Wall building method and device, storage medium and processor

Abstract

The invention discloses a wall building method and device, a storage medium and a processor. The method comprises the steps that brick materials are grabbed through an extraction assembly, and a displacement driving module drives the extraction assembly to move the brick materials to a first brick placing position; reciprocating the brick materials for multiple times in the left-right extending direction of the wall body; and the brick materials are reset to the first brick placing position, and the brick materials are pressed downwards to the second brick placing position in the height direction. According to the automatic wall building device, grabbing, moving and placing of brick materials are automatically completed through the displacement driving module and the extracting assembly, and the automation level of wall building work is greatly improved; meanwhile, movement of the brick materials is accurately controlled through the displacement driving module, it is ensured that each brick material is accurately placed at a preset position, the brick materials are subjected to reciprocating movement multiple times in the left-right extending direction of the wall body, the slurry can be evenly smeared between the brick materials, gaps between the brick materials are reduced, the bonding degree between the slurry and the brick materials is improved, and the quality of the brick materials is improved. Therefore, the stability and durability of the wall body are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a wall-building method, device, storage medium and processor. Background Art

[0002] Walling is a basic construction process in the field of construction. The traditional construction method relies on manual labor to complete the walling work. With the development of construction mechanization, the existing construction method can rely on walling robots to complete the walling work. The walling robot can automatically extract bricks and place the bricks in the stacking position to achieve walling. However, during the walling work, the walling robot moves the bricks to the top of the stacking position, and then puts the bricks down, allowing the bricks to rely on their gravity to achieve adhesion with the slurry. However, the gravity of the bricks alone cannot bond well with the slurry, resulting in loose bonding of the bricks and affecting the quality of the wall. Summary of the invention

[0003] The present invention provides a wall-building method, device, storage medium and processor, which are used to solve the technical problem that the existing wall-building robots cannot well bond with slurry simply by relying on the gravity of bricks during wall-building work, resulting in loose bonding of bricks and affecting the quality of the wall.

[0004] A first aspect of the present invention provides a wall-building method, which is applied to a wall-building device, wherein the wall-building device comprises a displacement drive module and an extraction component; the method comprises:

[0005] Grab the brick material by using the extraction component, and drive the extraction component to move the brick material to the first brick placement position by using the displacement drive module;

[0006] The bricks are moved back and forth multiple times in the left and right directions along the extension of the wall;

[0007] The bricks are reset to the first brick placement position, and the bricks are pressed down in the height direction to the second brick placement position.

[0008] Specifically, the multiple reciprocating movements of the bricks along the left and right directions of the wall include a first reciprocating process and a second reciprocating process performed sequentially;

[0009] The first reciprocating process includes a plurality of first reciprocating actions performed in sequence, wherein the first reciprocating action includes moving the brick material from the first brick placement position to the left by a first mortar spreading distance and then resetting it to the first brick placement position, and then moving the brick material from the first brick placement position to the right by a first mortar spreading distance and then resetting it to the first brick placement position;

[0010] The second reciprocating process includes multiple second reciprocating actions performed in sequence, and the second reciprocating action includes moving the brick material leftward from the first brick placement position by a second mortaring distance and then resetting it to the first brick placement position, and then moving the brick material rightward from the first brick placement position by a second mortaring distance and then resetting it to the first brick placement position.

[0011] Specifically, the first mortaring distance and the second mortaring distance are both smaller than half of the width of the brick.

[0012] Specifically, the first plastering distance of each first reciprocating action is the same, the second plastering distance of each second reciprocating action is the same, and the first plastering distance is smaller than the second plastering distance.

[0013] Specifically, the first smearing distance in multiple first reciprocating motions gradually increases until it increases to the first terminal distance; the second smearing distance in multiple second reciprocating motions gradually decreases until it decreases to the second terminal distance; the first smearing distance of the last first reciprocating motion is the same as the second smearing distance of the first second reciprocating motion.

[0014] A second aspect of the present invention provides a wall-building device, comprising: a base frame, a displacement drive module, an extraction component and a control module;

[0015] The base frame is used to support the displacement drive module and the extraction component;

[0016] The displacement drive module is arranged on the base frame, and the displacement drive module comprises a lifting drive mechanism, a lateral drive mechanism and a forward drive mechanism;

[0017] The displacement driving module is connected to the extraction component to drive the extraction component to move;

[0018] The extraction assembly is used to extract and place bricks;

[0019] The control module is electrically connected to the displacement drive module and the extraction component respectively, and is used to control the displacement drive module and the extraction component to complete the wall-building work according to any of the wall-building methods described above.

[0020] Specifically, the lifting drive mechanism is arranged on the base frame, and the lifting drive mechanism is connected with the transverse drive mechanism to drive the transverse drive mechanism to move up and down;

[0021] The transverse driving mechanism is connected to the forward driving mechanism to drive the forward driving mechanism to move transversely along the extension direction of the wall;

[0022] The forward driving mechanism is connected to the extracting assembly to drive the extracting assembly to move left and right along both sides of the extending direction of the wall.

[0023] Specifically, the extraction assembly is composed of a first clamping plate, a second clamping plate and a driver;

[0024] The driver drives and connects the first clamping plate and / or the second clamping plate, so that the first clamping plate and the second clamping plate are moved closer to or farther from each other for clamping or placing bricks.

[0025] A third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, any of the above-mentioned wall-building methods is implemented.

[0026] A fourth aspect of the present invention provides a processor, the processor is used to run a program, and the program executes any of the above-mentioned wall-building methods when running.

[0027] It can be seen from the above technical solutions that the present invention has the following advantages:

[0028] The present invention provides a wall-building method, device, storage medium and processor, wherein the wall-building method is applied to the wall-building device, and the method comprises: grabbing bricks by an extraction component, and driving the extraction component to move the bricks to a first brick-placing position by a displacement drive module; moving the bricks back and forth multiple times along the left and right directions of the wall extension; resetting the bricks to the first brick-placing position, and pressing the bricks down along the height direction to a second brick-placing position.

[0029] In the present invention, the grabbing, moving and placing of bricks are automatically completed through the displacement drive module and the extraction component, which greatly improves the automation level of wall building work; at the same time, the movement of bricks is accurately controlled by the displacement drive module, which can ensure that each brick can be accurately placed at a predetermined position, and the bricks are moved back and forth multiple times in the left and right directions of the wall extension, which helps to evenly apply the slurry between the bricks, reduce the gaps between the bricks, and improve the adhesion between the slurry and the bricks, thereby improving the stability and durability of the wall, thereby solving the technical problem that the existing wall-building robots cannot bond well with the slurry simply by the gravity of the bricks during wall building work, resulting in loose bonding of the bricks and affecting the quality of the wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0031] Figure 1 A flow chart of the steps of a wall-building method provided for this application;

[0032] Figure 2 A schematic diagram of the overall structure of a wall-building device provided in this application;

[0033] Figure 3 A schematic diagram of the structure of the extraction component provided for this application;

[0034] Figure 4 A schematic diagram of the hardware connection of the control system provided for this application;

[0035] Among them, the figure markings are: base frame 100, displacement drive module 200, lifting drive mechanism 210, transverse drive mechanism 220, forward drive mechanism 230, extraction component 300, first clamping plate 310, second clamping plate 320, driver 330, material storage platform 400, processor 610, computer readable storage medium 620, input / output interface 630, communication interface 640 and bus 650. DETAILED DESCRIPTION

[0036] The embodiments of the present invention provide a wall-building method, device, storage medium and processor, which are used to solve the technical problem that the existing wall-building robots cannot adhere well to the slurry simply by the gravity of the bricks during wall-building work, resulting in loose bonding of the bricks and affecting the quality of the wall.

[0037] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0039] Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] See also Figure 1In a first aspect, the present application provides a wall-building method, characterized in that it is applied to a wall-building device, the wall-building device includes a displacement drive module and an extraction component; the method includes:

[0041] Step 101, grab the brick material through the extraction component, and drive the extraction component to move the brick material to the first brick placement position through the displacement drive module.

[0042] It should be noted that the wall should be pre-coated with slurry. The present invention can establish a three-dimensional coordinate system according to the design drawings of the wall, and determine the first brick placement position according to the size of the wall, the extension position and the size of the bricks.

[0043] Step 102, moving the bricks back and forth multiple times along the left and right directions of the wall.

[0044] During the wall-building process, after the bricks reach the first brick placement position, the displacement drive module drives the bricks to reciprocate along the left and right directions of the wall extension. At this time, the bottom of the bricks will be smeared with the slurry, so that the bricks and the slurry are tightly combined, strengthening the adhesion between the bricks and the slurry and improving the quality of wall construction.

[0045] Step 103, resetting the bricks to the first brick placement position, and pressing the bricks downward in the height direction to the second brick placement position.

[0046] It should be noted that, since the slurry has a certain thickness, after executing step 102, the extraction component also needs to appropriately press the bricks down to the second brick placement position, and combine the gravity of the bricks to reduce the gaps in the slurry and between the slurry and the brick surface, so that the slurry can be closer to the bricks, further improving the quality of wall construction. It can be understood that the first brick placement position is located above the second brick placement position and there is a grouting interval between the first brick placement position and the second brick placement position in the height direction.

[0047] After the bricks are placed in the second brick placement position, the first brick placement position can be reset along the extension direction of the wall at a position approximately the length of one brick away from the first brick placement position to place the next brick; in particular, when the end of the wall is reached, the first brick placement position can be reset at the beginning of the wall and at a position approximately the thickness of one brick away from the next layer of bricks to continue controlling the brick placement.

[0048] The wall-building method provided by the present invention is applied to a wall-building device, and the displacement drive module and the extraction component are used to automatically complete the grabbing, moving and placing of bricks, which greatly improves the automation level of wall-building work and shortens the construction period. At the same time, the displacement drive module accurately controls the movement of bricks, which can ensure that each brick can be accurately placed at a predetermined position, and the bricks are moved back and forth multiple times along the left and right directions of the wall extension, which helps to evenly apply the slurry between the bricks, reduce the gaps between the bricks, and improve the bonding degree between the slurry and the bricks, thereby improving the stability and durability of the wall.

[0049] In step 102, the bricks are moved back and forth multiple times in the left direction extending along the wall, including a first reciprocating process and a second reciprocating process performed sequentially;

[0050] The first reciprocating process includes a plurality of first reciprocating actions performed in sequence, wherein the first reciprocating action includes moving the brick material from the first brick placement position to the left by a first mortar spreading distance and then resetting it to the first brick placement position, and then moving the brick material from the first brick placement position to the right by a first mortar spreading distance and then resetting it to the first brick placement position;

[0051] The second reciprocating process includes multiple second reciprocating actions performed in sequence, and the second reciprocating action includes moving the brick material leftward from the first brick placement position by a second mortaring distance and then resetting it to the first brick placement position, and then moving the brick material rightward from the first brick placement position by a second mortaring distance and then resetting it to the first brick placement position.

[0052] It is understandable that, in the reciprocating movement of the bricks, a combination of various different reciprocating motions can be used to improve the smearing effect, and the present invention uses a combination of multiple groups of first reciprocating motions and second reciprocating motions.

[0053] Among them, the first mortar distance and the second mortar distance are both less than half of the brick width, which can prevent the edge of the brick to be placed from being separated from the brick below. At the same time, if the moving distance is too much, the edge of the brick to be placed will be disconnected from the mortar, and the effect of improving the tightness through reciprocating movement will not be achieved. It is also possible that the mortar on the brick below will be pushed off during the process of resetting to the first brick placement position.

[0054] In order to further enhance the bonding between bricks and slurry, and thereby remove gaps and bubbles in the slurry as much as possible, the reciprocating slurry distance can be limited differently according to the actual application scenario, as follows:

[0055] The first type: the first mortar spreading distance of each first reciprocating motion is the same, and the second mortar spreading distance of each second reciprocating motion is the same, and the first mortar spreading distance is smaller than the second mortar spreading distance. In this way, the bricks can first move back and forth with a small amplitude to allow the mortar to penetrate deeper into the brick joints to increase the bonding degree; then move back and forth with a large amplitude to allow the mortar to fully spread, thereby removing the gaps and bubbles in the mortar as much as possible and enhancing the structural stability of the wall.

[0056] The second type: the first mortar spreading distance in multiple first reciprocating movements gradually increases until it increases to the first terminal distance; the second mortar spreading distance in multiple second reciprocating movements gradually decreases until it decreases to the second terminal distance; the first mortar spreading distance of the last first reciprocating movement is the same as the second mortar spreading distance of the first second reciprocating movement. In the first reciprocating process, the application range is gradually expanded from a local area, which is conducive to the initial uniform distribution of the mortar, while avoiding uneven distribution or excessive application of the mortar that may be caused by using a larger distance at the beginning; in the second reciprocating process, the use of a gradually decreasing mortar spreading distance is conducive to fine-tuning the mortar based on the initial application of the mortar. The decreasing distance can better control the final distribution of the mortar and ensure that the mortar is evenly filled between the bricks.

[0057] More specifically, in the first reciprocating process, the first mortaring distance of the first first reciprocating action is set as the first initial distance, and the first mortaring distance of the next first reciprocating action is increased compared with the first mortaring distance of the previous first reciprocating action, until the first mortaring distance reaches the first terminal distance, and the second reciprocating process is entered after the last first reciprocating action is completed. Then, in the first reciprocating process, the first mortaring distance of the next first reciprocating action will be increased compared with the first mortaring distance of the previous time, from the first initial distance to the end of the first terminal distance, and the brick material will first reciprocate with a smaller amplitude to increase the degree of adhesion and then reciprocate with a larger amplitude to remove the gaps and bubbles in the mortar as much as possible.

[0058] In the second reciprocating process, the second mortaring distance of the first second reciprocating action is set as the second initial distance, and the second mortaring distance of the next second reciprocating action is reduced from the second mortaring distance of the previous second reciprocating action until the second mortaring distance reaches the second terminal distance. The second reciprocating process ends after the last second reciprocating action is completed, wherein the second initial distance is equal to the first terminal distance, and the second terminal distance is equal to the first initial distance. Then, after the first reciprocating process ends, the second reciprocating process is postponed to enter. At this time, in the first second reciprocating action, the second mortaring distance is equal to the first terminal distance, and the uneven bonding between the bricks and the mortar will not be caused by the sudden change of the left and right distances. Then, the large-amplitude reciprocating movement is gradually turned into a small-amplitude reciprocating movement, and the amplitude is reduced to the second terminal distance and then restored to the first brick placement position, so that the bricks and the mortar are tightly bonded.

[0059] See also Figure 2 and Figure 3 , the second aspect of the present application provides an embodiment of a wall-building device, comprising: a base frame 100, a displacement drive module 200, an extraction component 300 and a control module;

[0060] The base frame 100 is used to support the displacement driving module 200 and the extraction assembly 300;

[0061] The displacement driving module 200 is disposed on the base frame 100 , and the displacement driving module 200 includes a lifting driving mechanism 210 , a lateral driving mechanism 220 , and a forward driving mechanism 230 ;

[0062] The displacement driving module 200 is connected to the extraction component 300 to drive the extraction component 300 to move;

[0063] The extraction assembly 300 is used to extract and place bricks;

[0064] The control module is electrically connected to the displacement driving module 200 and the extraction component 300 respectively, and is used to control the displacement driving module 200 and the extraction component 300 to move according to any of the above wall-building methods to complete the wall-building work.

[0065] It should be noted that the base frame 100 can be composed of multiple horizontal frames and vertical frames, and a storage platform 400 can also be set on the base frame 100, and the storage platform 400 is used to store bricks; in the displacement drive module 200, the lifting drive mechanism 210, the transverse drive mechanism 220, and the forward drive mechanism 230 can all be composed of a motor with a chain, a gear and a rack, so as to drive the extraction component 300 to move up and down, horizontally and left and right to complete the clamping of bricks and wall-building actions.

[0066] In the present invention, the automatic extraction and placement of bricks are realized through the cooperation of the displacement drive module 200 and the extraction component 300, which reduces the dependence on manual labor and improves the automation level of wall construction operations; the displacement drive module 200 can quickly and accurately control the movement of the extraction component 300, so that the bricks can be quickly placed in the preset position, which significantly improves the construction efficiency; the control module controls the driving components to achieve accurate extraction, placement and movement of bricks, enhance the adhesion between bricks and slurry, and improve the quality of wall construction.

[0067] Specifically, in order to flexibly adapt to construction needs, the lifting drive mechanism 210 is arranged on the base frame 100, and the lifting drive mechanism 210 is connected with the lateral drive mechanism 220 to drive the lateral drive mechanism 220 to lift up and down; the lateral drive mechanism 220 is connected with the forward drive mechanism 230 to drive the forward drive mechanism 230 to move horizontally along the extension direction of the wall; the forward drive mechanism 230 is connected with the extraction assembly 300 to drive the extraction assembly 300 to move left and right along both sides of the extension direction of the wall. The coordinated work of the lifting drive, the lateral drive mechanism 220 and the forward drive mechanism 230 can continuously and efficiently perform walling operations.

[0068] Specifically, in order to firmly grasp the bricks, the extraction assembly 300 is composed of a first clamping plate 310, a second clamping plate 320 and a driver 330; the driver 330 drives the first clamping plate 310 and / or the second clamping plate 320 to connect, so that the first clamping plate 310 and the second clamping plate 320 are close to or away from each other for clamping or placing bricks.

[0069] In a third aspect, the present application provides a computer-readable storage medium 620, on which a computer program is stored, and when the program is executed by the processor 610, any of the above wall-building methods is implemented. The memory can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM).

[0070] In a fourth aspect, the present application provides a processor 610, which is used to run a program, and when the program is run, any of the above wall-building methods is executed. The processor 610 can be implemented by a general central processing unit 610 (CPU), a microprocessor 610, an application specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute related programs.

[0071] Based on the aforementioned computer-readable storage medium 620 and processor 610, the present application also provides a control system.

[0072] See also Figure 4 The control system can be any intelligent terminal including a central computer, a remote device terminal computer, etc. The control system includes: a computer-readable storage medium 620, a processor 610, an input / output interface 630, a communication interface 640, and a bus 650. The computer-readable storage medium 620, the processor 610, the input / output interface 630, and the communication interface 640 are connected in communication via the bus 650.

[0073] Among them, the input / output interface 630 is used to realize information input and output; the communication interface 640 is used to realize communication interaction between this device and other devices, and communication can be realized through wired methods (such as USB, network cable, etc.) or wireless methods (such as mobile network, WIFI, Bluetooth, etc.); the bus 650 transmits information between the various components of the device (such as the processor 610, the computer-readable storage medium 620, the input / output interface 630 and the communication interface 640).

[0074] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wall-building method, characterized in that: Applied to a wall-building device, the wall-building device comprises a displacement drive module and an extraction component; the method comprises: Grab the brick material by using the extraction component, and drive the extraction component to move the brick material to the first brick placement position by using the displacement drive module; The bricks are moved back and forth multiple times in the left and right directions along the extension of the wall; The bricks are reset to the first brick placement position, and the bricks are pressed down in the height direction to the second brick placement position.

2. A wall-building method according to claim 1, characterized in that: The said reciprocating movement of the bricks along the left and right directions of the wall body for a plurality of times includes a first reciprocating process and a second reciprocating process being performed in sequence; The first reciprocating process includes a plurality of first reciprocating actions performed in sequence, wherein the first reciprocating action includes moving the brick material from the first brick placement position to the left by a first mortar spreading distance and then resetting it to the first brick placement position, and then moving the brick material from the first brick placement position to the right by a first mortar spreading distance and then resetting it to the first brick placement position; The second reciprocating process includes multiple second reciprocating actions performed in sequence, and the second reciprocating action includes moving the brick material leftward from the first brick placement position by a second mortaring distance and then resetting it to the first brick placement position, and then moving the brick material rightward from the first brick placement position by a second mortaring distance and then resetting it to the first brick placement position.

3. A wall-building method according to claim 2, characterized in that: The first mortaring distance and the second mortaring distance are both less than half of the width of the brick.

4. A wall-building method according to claim 2, characterized in that: The first plastering distance of each first reciprocating action is the same, the second plastering distance of each second reciprocating action is the same, and the first plastering distance is smaller than the second plastering distance.

5. A wall-building method according to claim 2, characterized in that: The first smearing distance in multiple first reciprocating motions gradually increases until it reaches the first terminal distance; the second smearing distance in multiple second reciprocating motions gradually decreases until it reaches the second terminal distance; the first smearing distance of the last first reciprocating motion is the same as the second smearing distance of the first second reciprocating motion.

6. A wall-building device, characterized in that: include: Base frame, displacement drive module, extraction assembly and control module; The base frame is used to support the displacement drive module and the extraction component; The displacement drive module is arranged on the base frame, and the displacement drive module comprises a lifting drive mechanism, a lateral drive mechanism and a forward drive mechanism; The displacement driving module is connected to the extraction component to drive the extraction component to move; The extraction assembly is used to extract and place bricks; The control module is electrically connected to the displacement drive module and the extraction component respectively, and is used to control the displacement drive module and the extraction component to complete the wall-building work according to the wall-building method according to any one of claims 1 to 5.

7. A wall-building device according to claim 6, characterized in that: The lifting drive mechanism is arranged on the base frame, and the lifting drive mechanism is connected with the transverse driving mechanism to drive the transverse driving mechanism to move up and down; The transverse driving mechanism is connected to the forward driving mechanism to drive the forward driving mechanism to move transversely along the extension direction of the wall; The forward driving mechanism is connected to the extracting assembly to drive the extracting assembly to move left and right along both sides of the extending direction of the wall.

8. A wall-building device according to claim 6, characterized in that: The extraction assembly is composed of a first clamping plate, a second clamping plate and a driver; The driver drives and connects the first clamping plate and / or the second clamping plate, so that the first clamping plate and the second clamping plate are moved closer to or farther from each other for clamping or placing bricks.

9. A computer-readable storage medium, characterized in that: The medium stores a computer program, and when the program is executed by a processor, the wall-building method according to any one of claims 1 to 5 is implemented.

10. A processor, characterized in that: The processor is used to run a program, and when the program is run, the wall-building method according to any one of claims 1 to 5 is executed.

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