L-shaped and is overlocked onto the notch 2111 of the first tenon block 211, and connected by screws to form a square structure. Figures 11-13 As shown.

[0056] The structures of the second non-standard tenon and mortise corner piece 22, the non-standard tenon and mortise pre-tightening corner piece 23, and the non-standard tenon and mortise vertical tightening piece 24 are similar to those of the first non-standard tenon and mortise corner piece 21. Specifically, the top of the first tenon and mortise block 221 of the second non-standard tenon and mortise corner piece 22 has a notch 2211, and the second tenon and mortise block 222 is L-shaped, such as... Figures 14-16 As shown. The first tenon block 231 of the non-standard pre-tightened corner piece 23 has a notch 2311 at the top, and the second tenon block 232 is L-shaped, as shown. Figures 17-19 As shown. The first tenon block 241 of the non-standard vertical clamping part 24 has a notch 2411 at the top, and the second tenon block 242 is L-shaped, as shown. Figures 20-22 As shown.

[0057] The first tenon block 251 and the second tenon block 252 of the non-standard pre-tightened side piece 25 are both L-shaped, and the two are connected by screws to form a square structure, such as Figure 23 , Figure 24 As shown.

[0058] The tenon and mortise joint corner piece 11 is located at the position where the bottom layer 40 connects with the column 20, and is fixed to the bottom layer 40 and the column 20 by screws. The first tenon and mortise non-standard corner piece 21 is located at the position where the top layer 30 connects with the column 20, and is fixed to the top layer 30 and the column 20 by screws. The second tenon and mortise non-standard corner piece 22 is located at the position of the bottom layer 40 furthest from the column 20, and is fixed to the bottom layer 40 by screws. The tenon and mortise non-standard pre-tightening corner piece 23 is located at the position of the top layer 30 furthest from the column 20, and is fixed to the top layer 30 by screws.

[0059] The mortise and tenon joint vertical side piece 12 is joined between the mortise and tenon joint corner piece 11 and the first non-standard mortise and tenon corner piece 21, and is fixed to the column 20 with screws. The mortise and tenon joint bottom side piece 13 is joined between the mortise and tenon joint corner piece 11 and the second non-standard mortise and tenon corner piece 22, and is fixed to the bottom layer 40 with screws. The mortise and tenon non-standard vertical tightening piece 24 is joined between the first non-standard mortise and tenon corner piece 21 and the non-standard mortise and tenon pre-tightening corner piece 23, and is fixed to the top layer 30 with screws. The mortise and tenon non-standard pre-tightening side piece 25 is joined between the non-standard mortise and tenon pre-tightening corner piece 23 and the second non-standard mortise and tenon corner piece 22. The standard mortise and tenon joint 14 is joined between the mortise and tenon joint corner piece 11, the mortise and tenon joint bottom side piece 13, the mortise and tenon joint vertical side piece 12, the first mortise and tenon non-standard corner piece 21, the second mortise and tenon non-standard corner piece 22, the mortise and tenon non-standard pre-tightening side piece 25, the mortise and tenon non-standard vertical top tightening piece 24, and the mortise and tenon non-standard pre-tightening corner piece 23.

[0060] The present invention discloses an intelligent masonry system based on mortise and tenon joints, and the specific masonry method includes the following steps:

[0061] Step 1: After the mortise and tenon joint corner piece 11 and the mortise and tenon joint bottom side piece 13 are transported to the designated position by the ground transport rotary integrated robot 3, the drilling device 42 of the wall drilling robot 4 positions and drills holes in them, as shown in the figure. Figures 7-10 As shown, the rotary device 32 of the ground transport rotary integrated robot 3 then installs and tightens the screws in the drilled hole, locking the tenon and mortise joint corner piece 11 and the tenon and mortise joint bottom side piece 13 to the bottom layer or column.

[0062] Step 2: After the second non-standard corner piece 22 is transported to the designated position by the ground transport rotary integrated robot 3, the drilling device 42 of the wall drilling robot 4 positions and drills a hole in it, as shown in the figure. Figure 14 , 15 As shown, the rotary device 32 of the ground transport rotary integrated robot 3 then installs and tightens the screws in the drilled hole, locking the second tenon non-standard corner piece 22 to the bottom layer.

[0063] Step 3: After the mortise and tenon joint vertical side piece 12 is transported to the designated position by the ground transport rotary integrated robot 3, the drilling device 42 of the wall drilling robot 4 positions and drills holes in it, as shown in the figure. Figure 2 As shown, the rotary device 32 of the ground transport rotary integrated robot 3 then installs and tightens the screws in the drilled hole, and locks the tenon-and-mortise joint vertical side piece 12 to the column 20.

[0064] Step 4: After the standard mortise and tenon joint 14 is transported to the designated position by the ground transport rotary integrated robot 3, it is vertically transported to the fixed point by the wall drilling robot 4 and precisely placed in the specific part.

[0065] Step 5: After the dimensional planning is completed, the non-standard pre-tightened side piece 25 of the mortise and tenon joint is transported by the ground transport rotary integrated robot 3. After arriving at the alternating position, the wall drilling robot 4 grasps the non-standard pre-tightened side piece 25 of the mortise and tenon joint through the control system and the sensing system and accurately places it into the specific position.

[0066] Step 6: After repeating steps 3, 4, and 5 above, the final layer of masonry is constructed: the first non-standard tenon and mortise corner piece 21 and the non-standard tenon and mortise vertical clamping piece 24, after being sized and planned, are transported by the ground transport rotary integrated robot 3 to the designated position, and then vertically transported to the fixed point by the wall drilling and masonry robot 4, and precisely placed in the specific part.

[0067] Step 7: After the mortise and tenon non-standard pre-tightened corner piece 23 has been sized, it is transported by the ground transport rotary integrated robot 3 to the designated position, and then vertically transported by the wall drilling robot 4 to the fixed point and precisely placed in the specific part.

[0068] Step 8: After the entire wall assembly is completed, the rotary device 32 of the ground transport rotary integrated robot 3 rotates and pre-tightens the pre-tightening bolts 5 of the non-standard pre-tightening side piece 25, the non-standard pre-tightening corner piece 23, and the second non-standard pre-tightening corner piece 22, thus tightening the entire wall surface. After reaching a certain degree, the rotary device 32 of the ground transport rotary integrated robot 3 then rotates the pre-embedded nut 6 in the non-standard mortise and tenon piece 2, opening up the first and second mortise and tenon blocks to fill the gaps in the wall surface caused by tightening the pre-tightening bolts 5, thereby achieving the purpose of securing the entire wall surface.

[0069] Step 9: Finally, the drilling device 42 of the wall drilling robot 4 drills holes in the three types of non-standard tenon and mortise parts 1—the first non-standard corner piece 21, the non-standard vertical clamping piece 24, and the non-standard pre-tightening corner piece 23—through the top layer 30 or the column 20. The drilled holes are as follows: Figure 11 , 12 As shown in 17, 18, 20, and 21, the rotating device 32 of the ground-transporting rotating integrated robot 3 then installs and tightens the screws in the drilled hole, locking it to the top layer 30 or the column 20, and the gap between the first tenon block and the second tenon block, thus completing the stabilization of the entire wall to meet the requirements for resisting lateral loads.

[0070] This invention discloses an intelligent masonry system based on mortise and tenon joints. Through the joint operation of a ground-based rotary robot 3 and a wall-mounted drilling robot 4, the system automatically transports and installs mortise and tenon joints 10. This achieves the ability to detach bricks without mortar or joints while ensuring a secure and tight wall. As a result, the system automates brick and tile construction, improves construction efficiency and quality, reduces labor and time costs, reduces environmental pollution, and enhances construction safety.

[0071] The present invention provides an intelligent masonry system based on mortise and tenon joints. The parts not covered herein are the same as or can be implemented using existing technologies.

[0072] The above embodiments are only used to further illustrate an intelligent masonry system based on mortise and tenon joints of the present invention. However, the present invention is not limited to the embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An intelligent masonry system based on mortise and tenon joints, characterized in that: The system includes a ground-transporting knob-integrated robot, a wall-drilling robot, and several mortise and tenon joints. The ground-transporting knob-integrated robot has a first gripper for grasping the mortise and tenon joints and a screw-operated device for installing screws. The wall-drilling robot has a second gripper for grasping the mortise and tenon joints and a drilling device for drilling holes in at least a portion of the mortise and tenon joints. The mortise and tenon joints are provided with interlocking mortise and tenon structures. The first gripper, or both the first and second grippers, transports the mortise and tenon joints to a designated location and assembles them. The drilling device drills holes in mortise and tenon joints adjacent to columns, top floors, or bottom floors. The screw-operated device installs and tightens screws in the drilled holes to fix the corresponding mortise and tenon joints to columns, top floors, or bottom floors. The wall-drilling robot is equipped with a wall-walking device, which includes two mechanical legs that engage with the tenons of the mortise and tenon joints to move along the wall.

2. The intelligent masonry system based on mortise and tenon joints according to claim 1, characterized in that: The ground transport knob integrated robot and the wall drilling robot are equipped with a sensing system that enables autonomous navigation and positioning.

3. The intelligent masonry system based on mortise and tenon joints according to claim 1, characterized in that: The ground transport knob integrated robot is equipped with a first robotic arm, the tool end of which is provided with a first gripper device and a knob device; the wall drilling robot is equipped with a second robotic arm, the tool end of which is provided with a second gripper device and a drilling device.

4. The intelligent masonry system based on mortise and tenon joints according to claim 1, characterized in that: The plurality of mortise and tenon joints include a plurality of mortise and tenon pieces and a plurality of non-standard mortise and tenon pieces; the mortise and tenon pieces are integrally formed; the non-standard mortise and tenon pieces include a first mortise and tenon block and a second mortise and tenon block, and a plurality of pre-embedded nuts are provided between the first mortise and tenon block and the second mortise and tenon block. The pre-embedded nuts are rotated by the torsion device to open the first mortise and tenon block and the second mortise and tenon block.

5. The intelligent masonry system based on mortise and tenon joints according to claim 4, characterized in that: The plurality of mortise and tenon joints include mortise and tenon joint corner pieces, mortise and tenon joint bottom side pieces, mortise and tenon joint vertical side pieces, and standard mortise and tenon joints; the plurality of non-standard mortise and tenon joints include first non-standard mortise and tenon joint corner pieces, second non-standard mortise and tenon joint corner pieces, non-standard mortise and tenon joint pre-tightening side pieces, non-standard mortise and tenon joint vertical tightening pieces, and non-standard mortise and tenon joint pre-tightening corner pieces.

6. The intelligent masonry system based on mortise and tenon joints according to claim 5, characterized in that: The tenon and mortise joint corner piece is located at the bottom layer where it connects with the column and is fixed to the bottom layer and the column with screws. The first non-standard tenon and mortise corner piece is located at the top layer where it connects with the column and is fixed to the top layer and the column with screws. The second non-standard tenon and mortise corner piece is located at the bottom layer where it is furthest from the column and is fixed to the bottom layer with screws. The non-standard tenon and mortise pre-tightening corner piece is located at the top layer where it is furthest from the column and is fixed to the top layer with screws.

7. The intelligent masonry system based on mortise and tenon joints according to claim 6, characterized in that: The vertical side piece of the mortise and tenon joint is spliced ​​between the mortise and tenon joint corner piece and the first non-standard mortise and tenon corner piece, and is fixed to the column with screws; the bottom side piece of the mortise and tenon joint is spliced ​​between the mortise and tenon joint corner piece and the second non-standard mortise and tenon corner piece, and is fixed to the bottom layer with screws; the vertical top tightening piece of the mortise and tenon joint is spliced ​​between the first non-standard mortise and tenon corner piece and the non-standard pre-tightening corner piece of the mortise and tenon joint, and is fixed to the top layer with screws; the non-standard pre-tightening side piece of the mortise and tenon joint is spliced ​​between the non-standard pre-tightening corner piece of the mortise and tenon joint and the second non-standard mortise and tenon corner piece; the standard mortise and tenon joint piece is spliced ​​between the mortise and tenon joint corner piece, the bottom side piece of the mortise and tenon joint, the vertical side piece of the mortise and tenon joint, the first non-standard mortise and tenon corner piece, the second non-standard mortise and tenon corner piece, the non-standard pre-tightening side piece of the mortise and tenon joint, the vertical top tightening piece of the mortise and tenon joint and the non-standard pre-tightening corner piece of the mortise and tenon joint.

8. The intelligent masonry system based on mortise and tenon joints according to claim 5, characterized in that: The second non-standard tenon and mortise corner piece, the non-standard tenon and mortise pre-tightening side piece, and the non-standard tenon and mortise pre-tightening corner piece are respectively provided with grooves on their right sides for screwing in pre-tightening bolts.

9. The intelligent masonry system based on mortise and tenon joints according to claim 5, characterized in that: The first mortise and tenon non-standard corner piece, the second mortise and tenon non-standard corner piece, the mortise and tenon non-standard vertical clamping piece, and the mortise and tenon non-standard pre-tightening corner piece have notches on the top of their first mortise and tenon blocks, and the second mortise and tenon blocks are L-shaped. The second mortise and tenon blocks are upside down on the notches of the first mortise and tenon blocks and connected by screws to form a square structure. The first mortise and tenon blocks and the second mortise and tenon blocks of the mortise and tenon non-standard pre-tightening side piece are L-shaped respectively, and the two are connected by screws to form a square structure.

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