Wall building method, device, storage medium and processor

Abstract

This invention discloses a bricklaying method, apparatus, storage medium, and processor. The method includes: grasping bricks using an extraction component and moving the bricks to a first placement position using a displacement drive module; repeatedly moving the bricks back and forth along the left-right direction of the wall; resetting the bricks to the first placement position and pressing them down to a second placement position along the height direction. In this invention, the grasping, moving, and placement of bricks are automatically completed by the displacement drive module and the extraction component, greatly improving the automation level of bricklaying. Simultaneously, the precise control of brick movement by the displacement drive module ensures that each brick is accurately placed in a predetermined position. Repeatedly moving the bricks back and forth along the left-right direction of the wall helps to evenly spread mortar between the bricks, reducing gaps between bricks and improving the adhesion between the mortar and the bricks, thereby improving the stability and durability of the wall.

Description

Technical Field

[0001] This invention relates to the field of building construction technology, and in particular to a wall-building method, apparatus, storage medium, and processor. Background Technology

[0002] Bricklaying is a fundamental construction process in the building industry. Traditionally, bricklaying was done manually. However, with the development of construction mechanization, bricklaying robots can now perform this work. These robots can automatically pick up bricks and place them in the desired location for bricklaying. However, during the process, the robot moves the bricks above the desired location and then lowers them, relying on gravity to bond them to the mortar. Unfortunately, the weight of the bricks alone is insufficient for proper adhesion, resulting in weak bonding and affecting the quality of the wall. Summary of the Invention

[0003] This invention provides a bricklaying method, apparatus, storage medium, and processor to solve the technical problem that existing bricklaying robots cannot effectively bond bricks to mortar by relying solely on the weight of the bricks during bricklaying, resulting in weak brick bonding and affecting wall quality.

[0004] The first aspect of this invention provides a bricklaying method applied to a bricklaying device, the bricklaying device comprising a displacement driving module and an extraction component; the method comprising:

[0005] The extraction component picks up the brick material, and the displacement driving module drives the extraction component to move the brick material to the first brick placement position.

[0006] The bricks are moved back and forth multiple times along the left and right sides of the wall.

[0007] Return the bricks to the first brick placement position and press them down along the height direction to the second brick placement position.

[0008] Specifically, the process of repeatedly moving the bricks along the left and right directions of the wall includes a first reciprocating process and a second reciprocating process performed sequentially.

[0009] The first reciprocating process includes multiple first reciprocating actions performed sequentially. The first reciprocating action includes moving the brick material from the first brick placement position to the left by a first grouting distance and then returning it to the first brick placement position, and then moving it from the first brick placement position to the right by a first grouting distance and then returning it to the first brick placement position.

[0010] The second reciprocating process includes multiple second reciprocating actions performed sequentially. The second reciprocating action includes moving the brick material to the left of the first brick placement position by a second grouting distance and then returning it to the first brick placement position, and then moving it to the right of the first brick placement position by a second grouting distance and then returning it to the first brick placement position.

[0011] Specifically, both the first and second grouting distances are less than half the width of the brick.

[0012] Specifically, the first grouting distance is the same for each first reciprocating motion, and the second grouting distance is the same for each second reciprocating motion, with the first grouting distance being less than the second grouting distance.

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

[0014] A second aspect of the present invention provides a bricklaying device, comprising: a base frame, a displacement driving 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 mounted on the base frame and includes 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 component is used to extract and place the brick material;

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

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

[0021] The lateral drive mechanism is connected to the forward drive mechanism to drive the forward drive mechanism to move laterally along the extension direction of the wall;

[0022] The forward drive mechanism is connected to the extraction component to drive the extraction component to move left and right on both sides along the extension direction of the wall.

[0023] Specifically, the extraction component consists of a first clamping plate, a second clamping plate, and a driver.

[0024] The driver drives the connection between the first clamping plate and / or the second clamping plate, so that the first clamping plate and the second clamping plate move closer or further apart to clamp or place bricks.

[0025] A third aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the bricklaying method as described above.

[0026] A fourth aspect of the present invention provides a processor for running a program that, when running, performs the bricklaying method as described above.

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

[0028] This invention provides a bricklaying method, apparatus, storage medium, and processor. The bricklaying method is applied to the bricklaying apparatus. The method includes: grabbing bricks by an extraction component and moving the bricks to a first brick placement position by a displacement driving module; repeatedly moving the bricks back and forth along the left and right directions of the wall; resetting the bricks to the first brick placement position and pressing the bricks down to a second brick placement position along the height direction.

[0029] In this invention, the grabbing, moving, and placing of bricks are automatically completed through a displacement drive module and an extraction component, greatly improving the automation level of bricklaying. At the same time, the precise control of brick movement by the displacement drive module ensures that each brick is accurately placed in a predetermined position. The repeated reciprocating movement of the bricks along the left and right directions of the wall helps to evenly spread the mortar between the bricks, reducing gaps between bricks and improving the adhesion between the mortar and the bricks. This improves the stability and durability of the wall, thus solving the technical problem that existing bricklaying robots cannot effectively bond bricks to the mortar by relying solely on the weight of the bricks, resulting in weak brick adhesion and affecting the quality of the wall. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A flowchart of a bricklaying method provided in this application;

[0032] Figure 2 This application provides an overall structural schematic diagram of a bricklaying device;

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

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

[0035] The reference numerals in the drawings are as follows: base frame 100, displacement drive module 200, lifting drive mechanism 210, lateral drive mechanism 220, forward drive mechanism 230, extraction component 300, first clamping plate 310, second clamping plate 320, driver 330, storage platform 400, processor 610, computer-readable storage medium 620, input / output interface 630, communication interface 640, and bus 650. Detailed Implementation

[0036] This invention provides a bricklaying method, apparatus, storage medium, and processor to solve the technical problem that existing bricklaying robots cannot effectively bond bricks to mortar by relying solely on the weight of the bricks during bricklaying, resulting in weak brick bonding and affecting wall quality.

[0037] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0038] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] See also Figure 1The first aspect of this application provides a bricklaying method, characterized in that it is applied to a bricklaying device, the bricklaying device including a displacement driving module and an extraction component; the method includes:

[0041] Step 101: The extraction component grabs the brick material, and the displacement drive module drives the extraction component to move the brick material to the first brick placement position.

[0042] It should be noted that the wall should be pre-coated with mortar. This invention can establish a three-dimensional coordinate system based on the wall design drawings and determine the first brick placement position based on the wall size, extension position and brick size.

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

[0044] During the bricklaying process, after the bricks reach the first placement position, the displacement drive module drives the bricks to move back and forth along the left and right directions of the wall extension. At this time, the bottom of the bricks will be smeared with the mortar, so that the bricks and mortar are tightly bonded, strengthening the adhesion between the bricks and mortar and improving the quality of wall construction.

[0045] Step 103: Return the brick to the first brick placement position and press the brick down along the height direction to the second brick placement position.

[0046] It should be noted that, due to the thickness of the grout, after step 102, the extraction component needs to press the bricks down appropriately to the second brick placement position. This, combined with the weight of the bricks, reduces the gaps in the grout and between the grout and the brick surface, allowing the grout to adhere more tightly to the bricks and further improving the quality of the wall construction. It is understood that the first brick placement position is located above the second brick placement position, and there is a grouting interval between the two positions in the height direction.

[0047] After the brick is placed at the second brick placement position, the first brick placement position can be reset along the extension direction of the wall at a position approximately one brick length away from the first brick placement position, so as 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 one brick thickness away from the next layer of bricks, so as to continue to control the brick placement.

[0048] The bricklaying method provided by this invention is applied to a bricklaying device. With the help of a displacement drive module and an extraction component, it automatically completes the grabbing, moving, and placement of bricks, greatly improving the automation level of bricklaying work and shortening the construction cycle. Simultaneously, the precise control of brick movement by the displacement drive module ensures that each brick is accurately placed in the predetermined position. Multiple reciprocating movements of the bricks along the left-right direction of the wall help to evenly spread the mortar between the bricks, reducing gaps between bricks and improving the adhesion between the mortar and the bricks, thereby enhancing the stability and durability of the wall.

[0049] In step 102, the process of moving the brick material back and forth multiple times in the left direction along the wall includes a first reciprocating process and a second reciprocating process performed sequentially.

[0050] The first reciprocating process includes multiple first reciprocating actions performed sequentially. The first reciprocating action includes moving the brick material from the first brick placement position to the left by a first grouting distance and then returning it to the first brick placement position, and then moving it from the first brick placement position to the right by a first grouting distance and then returning it to the first brick placement position.

[0051] The second reciprocating process includes multiple second reciprocating actions performed sequentially. The second reciprocating action includes moving the brick material to the left of the first brick placement position by a second grouting distance and then returning it to the first brick placement position, and then moving it to the right of the first brick placement position by a second grouting distance and then returning it to the first brick placement position.

[0052] It is understandable that various combinations of reciprocating motions can be used in the reciprocating movement of bricks to improve the grouting effect. This invention uses a combination of multiple sets of first and second reciprocating motions.

[0053] The first and second grouting distances are both less than half the width of the brick. This prevents the edge of the brick to be placed from detaching from the brick below. If the movement distance is too far, the edge of the brick to be placed will break contact with the grout, failing to achieve the effect of improving compactness through reciprocating movement. It may also push the grout off the brick below during the process of returning to the first brick placement position.

[0054] To further enhance the adhesion between the brick and the mortar, and thus eliminate gaps and air bubbles in the mortar as much as possible, the reciprocating mortar application distance can be limited differently depending on the actual application scenario, as follows:

[0055] The first method involves applying the same distance for each initial stroke and the same distance for each subsequent stroke, with the initial distance being shorter than the second. This allows the brickwork to initially move with a smaller amplitude, enabling the mortar to penetrate deeper into the brick joints and increase adhesion. Subsequently, a larger amplitude movement is used to fully diffuse the mortar, thereby eliminating gaps and air bubbles and enhancing the structural stability of the wall.

[0056] The second method involves gradually increasing the distance of the first application of mortar during multiple reciprocating motions until reaching the first terminal distance; and gradually decreasing the distance of the second application of mortar during multiple reciprocating motions until reaching the second terminal distance; the first application distance of the final first reciprocating motion is the same as the second application distance of the first second reciprocating motion. In the first reciprocating motion, the application area is gradually expanded from a localized area, which facilitates the initial uniform distribution of the mortar and avoids uneven distribution or over-application that might result from using a large distance initially. In the second reciprocating motion, the gradually decreasing application distance allows for fine-tuning based on the initial application of the mortar. The decreasing distance allows for better control of the final distribution of the mortar, ensuring uniform filling between the bricks.

[0057] More specifically, in the first reciprocating process, the first grouting distance of the first reciprocating motion is set as the first initial distance. The first grouting distance of the next reciprocating motion increases compared to the previous one, until the first grouting distance reaches the first terminal distance. After completing the last first reciprocating motion, the second reciprocating process begins. Therefore, in the first reciprocating process, the first grouting distance of each subsequent reciprocating motion will be greater than the previous one, increasing from the first initial distance to the first terminal distance. Initially, the brick material moves back and forth with a smaller amplitude to increase adhesion, and then moves back and forth with a larger amplitude to remove gaps and air bubbles in the grout as much as possible.

[0058] In the second reciprocating process, the second grouting distance of the first second reciprocating motion is set as the second initial distance. The second grouting distance of the next second reciprocating motion decreases compared to the previous second reciprocating motion until the second grouting distance reaches the second terminal distance. After completing the last second reciprocating motion, the second reciprocating process ends. Here, the second initial distance is equal to the first terminal distance, and the second terminal distance is equal to the first initial distance. After the first reciprocating process ends, the second reciprocating process begins. In the first second reciprocating motion, the second grouting distance is equal to the first terminal distance, preventing uneven bonding between the brick and grout due to sudden changes in distance. Then, the reciprocating motion gradually decreases from a larger amplitude to a smaller amplitude, and after the amplitude drops to the second terminal distance, it returns to the first brick placement position, ensuring a tight bond between the brick and grout.

[0059] Please see Figure 2 and Figure 3 The second aspect of this application provides an embodiment of a bricklaying device, including: 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 drive module 200 and the extraction component 300;

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

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

[0063] Extraction component 300 is used to extract and place bricks;

[0064] The control module is electrically connected to the displacement drive module 200 and the extraction component 300 respectively, and is used to control the movement of the displacement drive module 200 and the extraction component 300 according to any of the above-mentioned 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 and vertical frames, and a storage platform 400 can also be set on the base frame 100 for storing bricks. In the displacement drive module 200, the lifting drive mechanism 210, the lateral drive mechanism 220, and the forward drive mechanism 230 can all be composed of a motor in conjunction with a chain, gear, and rack, thereby driving the extraction component 300 to move up and down, laterally, and left and right to complete the clamping of bricks and the wall-building action.

[0066] In this invention, the automatic extraction and placement of bricks is achieved through the cooperation of the displacement drive module 200 and the extraction component 300, reducing reliance on manual labor and improving the automation level of bricklaying operations. The displacement drive module 200 can quickly and accurately control the movement of the extraction component 300, enabling the bricks to be placed quickly in the preset position, significantly improving construction efficiency. By controlling the drive components through the control module, the precise extraction, placement, and movement of bricks are achieved, enhancing the adhesion between the bricks and the mortar and improving the quality of wall construction.

[0067] Specifically, to flexibly adapt to construction needs, a lifting drive mechanism 210 is mounted on the base frame 100. The lifting drive mechanism 210 is connected to a lateral movement drive mechanism 220 to drive the lateral movement drive mechanism 220 up and down. The lateral movement drive mechanism 220 is connected to a forward movement drive mechanism 230 to drive the forward movement drive mechanism 230 to move laterally along the extension direction of the wall. The forward movement drive mechanism 230 is connected to an extraction assembly 300 to drive the extraction assembly 300 to move left and right on both sides along the extension direction of the wall. The coordinated operation of the lifting drive mechanism, the lateral movement drive mechanism 220, and the forward movement drive mechanism 230 enables continuous and efficient bricklaying operations.

[0068] Specifically, in order to securely grip the brick material, the extraction component 300 consists 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 move closer or further apart to grip or place the brick material.

[0069] A third aspect of this application provides a computer-readable storage medium 620, on which a computer program is stored. When the program is executed by a processor 610, it implements any of the bricklaying methods described above. The memory can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM), etc.

[0070] The fourth aspect of this application provides a processor 610 for running a program, which executes any of the bricklaying methods described above. The processor 610 can be implemented using a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits to execute the relevant program.

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

[0072] See also Figure 4 The control system can be any intelligent terminal, including a central computer and remote device terminal computers. 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, processor 610, input / output interface 630, and communication interface 640 are connected via the bus 650.

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

[0074] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for building a wall, characterized in that, The method is applied to a bricklaying device, which includes a displacement driving module and an extraction component; the method includes: The extraction component picks up the brick material, and the displacement driving module drives the extraction component to move the brick material to the first brick placement position. The bricks are moved back and forth multiple times along the left and right sides of the wall. Return the bricks to the first brick placement position, and press the bricks down along the height direction to the second brick placement position; The process of moving the bricks back and forth multiple times along the left and right directions of the wall includes a first reciprocating process and a second reciprocating process performed sequentially. The first reciprocating process includes multiple first reciprocating actions performed sequentially. The first reciprocating action includes moving the brick from the first brick placement position to the left by a first grouting distance and then returning it to the first brick placement position, and then moving it from the first brick placement position to the right by a first grouting distance and then returning it to the first brick placement position. The second reciprocating process includes multiple second reciprocating actions performed sequentially. The second reciprocating action includes moving the brick material to the left of the first brick placement position by a second grouting distance and then returning it to the first brick placement position, and then moving it to the right of the first brick placement position by a second grouting distance and then returning it to the first brick placement position.

2. The bricklaying method according to claim 1, characterized in that, Both the first grouting distance and the second grouting distance are less than half the width of the brick.

3. The bricklaying method according to claim 1, characterized in that, The first grouting distance is the same for each first reciprocating motion, and the second grouting distance is the same for each second reciprocating motion, with the first grouting distance being less than the second grouting distance.

4. A wall-building method according to claim 1, characterized in that, In multiple reciprocating motions, the distance of the first grout application gradually increases until it reaches the first terminal distance; in multiple reciprocating motions, the distance of the second grout application gradually decreases until it reaches the second terminal distance; the distance of the first grout application in the last reciprocating motion is the same as the distance of the second grout application in the first reciprocating motion.

5. A bricklaying device, characterized in that, include: Base frame, displacement drive module, extraction components and control module; The base frame is used to support the displacement drive module and the extraction component; The displacement drive module is mounted on the base frame and includes 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 component is used to extract and place the brick material; The control module is electrically connected to the displacement driving module and the extraction component respectively, and is used to control the movement of the displacement driving module and the extraction component to complete the wall construction work according to the wall construction method as described in any one of claims 1-4.

6. A bricklaying device according to claim 5, characterized in that, A lifting drive mechanism is mounted on the base frame and is connected to the transverse drive mechanism to drive the transverse drive mechanism to move up and down. The lateral drive mechanism is connected to the forward drive mechanism to drive the forward drive mechanism to move laterally along the extension direction of the wall; The forward drive mechanism is connected to the extraction component to drive the extraction component to move left and right on both sides along the extension direction of the wall.

7. A bricklaying device according to claim 5, characterized in that, The extraction component consists of a first clamping plate, a second clamping plate, and a driver. The driver drives the connection between the first clamping plate and / or the second clamping plate, so that the first clamping plate and the second clamping plate move closer or further apart to clamp or place bricks.

8. A computer-readable storage medium, characterized in that, The medium stores a computer program that, when executed by a processor, implements the bricklaying method as described in any one of claims 1-4.

9. A processor, characterized in that, The processor is used to run a program, which, when running, performs the bricklaying method as described in any one of claims 1-4.

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