Wall building robot and wall building method

Abstract

The invention discloses a wall building robot and a wall building method, and the wall building robot comprises a brick taking trolley part which is used for carrying brick piles, conveying the brick piles to a construction position and conveying bricks to a certain construction height; the wall building trolley part is in butt joint with the brick taking trolley part and is used for carrying out wall building operation at a designated construction position; wherein the brick taking trolley part comprises a brick carrying table part, a brick delivery part, a brick taking trolley chassis part and a mortar barrel part; the wall building trolley part comprises a three-level lifting part, a mechanical arm part, a mortar spraying arm part, a mortar scraping arm part, a brick cutting part and a wall building trolley chassis part. Through cooperative work of the brick taking trolley part and the wall building trolley part, the device can work more flexibly and conveniently, and meanwhile the construction efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of building construction, and in particular relates to a wall-building robot and a wall-building method. Background Art

[0002] With the rapid development of the construction industry, wall masonry, as a key link in construction, still generally relies on traditional manual masonry methods. Manual masonry requires workers to lay bricks one by one, adjust the alignment, and manually apply mortar. Although this method has been widely used in construction projects in the past, it has also exposed many problems. First, the labor intensity of manual masonry is extremely high. Especially for high-rise buildings and large-scale projects, workers' long-term work is not only inefficient, but also easy to cause fatigue, increasing construction safety risks. Secondly, since the operation depends entirely on the experience of workers, it is difficult to maintain consistent construction quality, and problems such as uneven joints and uneven walls often occur, affecting the overall beauty and structural stability of the building. In order to solve these problems, masonry robots have gradually been introduced as an automated construction equipment. Masonry robots can achieve continuous and precise wall masonry work by integrating functions such as automatic grasping, brick conveying, precise placement, and automatic mortar coating. However, there are some technical limitations of masonry robots on the market, such as inefficient brick conveying systems, insufficient uniformity of mortar application, and insufficient operational flexibility, especially when dealing with bricks of different sizes and shapes, and low adjustment efficiency. Therefore, improvements in the degree of automation, equipment coordination, and flexible adaptability of the masonry robot system in different construction environments have become the focus of current technical research, aiming to better meet the needs of modern buildings for efficient, safe, and intelligent masonry construction by optimizing equipment design and improving operating accuracy and construction efficiency. Summary of the invention

[0003] In view of the defects of the above-mentioned prior art, the purpose of the present invention is to provide a wall-building robot. The brick-taking trolley part and the wall-building trolley part work together to make the device work more flexible and convenient, while improving the construction efficiency.

[0004] Another object of the present invention is to provide a wall-building method using the above-mentioned wall-building robot, which integrates multiple advanced design and automation technologies, not only improves the efficiency and safety of wall-building operations, but also significantly improves the construction quality, and has good market prospects and application value.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical measures: a wall-building robot, comprising:

[0006] The brick trolley is used to carry brick stacks to the construction site and to deliver bricks to a certain construction height;

[0007] The wall-laying trolley part is docked with the brick-taking trolley part and is used for carrying out wall-laying operations at a designated construction location.

[0008] Optionally, the brick-taking trolley part includes:

[0009] The brick loading platform is arranged on the chassis of the brick-taking trolley, and includes a brick-taking platform, a brick stack clamping part and a brick loading platform hydraulic lifting part, and is used to fork the brick stack into the trolley and transport the brick stack;

[0010] The brick delivery part is arranged on the chassis part of the brick-taking trolley and is located above the brick-carrying platform after extending on one side. It includes a brick pushing part and a high-altitude brick delivery part, which is used to deliver bricks layer by layer to a high place so that the wall-building trolley part can take bricks;

[0011] The chassis part of the brick-taking trolley is the power unit of the brick-taking trolley;

[0012] The mortar barrel part is arranged on the chassis part of the brick-taking trolley and is located behind the brick-carrying platform part, and is used for providing mortar for wall construction.

[0013] Furthermore, the brick-taking platform part includes a brick-carrying platform, a lifting fork part and a lifting fork transmission part. The lifting fork part includes a lifting fork, a lifting slot, a universal wheel, a slide rail, a lifting link a, a central axis, a sliding shaft and a long hydraulic cylinder. The lifting fork is connected to the lifting link a through the sliding shaft, and the lifting slot is connected to the brick-carrying platform through the slide rail. The universal wheel is installed under the lifting slot, and the upper and lower ends of the slide rail are respectively connected to the lifting slot and the brick-carrying platform. The lifting link a, the central axis, the sliding shaft and the long hydraulic cylinder constitute a scissor-type lifting device inside the lifting fork part;

[0014] The lifting fork transmission part includes a transmission connecting part a, a ball bearing seat, a stepper motor a, a motor transmission part a, a screw a and a screw support seat. The two ends of the transmission connecting part a are respectively connected to the lifting fork part, and the bottom is connected to the ball bearing seat; the ball bearing seat is installed on the screw a, and the stepper motor a and the screw support seat are both installed on the brick carrier. The screw a is installed on the screw support seat through a bearing and is connected to the output shaft of the motor transmission part a.

[0015] Furthermore, the brick stack clamping part includes an upper connecting plate, a side connecting plate, a fixed plate, a brick stack clamp, an electric push rod, a lower connecting plate, a sliding sleeve and a sliding rod, wherein the upper connecting plate, the lower connecting plate, the side connecting plate and the fixed plate are connected to each other, and the fixed plate is connected to the chassis of the brick-taking trolley; the brick stack clamp is connected to the sliding rod through a sliding sleeve, and both ends of the sliding rod are installed on the side connecting plates, and the electric push rod is installed on the fixed plate, and its output shaft is connected to the brick stack clamp;

[0016] The hydraulic lifting part of the brick carrier includes a lifting connecting plate, an I-beam a, a rail wheel, a hydraulic cylinder a, a chain fixing a, a sprocket a, a sprocket b and a chain fixing b. The two ends of the lifting connecting plate are respectively connected to the brick carrier and the rail wheel. The I-beam a is installed between the upper connecting plate and the lower connecting plate; the hydraulic cylinder a is installed on the lower connecting plate, and the chain fixing a and the sprocket b are installed at the lower end of the upper connecting plate; the sprocket a is installed on the upper end of the hydraulic cylinder a through a connecting rod, and the chain fixing b is installed on the lifting connecting plate.

[0017] Furthermore, the brick delivery part includes a brick pushing part and a high-altitude brick delivery part. The brick pushing part includes a brick pushing bottom plate, a slide rail a, a screw rod b, a stepper motor b, a slider a and a brick pushing plate a. The bottom of the brick pushing bottom plate is installed on the upper connecting plate and the long connecting square steel, and is used to carry the screw rod and screw rail in the brick pushing part; the slide rail a is installed on the brick pushing bottom plate, and the screw rod b is installed on the slide rail a through a bearing and is connected to the output shaft of the stepper motor b; the stepper motor b is installed on one side of the slide rail a, and is used to drive the screw rod b to rotate; the slider a is installed on the screw rod b, and the brick pushing plate a is installed on the slider a, and is used to push bricks;

[0018] The high-altitude brick-delivering part includes a base plate, a long connecting square steel, a lifting base, a hydraulic cylinder b, a lifting connecting rod b, a connecting rod and a brick-setting plate. The base plate is installed on the short connecting square steel and is used to carry other devices in the high-altitude brick-delivering part; the long connecting square steel is installed on the base plate and is used to carry the brick pushing part; the lifting base is installed on the base plate, and the lifting base, hydraulic cylinder b, lifting connecting rod b, connecting rod and brick-setting plate together constitute a scissors-type lifting device in the high-altitude brick-delivering part, which is used to deliver the bricks on the brick-setting plate to the required construction height.

[0019] Furthermore, the chassis part of the brick-taking trolley includes a four-turn four-wheel drive chassis, a battery a and a short connecting square steel. The battery a is installed on the four-turn four-wheel drive chassis to power the brick-taking trolley part. The two ends of the short connecting square steel are respectively connected to the four-turn four-wheel drive chassis and the bottom plate to support the high-altitude brick delivery part.

[0020] The mortar barrel part includes a mortar barrel, a slurry outlet, a stirring paddle, a three-phase motor a and a mortar pump. The mortar barrel is installed on a four-turn four-wheel drive chassis, and the stirring paddle is connected to the three-phase motor a and installed inside the mortar barrel; the three-phase motor a is installed in the lower layer of the mortar barrel, and the three-phase motor a drives the stirring paddle to rotate, so as to stir the mortar in the mortar barrel; the mortar pump is installed on the four-turn four-wheel drive chassis, and its inlet is connected to the paddle outlet through a hose, and its outlet is connected to the mortar nozzle through a hose, so as to pump the mortar to the mortar spraying part.

[0021] Optionally, the wall-building trolley part includes:

[0022] The three-stage lifting part is arranged on the chassis of the wall-building trolley and is used to lift the middle loading board, the side loading board a and the side loading board b to different heights so that the wall-building trolley can carry out wall-building from low to high;

[0023] The mechanical arm part is arranged on the chassis part of the wall-laying trolley and is located in the three-stage lifting part, and is used to take bricks from the brick-carrying platform or the brick-setting board, and then to lay the wall, and can also place the bricks into the brick cutting part;

[0024] A mortar spraying arm part is arranged on the chassis part of the wall-laying trolley and is located on one side of the three-stage lifting part, and is used to spray mortar on the top of the wall in advance before laying bricks;

[0025] The mortar scraping arm part is arranged on the chassis part of the wall-laying trolley and is located on the other side of the three-stage lifting part, and is used to scrape off the excess mortar after the bricks are laid to improve the beauty of the wall surface;

[0026] A brick cutting part, which is arranged on the chassis part of the wall-building trolley and located in the mechanical arm part, is used for cutting bricks;

[0027] The chassis part of the masonry trolley is a power travel unit of the masonry trolley part, and is used to enable the masonry trolley part to carry out uninterrupted masonry work.

[0028] Further, the three-stage lifting part includes an intermediate loading plate, a side loading plate a, a side loading plate b, a first lifting arm, a second lifting arm, a third lifting arm, a chain fixing plate a, a chain fixing plate b, a primary chain, a sprocket c, a cylinder connecting block, a sprocket d, a secondary chain, a hydraulic cylinder c, a primary chain fixing piece a, a secondary chain fixing piece a, a primary chain fixing piece b, a secondary chain fixing piece b, a bottom fixing plate, a lifting connecting block, a track wheel, a top fixing plate and a chain fixing plate c,

[0029] The middle loading plate, the side loading plate a and the side loading plate b are connected to each other through square steel, and are also connected to the lifting connection block through square steel; the first lifting arm, the second lifting arm and the third lifting arm are connected to each other through track wheels; the two first lifting arms are connected through a top fixing plate, and the bottoms of the two third lifting arms are connected through a bottom fixing plate; the chain fixing plate a, the chain fixing plate b and the chain fixing plate c are respectively installed on the outside of the two second lifting arms, the outside of the two third lifting arms and the inside of the two first lifting arms;

[0030] The primary chain fixing member a, the secondary chain fixing member a, the primary chain fixing member b and the secondary chain fixing member b are respectively mounted on the chain fixing plate a, the chain fixing plate b, the intermediate loading plate and the chain fixing plate c; the sprocket c is mounted below the top fixing plate, the cylinder connecting block is mounted above the hydraulic cylinder c and connected to the chain fixing plate a; the sprocket d is respectively mounted on the shafts at both ends of the cylinder connecting block, the bottom of the hydraulic cylinder c is mounted on the bottom fixing plate, the lifting connecting block is connected to the intermediate loading plate, but not to the side loading plate a and the side loading plate b, and the side of the lifting connecting block is connected to the track wheel installed inside the first lifting arm;

[0031] One end of the primary chain is connected to the primary chain fixing member a, passes through the upper end of the sprocket c in the middle, and is connected to the primary chain fixing member b at the other end; the secondary chain is connected to the secondary chain fixing member a, passes through the upper end of the sprocket d in the middle, and is connected to the secondary chain fixing member b at the other end; the hydraulic cylinder c extends out directly through the chain fixing plate a to drive the second lifting arm to rise relative to the third lifting arm, and at the same time, the first lifting arm is driven by the secondary chain to rise relative to the third lifting arm at a speed twice that of the second lifting arm, thereby realizing three-stage lifting; at the same time, the first lifting arm rises at a speed twice that of the second lifting arm, and the middle loading plate, the side loading plate a and the side loading plate b are driven by the primary chain to rise relative to the first lifting arm at the same speed as the second lifting arm; thereby achieving a maximum lifting height of the three loading plates that is close to the sum of the heights of the three lifting arms.

[0032] Furthermore, the mechanical arm part includes a fixed leg, an electric gripper, a long rack slide rail part, a short rack slide rail part and a lifting arm part, wherein the fixed leg is installed on the middle loading plate to support the long rack slide rail part; the electric gripper is installed under the gripper fixing plate to clamp and place bricks; the long rack slide rail part, the short rack slide rail part and the lifting arm part constitute the xyz axis of the mechanical arm, so that the mechanical arm part can work in a space composed of three axes;

[0033] The long rack slide rail part includes a long arm, a slide rail b, a rack a, a slider b, a gear a, a stepper motor e and a connecting seat. The long arm is installed on a fixed leg, two slide rails b are installed at both ends of the long arm, the slider b is installed on the slide rail, and the rack a is installed on the long arm; the gear a is installed on the output shaft of the stepper motor e and meshes with the rack a; the connecting seat is installed on the slider b, and the stepper motor e is installed on the connecting seat; the short rack slide rail part has the same structure as the long rack slide rail part; the short rack slide rail part is installed on the connecting seat, and the stepper motor e drives the connecting seat to move by driving the gear a to rotate;

[0034] The lifting arm part includes a lifting arm, a slide rail c, a slider c, a connecting sleeve, a rack b, a gear b, a stepper motor c and a clamp fixing plate. Three slide rails c and racks b are installed around the lifting arm respectively. The connecting sleeve is installed on the connecting seat of the short rack slide rail part. The gear b is installed on the output shaft of the stepper motor c and meshes with the rack b. The stepper motor c drives the gear b to rotate, thereby driving the lifting arm to rise and fall. The clamp fixing plate is installed at the lower end of the lifting arm for connecting the electric clamp.

[0035] Further, the mortar spraying arm part includes a lifting leg part a, a rack rail part a and a mortar spraying part, the lifting leg part a includes a leg outer tube, a leg inner tube and a hydraulic cylinder d, the leg outer tube is installed on the side loading plate a, the leg inner tube is installed in the leg outer tube, and the top of the leg inner tube is connected to the rack rail part a; the two ends of the hydraulic cylinder d are respectively connected to the leg outer tube and the leg inner tube, and the hydraulic cylinder d controls the lifting of the leg inner tube, thereby controlling the lifting of the mortar spraying part; the rack rail part a has the same structure as the long rack slide rail part;

[0036] The mortar scraping arm part includes a lifting leg part b, a rack rail part b and a mortar scraping part, and the lifting leg part b and the rack rail part b have the same structure and function as the lifting leg part a and the rack rail part a;

[0037] The mortar scraping part includes a connecting block, a screw wire rail a, a scraping arm, an articulated seat, a gas spring and a scraper. The connecting block is installed on the rack rail part b, and the base of the screw wire rail a is installed on the side of the connecting block. The screw wire rail a has the same structure as the screw wire rail in the brick pushing part; the screw wire rail a is used to drive the scraper to move, thereby scraping the mortar; the scraping arm is installed on the screw wire rail a, and the screw wire rail a can drive it to move; the two articulated seats are respectively installed on the scraping arm and the scraper, and the two ends of the gas spring are respectively hinged on the two articulated seats. The scraper is hinged to the scraping arm for scraping off excess mortar.

[0038] Furthermore, the brick cutting part includes a cutting machine fixing frame, a cutting base, a screw wire rail b, a push plate connecting rod, a brick pushing plate b and a cutting saw part, and the cutting saw part includes a motor base, a three-phase motor b, a transmission connecting piece b, a cutting saw shell, a saw blade, an electric saw fixing seat, a solenoid valve and a water spray head. The cutting machine fixing frame is installed on the cutting base for fixing the cutting saw part, and the cutting base is installed on the middle loading plate, and three openings are opened on the upper end thereof, and the upper end is used to place the bricks to be cut; the screw wire rail b has the same structure as the screw wire rail in the brick pushing part; the screw wire rail b is connected to the brick pushing plate b through the push plate connecting rod, and the screw wire rail b drives the brick pushing plate b to move, so as to push the bricks through the cutting saw part to cut the bricks;

[0039] The motor base and the electric saw fixing base are installed at the lower end of the cutting machine fixing frame. The three-phase motor b is installed on the motor base and is used to drive the saw blade. Its output shaft is connected to the saw blade through a transmission connecting piece b; the cutting saw shell is installed on the side of the motor base; the two sides of the saw blade are installed on the electric saw fixing base and the motor base through bearings; the solenoid valve is installed on the electric saw fixing base, and its water inlet is connected to the water source on the construction site with a hose, and its water outlet is connected to the sprinkler head.

[0040] Furthermore, the chassis part of the wall-building trolley includes a loading plate, a crawler chassis part, a slewing bearing part and a hydraulic leg part.

[0041] The crawler chassis part includes an upper loading plate, a lower loading plate, a chassis pillar, a battery b, a reduction motor and a crawler. The upper loading plate is mounted on the chassis pillar and connected to the loading plate; threaded rods are installed at both ends of the chassis pillar, and the chassis pillar is installed between the upper loading plate and the lower loading plate through nuts; the reduction motor is installed on the lower loading plate, and the output shaft of the reduction motor is connected to the crawler for driving the device to move; the crawler is a rubber crawler, and the battery b is fixedly installed on the lower loading plate for powering the device;

[0042] The slewing bearing part comprises a bearing connecting plate, a bearing outer ring, a bearing inner ring, a hydraulic motor, a gear d, an annular rack and a bearing bottom plate. The upper end of the upper loading plate is mounted on the bottom of the loading plate. The bearing outer ring is connected to the bearing connecting plate, the bearing inner ring is connected to the bearing bottom plate, and the bearing outer ring and the bearing inner ring are staggered with each other, which is conducive to the rotation of the slewing bearing part; the annular rack is connected to the bearing connecting plate, the gear d is meshed with the annular rack, and the gear d is connected to the output shaft of the hydraulic motor; the hydraulic motor is mounted on the bearing bottom plate, and its output shaft is connected to the gear d; the hydraulic motor drives the gear d to rotate, and the gear d is meshed with the annular rack, thereby realizing the rotation of the slewing bearing part; the bearing bottom plate is mounted on the upper loading plate;

[0043] The hydraulic outrigger part includes a telescopic steel pipe, a hydraulic push rod, an I-beam b, a hydraulic cylinder e, a spherical joint and an outrigger seat. The telescopic steel pipe is installed at the bottom of the loading plate. The bottom of the hydraulic push rod is installed in the telescopic steel pipe, and the top is connected to the I-beam b for controlling the extension of the I-beam b; the hydraulic cylinder e is installed at the lower end of the I-beam b, and the spherical joint is installed at the top of the output shaft of the hydraulic cylinder e so that the hydraulic outrigger part can be in good contact with the bottom surface; the outrigger seat is connected to the spherical joint. When the crawler chassis part needs to be rotated, the hydraulic push rod pushes out the I-beam b, the hydraulic cylinder e extends, lifts the device, and the crawler chassis part is suspended in the air, and then the crawler chassis part is rotated through the slewing bearing part.

[0044] Accordingly, the present invention also claims protection for a wall-building method using the aforementioned wall-building robot, comprising the following steps:

[0045] S1. Preparation: Check whether battery a and battery b are fully charged, fill the mortar bucket with mortar, connect the discharge port of the mortar pump to the mortar nozzle with a hose, and connect the solenoid valve to the water source on the construction site with a hose;

[0046] S2, taking and delivering bricks: the brick-taking trolley part is moved to the side of the brick pile, the lifting fork transmission part controls the lifting fork part to extend to the bottom of the brick pile, and the lifting fork part then controls the lifting of the lifting fork to lift the brick pile, and then controls the lifting fork part to be retracted through the lifting fork transmission part. After retraction, the lifting fork is slowly lowered to place the brick pile on the brick loading platform; when laying a wall at a low place, one end of the brick loading platform of the brick-taking trolley part is directly directed toward the wall-laying trolley part and close to the wall-laying trolley part, so that the wall-laying trolley part can directly take bricks from the brick pile and follow the wall-laying trolley part to work at the same time;

[0047] S3. High-altitude brick delivery: When building a wall at a high altitude, the high-altitude brick delivery part is directed toward and close to the wall-building trolley part, and the brick pushing part pushes the bricks on the brick pile to the brick placing plate layer by layer; then the bricks on the brick placing plate are delivered to the required construction height through the scissor-type lifting device in the high-altitude brick delivery part;

[0048] S4. The masonry trolley approaches the wall: The masonry trolley moves sideways to approach the wall. After approaching the wall, the hydraulic outriggers lift the device, the crawler chassis is suspended in the air, and then the crawler chassis is rotated through the slewing bearing to start masonry work;

[0049] S5. Walling work: Before spraying mortar, two baffles need to be placed on both sides of the wall, and the mortar nozzle should be kept at an appropriate distance from the top of the wall to start spraying mortar. After spraying, the robot arm part takes bricks from the brick trolley part and places them on the top of the wall that has been sprayed with mortar. If the bricks need to be cut, the robot arm part only needs to place the bricks in the brick cutting part for cutting. After cutting, walling can be carried out. After the bricks are placed, the mortar scraping part will scrape off the excess mortar on the wall.

[0050] Compared with the prior art, the innovations of the present invention are mainly reflected in the following aspects:

[0051] 1. High efficiency: The coordinated work of the brick trolley and the wall-building trolley automates the handling and construction process of bricks and mortar, reduces manual intervention, and improves the overall construction efficiency. The high-altitude brick delivery function of the brick delivery part can quickly deliver bricks layer by layer to the construction height, speeding up the wall-building speed.

[0052] 2. Safety: The brick stack clamping part effectively prevents the brick stack from tilting when moving the brick stack, thereby reducing the risk of injury to surrounding personnel and improving the safety of the construction site. The mortar scraping arm is designed with a spring structure to prevent the scraper from damaging the wall that has not yet dried, ensuring construction quality and safety.

[0053] 3. Construction quality: Even mortar spraying. The mortar spraying part ensures that the mortar can be evenly sprayed on the top of the wall before bricklaying, which improves the bonding effect between bricks and improves the overall quality of the wall. The mortar scraper arm can effectively remove excess mortar after bricklaying, ensuring a smooth and beautiful wall surface and reducing later maintenance costs.

[0054] 4. Flexible adaptation: The crawler chassis can flexibly move in uneven and complex construction site environments, which improves the applicability of the construction equipment and is suitable for a variety of construction scenarios. The three-level lifting part can adjust the loading plate to different heights to adapt to wall construction at different heights, enhancing the flexibility of the equipment.

[0055] 5. Reduced labor costs: The high degree of automation reduces the reliance on manpower, which can effectively solve the problem of insufficient manpower in some construction projects and reduce labor costs. During the construction process, the efficient operation of the equipment can shorten the construction period and further reduce the overall project cost.

[0056] In summary, the present invention not only improves the efficiency and safety of wall-building operations, but also significantly improves the construction quality by integrating multiple advanced design and automation technologies, and has good market prospects and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solution of the present invention, 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 work.

[0058] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0059] Figure 2 This is a schematic diagram of the overall structure of the brick-taking trolley of the present invention;

[0060] Figure 3 This is a schematic diagram of the overall structure of the brick-taking platform of the present invention;

[0061] Figure 4 This is a schematic diagram of the overall structure of the brick carrier of the present invention;

[0062] Figure 5 This is a schematic diagram of the closed structure of the lifting fork of the present invention;

[0063] Figure 6 It is a schematic diagram of the lifting structure of the lifting fork of the present invention;

[0064] Figure 7 It is a schematic diagram of the transmission structure of the lifting fork of the present invention;

[0065] Figure 8 This is a schematic diagram of the structure of the brick stack clamping part of the present invention;

[0066] Fig. 9 This is a schematic diagram of the hydraulic lifting structure of the brick-carrying platform of the present invention;

[0067] Fig.10 It is a schematic diagram of the overall structure of the brick delivery of the present invention;

[0068] Fig.11 This is a schematic diagram of the brick pushing structure of the present invention;

[0069] Fig.12 This is a schematic diagram of the high-altitude brick delivery structure of the present invention;

[0070] Fig.13 This is a schematic diagram of the chassis structure of the brick-taking trolley of the present invention;

[0071] Fig.14 This is an exploded view of the mortar barrel structure of the present invention;

[0072] Fig.15 This is a schematic diagram of the overall structure of the wall-building trolley of the present invention;

[0073] Fig.16 This is a schematic diagram of the three-stage lifting structure of the present invention;

[0074] Fig.17 This is a detailed diagram of the connection of the three-stage lifting chain of the present invention;

[0075] Fig.18 This is a detailed diagram of the bottom of the three-stage lift of the present invention;

[0076] Fig.19 This is a detailed diagram of the lifting connection block connection of the present invention;

[0077] Fig. 20 This is a schematic diagram of the overall structure of the wall-building robot arm of the present invention;

[0078] Fig.21 It is a schematic diagram of the rack slide structure of the present invention;

[0079] Fig. 22 This is a schematic diagram of the lifting arm structure of the present invention;

[0080] Fig.23 This is a schematic diagram of the overall structure of the mortar spraying arm of the present invention;

[0081] Fig.24This is an exploded view of the lifting leg structure of the present invention;

[0082] Fig.25 This is a schematic diagram of the structure of the mortar spraying part of the present invention;

[0083] Fig.26 This is a schematic diagram of the overall structure of the mortar scraping arm of the present invention;

[0084] Fig. 27 This is a schematic diagram of the structure of the mortar scraping part of the present invention;

[0085] Fig.28 This is a schematic diagram of the overall structure of brick cutting of the present invention;

[0086] Fig.29 This is a schematic diagram of the structure of the cutting saw of the present invention;

[0087] Fig.30 It is a schematic diagram of the structure of the water sprinkler of the present invention;

[0088] Fig.31 This is a schematic diagram of the chassis structure of the wall-building trolley of the present invention;

[0089] Fig.32 This is a schematic diagram of the crawler chassis structure of the present invention;

[0090] Fig.33 It is a schematic diagram of the slewing bearing structure of the present invention;

[0091] Fig.34 It is a schematic diagram of the structure of the hydraulic outrigger of the present invention.

[0092] Description of reference numerals:

[0093] 10000- Brick trolley part:

[0094] 11000-Brick platform part:

[0095] 11100-Brick taking platform part:

[0096] 11101-Brick loading platform

[0097] 11110-Lifting fork part:

[0098] 11111-lifting fork; 11112-lifting slot; 11113-universal wheel; 11114-slide rail; 11115-lifting connecting rod a; 11116-center axis; 11117-sliding axis; 11118-long hydraulic cylinder;

[0099] 11120-Lifting fork transmission part:

[0100] 11121-transmission connecting piece a; 11122-ball bearing seat; 11123-stepping motor a; 11124-motor transmission piece a; 11125-screw a; 11126-screw support seat;

[0101] 11200-Brick stack clamping part:

[0102] 11201-upper connecting plate; 11202-side connecting plate; 11203-fixing plate; 11204-brick stack clamp; 11205-electric push rod; 11206-lower connecting plate; 11207-sliding sleeve; 11208-sliding rod;

[0103] 11300-Hydraulic lifting part of brick platform:

[0104] 11301-lifting connecting plate; 11302-I-beam a; 11303-rail wheel; 11304-hydraulic cylinder a; 11305-chain fixing part a; 11306-sprocket a; 11307-sprocket b; 11308-chain fixing part b;

[0105] 12000-Brick Delivery Section:

[0106] 12100-Brick push part:

[0107] 12101-brick pushing bottom plate; 12102-slide rail a; 12103-screw rod b; 12104-stepping motor b; 12105-slider a; 12106-brick pushing plate a;

[0108] 12200- High-altitude brick delivery part:

[0109] 12201-bottom plate; 12202-long connecting square steel; 12203-lifting base; 12204-hydraulic cylinder b; 12205-lifting connecting rod b; 12206-connecting rod; 12207-brick plate;

[0110] 13000-Chassis of brick-taking trolley:

[0111] 13001-4x4 chassis; 13002-battery a; 13003-short connection square steel;

[0112] 14000-Mortar barrel part:

[0113] 14001- mortar barrel; 14002- mortar outlet; 14003- stirring paddle; 14004- three-phase motor a; 14005- mortar pump;

[0114] 20000-Bricklaying trolley part:

[0115] 21000-Three-level lifting part:

[0116] 21001-middle loading plate; 21002-side loading plate a; 21003-side loading plate b; 21004-first lifting arm; 21005-second lifting arm; 21006-third lifting arm; 21007-chain fixing plate a; 21008-chain fixing plate b; 21009-primary chain; 21010-sprocket c; 21011-cylinder connecting block; 21012-sprocket d ; 21013-secondary chain; 21014-hydraulic cylinder c; 21015-primary chain fixing a; 21016-secondary chain fixing a; 21017-primary chain fixing b; 21018-secondary chain fixing b; 21019-bottom fixing plate; 21020-lifting connection block; 21021-track wheel; 21022-top fixing plate; 21023-chain fixing plate c;

[0117] 22000-Robotic arm part:

[0118] 22100-Long rack slide rail part:

[0119] 22101-long arm; 22102-slide rail b; 22103-rack a; 22104-slider b; 22105-gear a; 22106-stepping motor e; 22107-connecting seat;

[0120] 22200- short rack slide rail part; 22001- fixed leg; 22002- electric gripper;

[0121] 22300-Lifting arm part:

[0122] 22301-lifting arm; 22302-slide rail c; 22303-slider c; 22304-connecting sleeve; 22305-rack b; 22306-gear b; 22307-stepping motor c; 22308-claw fixing plate;

[0123] 23000-Mortar spraying arm part:

[0124] 23100-Lifting Legs Part A:

[0125] 22101-outrigger outer tube; 22102-outrigger inner tube; 22103-hydraulic cylinder d;

[0126] 23200- rack rail part a;

[0127] 23300-Mortar spraying part:

[0128] 23301-spraying base; 23302-stepping motor d; 23303-slide rail d; 23304-slider d; 23305-rack c; 23306-gear c; 23307-baffle; 23308-mortar nozzle;

[0129] 24000-Mortar scraper arm section:

[0130] 24100-lifting leg part b; 24200-rack rail part b;

[0131] 24300-Mortar scraping part:

[0132] 24301-connecting block; 24302-screw rod and wire rail a; 24303-scraping arm; 24304-hinged seat; 24305-gas spring; 24306-scraper;

[0133] 25000-Brick cutting part:

[0134] 25001-cutting machine fixing frame; 25002-cutting base; 25003-screw and wire rail b; 25004-push plate connecting rod; 25005-brick push plate b;

[0135] 25100- Cutting saw part:

[0136] 25101-motor base; 25102-three-phase motor b; 25103-transmission connector b; 25104-cutting saw shell; 25105-saw blade; 25106-electric saw fixing seat; 25107-solenoid valve; 25108-water sprinkler head;

[0137] 26000-Bricklaying trolley chassis:

[0138] 26001-carrier plate;

[0139] 26100- Track chassis part:

[0140] 26101-upper loading board; 26102-lower loading board; 26103-chassis support; 26104-battery b; 26105-reduction motor; 26106-track;

[0141] 26200-Slewing bearing part:

[0142] 26201-bearing connecting plate; 26202-bearing outer ring; 26203-bearing inner ring; 26204-hydraulic motor; 26205-gear d, 26206-annular rack; 26207-bearing bottom plate;

[0143] 26300-Hydraulic outrigger part:

[0144] 26301-telescopic steel pipe; 26302-hydraulic push rod; 26303-I-beam b; 26304-hydraulic cylinder e; 26305-ball joint; 26306-outrigger seat.

[0145] Implementation Method

[0146] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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.

[0147] like Figure 1 As shown, a wall-building robot provided by the present invention is composed of a brick-taking trolley part 10000 and a wall-building trolley part 20000. The brick-taking trolley part 10000 is used to carry brick piles and deliver them to the construction site and deliver bricks to a certain construction height. The wall-building trolley part 20000 can perform wall-building operations at a designated construction site. The cooperation of the brick-taking trolley part 10000 and the wall-building trolley part 20000 can make the device work more flexible and convenient, while improving the construction efficiency.

[0148] like Figure 2 As shown, the brick-taking trolley part 10000 of the present invention is composed of four parts: a brick-carrying platform part 11000, a brick-delivering part 12000, a brick-taking trolley chassis part 13000 and a mortar bucket part 14000. The brick-carrying platform part 11000 is used to fork the brick pile into the trolley and to carry the brick pile. When the wall height is not high, the wall-building trolley part 20000 can directly take bricks on the brick-carrying platform part 11000; when the wall height exceeds the height of the brick-pushing bottom plate 12101, the brick-delivering part 12000 is required to deliver the bricks layer by layer to a high place to facilitate the wall-building trolley part 20000 to take bricks. The brick-taking trolley chassis part 13000 is the power unit of the brick-taking trolley part 10000. The mortar bucket part 14000 is used to provide mortar to the mortar spraying part 23300 for use in wall-building.

[0149] like Figure 3 As shown, the brick platform part 11000 of the present invention is composed of a brick taking platform part 11100, a brick stack clamping part 11200 and a brick platform hydraulic lifting part 11300. Among them, the brick taking platform part 11100 is used to take and place bricks. The brick stack clamping part 11200 is used to clamp the brick stack when transporting the brick stack to prevent the brick stack from tilting and causing harm to the surrounding personnel. The brick platform hydraulic lifting part 11300 is used to lift and lower the brick taking platform part 11100.

[0150] like Figure 4 As shown, the brick-taking platform 11100 of the present invention is composed of a brick-carrying platform 11101, a lifting fork part 11110 and a lifting fork transmission part 11120. The brick-carrying platform 11101 is used to carry a brick pile. The lifting fork part 11110 is used to fork the brick pile onto the brick-carrying platform 11101. The lifting fork transmission part 11120 is used to control the extension and retraction of the lifting fork part 11110.

[0151] like Figure 5 , Figure 6 As shown, the lifting fork part 11110 of the present invention is composed of a lifting fork 11111, a lifting slot 11112, a universal wheel 11113, a slide rail 11114, a lifting link a11115, a central shaft 11116, a sliding shaft 11117 and a long hydraulic cylinder 11118. The lifting fork 11111 is connected to the lifting link a11115 through the sliding shaft 11117, and is used to fork the brick pile. The lifting slot 11112 is fixed to the brick platform 11101 through the slide rail 11114, and is used to install the scissor-type lifting device in the lifting fork part 11110. The universal wheel 11113 is fixedly installed below the lifting slot 11112. When the lifting fork part 11110 is extended, the universal wheel 11113 can help bear the gravity of the brick pile, thereby making the brick pile fork more stable. The upper and lower ends of the slide rail 11114 are respectively fixed to the lifting groove 11112 and the brick platform 11101, which can make the lifting fork part 11110 extend and retract more smoothly. The lifting link a11115, the central axis 11116, the sliding shaft 11117 and the long hydraulic cylinder 11118 constitute the scissor-type lifting device inside the lifting fork part 11110, wherein the sliding rod 11117 is respectively installed on the bottom of the lifting fork 11111 and the lifting groove 11112, the two ends of the lifting link a11115 are fixed on the sliding shaft 11117, and the center is connected through the central axis 11116, and the two ends of the long hydraulic cylinder 11118 are respectively connected to the sliding shaft 11117. The extension and contraction of the long hydraulic cylinder 11118 drives the sliding shaft 11117 to slide at the bottom of the lifting fork 11111 and the lifting groove 11112, thereby realizing the lifting and lowering of the lifting fork 11111.

[0152] like Figure 7As shown, the lifting fork transmission part 11120 of the present invention is composed of a transmission connector a11121, a ball bearing seat 11122, a stepper motor a11123, a motor transmission part a11124, a screw a11125 and a screw support seat 11126. The two ends of the transmission connector a11121 are respectively fixedly connected to the side arms of the lifting slot 11112 in the lifting fork part 11110, and the bottom is fixed to the ball bearing seat 11122. The ball bearing seat 11122 is installed on the screw a11125. The stepper motor a11123 and the screw support seat 11126 are both fixed on the brick platform 11101, and the screw a11125 is fixed on the screw support seat 11126 through a bearing, and is connected to the output shaft of the motor transmission part a11124. The stepper motor a11123 drives the screw a11125 to rotate through the motor transmission part a11124, thereby controlling the ball bearing seat 11122 to move on the screw, and then controlling the extension and retraction of the lifting fork part 11110 through the transmission connecting part a11121. The process of taking bricks from the turntable part 11100 of the present invention is as follows: the lifting fork transmission part 11120 controls the lifting fork part 11110 to extend below the brick pile, and the lifting fork part 11110 then controls the lifting of the lifting fork 11111 to lift the brick pile, and then controls the lifting fork part 11110 to retract through the lifting fork transmission part 11120. After retraction, the lifting fork 11111 slowly descends to place the brick pile on the brick loading platform 11101.

[0153] like Figure 8 As shown, the brick stack clamping part 11200 of the present invention is composed of an upper connecting plate 11201, a side connecting plate 11202, a fixed plate 11203, a brick stack clamp 11204, an electric push rod 11205, a lower connecting plate 11206, a sliding sleeve 11207 and a sliding rod 11208. The upper connecting plate 11201, the lower connecting plate 11206, the side connecting plate 11202 and the fixed plate 11203 are welded and fixed to each other, and the fixed plate 11203 is fixed to the chassis 13000 of the brick retrieval trolley, so that the brick loading platform part 11000 is directly fixed to the chassis part 13000 of the brick retrieval trolley. The brick stack clamp 11204 is connected to the sliding rod 11208 through the sliding sleeve 11207. The two ends of the slide bar 11208 are fixed on the side connecting plate 11202, the electric push rod 11205 is fixed on the fixed plate 11203, and its output shaft is fixed to the brick pile clamp 11204. The electric push rod 11205 can control the brick pile clamp 11204 to slide on the slide bar 11208 by extension, so as to clamp the brick pile. Before taking bricks, the brick pile clamp 11204 is controlled to open; after taking bricks, the brick pile clamp 11204 is controlled to clamp the brick pile to prevent the brick pile from tilting during the transportation process and causing harm to the surrounding personnel.

[0154] like Fig. 9As shown, the hydraulic lifting part 11300 of the brick carrier of the present invention is composed of a lifting connecting plate 11301, an I-beam a11302, a rail wheel 11303, a hydraulic cylinder a11304, a chain fixing part a11305, a sprocket a11306, a sprocket b11307 and a chain fixing part b11308. The two ends of the lifting connecting plate 11301 are fixed to the brick carrier 11101 and the rail wheel 11303 respectively. The I-beam a11302 is welded and fixed between the upper connecting plate 11201 and the lower connecting plate 11206. The hydraulic cylinder a11304 is fixed on the lower connecting plate 11206. The chain fixing part a11305 and the sprocket b11307 are fixed to the lower end of the upper connecting plate 11201. The sprocket a11306 is fixed to the upper end of the hydraulic cylinder a11305 through a connecting rod. The chain fixing b11308 is fixed on the lifting connecting plate 11301. The chain is connected in the following manner: one end is connected to the chain fixing a11305, passes under the sprocket a11306, and then passes over the top of the sprocket b11307, and the other end of the chain is fixed to the chain fixing b11308; after such connection, when the hydraulic cylinder a11304 contracts downward, the chain will drive the lifting connecting plate 11301 to rise, and vice versa, it will fall; thereby realizing the control of the lifting and lowering of the brick-carrying platform part 11100.

[0155] like Fig.10 As shown, the brick delivery part 12000 of the present invention is composed of a brick pushing part 12100 and a high-altitude brick delivery part 12200. The brick pushing part 12100 is used to push the bricks on the brick platform part 11100 to the high-altitude brick delivery part 12200. The high-altitude brick delivery part 12200 can deliver bricks layer by layer to the construction height when the device is used for high-rise wall construction.

[0156] like Fig.11As shown, the brick pushing part 12100 of the present invention is composed of a brick pushing bottom plate 12101, a slide rail a12102, a screw rod b12103, a stepping motor b12104, a slider a12105 and a brick pushing plate a12106. The bottom of the brick pushing bottom plate 12101 is fixed on the upper connecting plate 11201 and the long connecting square steel 12202, and is used to carry the screw rod and the screw rail in the brick pushing part 12100. The slide rail a12102 is fixed on the brick pushing bottom plate 12101; the screw rod b12103 is fixed on the slide rail a12102 through a bearing, and is fixed to the output shaft of the stepping motor b12104. The stepping motor b12104 is fixed on one side of the slide rail a12102, and is used to drive the screw rod b12103 to rotate. The slider a12105 is installed on the screw rod b12103. The brick pushing plate a12106 is fixedly mounted on the slider a12105 and is used for pushing bricks. The stepping motor b12104 drives the screw rod b12103 to rotate, thereby driving the slider a12105 and the brick pushing plate a12106 to move, thereby pushing bricks from the brick pile to the brick placing plate 12207.

[0157] like Fig.12 As shown, the high-altitude brick delivery part 12200 of the present invention is composed of a bottom plate 12201, a long connecting square steel 12202, a lifting base 12203, a hydraulic cylinder b12204, a lifting connecting rod b12205, a connecting rod 12206 and a brick placing plate 12207. The bottom plate 12201 is fixedly welded on the short connecting square steel 13003 and is used to carry other devices in the high-altitude brick delivery part 12200. The long connecting square steel 12202 is fixed on the bottom plate 12201 and is used to carry the brick pushing part 12100. The lifting base 12203 is fixed on the bottom plate 12201. The lifting base 12203, hydraulic cylinder b12204, lifting connecting rod b12205, connecting rod 12206 and brick-setting plate 12207 together constitute a scissor-type lifting device in the high-altitude brick-feeding part 12200, which is used to deliver the bricks on the brick-setting plate 12207 to the required construction height. The connecting rod 12206 is fixed to the lifting base 12203 and the lower end of the brick-setting plate 12207, and is also fixedly installed on the two ends and the central axis of the lifting connecting rod b12205, connecting multiple groups of lifting connecting rods b12205, and the two ends of the hydraulic cylinder b12204 are fixed to the lifting base 12203 and the connecting rod 12206 respectively.

[0158] like Fig.13As shown, the chassis part 13000 of the brick-taking trolley of the present invention is composed of a four-turn four-wheel drive chassis 13001, a battery a13002 and a short connecting square steel 13003. The four-turn four-wheel drive chassis 13001 can realize omnidirectional steering, making the brick-taking trolley part 10000 more flexible, and can also realize lateral walking, thereby realizing the operation of following the wall-laying trolley part 20000. The battery a13002 is fixed to the upper end of the four-turn four-wheel drive chassis 13001 to supply power to the brick-taking trolley part 10000. The two ends of the short connecting square steel 13003 are respectively fixed to the four-turn four-wheel drive chassis 13001 and the bottom plate 12201, and are used to support the high-altitude brick delivery part 12200.

[0159] like Fig.14 As shown, the mortar barrel part 14000 of the present invention is composed of a mortar barrel 14001, a mortar outlet 14002, a stirring paddle 14003, a three-phase motor a14004 and a mortar pump 14005. The mortar barrel 14001 is fixed on the four-turn four-wheel drive chassis 13001, and is used to store the mortar required for wall construction. The stirring paddle 14003 is fixed to the three-phase motor a14004 and is fixed inside the mortar barrel 14001. The three-phase motor a14004 is fixed to the lower layer of the mortar barrel 14001, and the three-phase motor a14004 drives the stirring paddle 14003 to rotate, which is used to stir the mortar in the mortar barrel 14001 to keep it in a uniformly mixed state, so as to improve the quality of the wall to be built. The mortar pump 14005 is fixed on the four-turn four-wheel drive chassis 13001, and its inlet is connected to the paddle outlet 14002 through a hose, and its outlet is connected to the mortar nozzle 23308 through a hose, and is used to pump mortar to the mortar spraying part 23300.

[0160] like Fig.15 As shown, the wall-laying trolley part 20000 of the present invention is composed of a three-stage lifting part 21000, a mechanical arm part 22000, a mortar spraying arm part 23000, a mortar scraping arm part 24000, a brick cutting part 25000 and a wall-laying trolley chassis part 26000. The three-stage lifting part 21000 is used to lift the middle loading plate 21001, the side loading plate a21002 and the side loading plate b21003 to different heights, so that the wall-laying trolley part 20000 can lay walls from low to high. The mechanical arm part 22000 can take bricks from the brick platform 11101 or the brick placing plate 12207, and then lay walls, and can also place bricks in the brick cutting part 25000. The mortar spraying arm part 23000 is used to spray mortar on the top of the wall in advance before laying bricks. The mortar scraping arm part 24000 is used to scrape off excess mortar after bricklaying to improve the appearance of the wall surface. The brick cutting part 25000 is used to cut bricks. The masonry trolley chassis part 26000 is a power travel unit of the masonry trolley part 20000, which can enable the masonry trolley part 2000 to carry out uninterrupted masonry work.

[0161] like Fig.16 , Fig.17 , Fig.18 , Fig.19As shown, the three-stage lifting part 21000 of the present invention is composed of a middle loading plate 21001, a side loading plate a21002, a side loading plate b21003, a first lifting arm 21004, a second lifting arm 21005, a third lifting arm 21006, a chain fixing plate a21007, a chain fixing plate b21008, a primary chain 21009, a sprocket c21010, a cylinder connecting block 21011, a sprocket d21012, a secondary chain 21013, a hydraulic cylinder c21014, a primary chain fixing piece a21015, a secondary chain fixing piece a21016, a primary chain fixing piece b21017, a secondary chain fixing piece b21018, a bottom fixing plate 21019, a lifting connecting block 21020, a track wheel 21021, a top fixing plate 21022 and a chain fixing plate c21023. The middle loading plate 21001, the side loading plate a21002 and the side loading plate b21003 are connected to each other through square steel, and are also welded and fixed to the lifting connection block 21020 through the square steel; the middle loading plate 21001 is used to carry the mechanical arm part 22000 and the brick cutting part 25000; the side loading plate a21002 is used to carry the mortar spraying arm part 23000; the side loading plate b21003 is used to carry the mortar scraping arm part 24000. The first lifting arm 21004, the second lifting arm 21005 and the third lifting arm 21006 are connected to each other through the track wheel 21021, and can slide with each other; in addition, the two first lifting arms 21004 are connected to each other through the top fixing plate 21022; the bottoms of the two third lifting arms 21006 are connected through the bottom fixing plate 21019. Chain fixing plate a21007, chain fixing plate b21008 and chain fixing plate c21023 are respectively fixed on the outer sides of the two second lifting arms 21005, the outer sides of the two third lifting arms 21006 and the inner sides of the two first lifting arms 21004. The primary chain fixing member a21015, the secondary chain fixing member a21016, the primary chain fixing member b21017 and the secondary chain fixing member b21018 are respectively fixed on the chain fixing plate a21007, the chain fixing plate b21008, the intermediate loading plate 21001 and the chain fixing plate c21023. The sprocket c21010 is fixed on the lower end of the top fixing plate 21022. The oil cylinder connecting block 21011 is fixed on the upper end of the hydraulic oil cylinder c21014 and is fixed to the chain fixing plate a21007. The sprocket d21012 is respectively fixed to the shafts at both ends of the cylinder connection block 21011. The bottom of the hydraulic cylinder c21014 is fixed to the bottom fixing plate 21019. The lifting connection block 21020 is fixed to the middle loading plate 21001, but not to the side loading plate a21002 and the side loading plate b21003. At the same time, the side of the lifting connection block 21020 is fixed to the track wheel installed inside the first lifting arm 21004.One end of the primary chain 21009 is fixed to the primary chain fixing part a21015, the middle part passes through the upper end of the sprocket c21010, and the other end is fixed to the primary chain fixing part b21017. The secondary chain 21013 is fixed to the secondary chain fixing part a21016, the middle part passes through the upper end of the sprocket d21012, and the other end is fixed to the secondary chain fixing part b21018. The lifting process of the three-stage lifting part: the hydraulic cylinder c21014 extends directly through the chain fixing plate a21007 to drive the second lifting arm 21005 to rise relative to the third lifting arm 21006; at the same time, the first lifting arm 21004 is driven by the secondary chain 21013 to rise relative to the third lifting arm 21006 at a speed twice that of the second lifting arm 21005; thereby achieving stable three-stage lifting. In addition, since the first lifting arm 21004 rises at a speed twice that of the second lifting arm 21005, the middle loading plate 21001, the side loading plate a21002 and the side loading plate b21003 will rise relative to the first lifting arm 21004 at the same speed as the second lifting arm 21005 under the drive of the primary chain 21009; thereby achieving a maximum lifting height of the three loading plates that is close to the sum of the heights of the three lifting arms.

[0162] like Fig. 20 As shown, the robot arm part 22000 of the present invention is composed of a fixed leg 22001, an electric gripper 22002, a long rack slide rail part 22100, a short rack slide rail part 22200 and a lifting arm part 22300. The fixed leg 22001 is fixedly mounted on the intermediate loading plate 21001, and is used to support the long rack slide rail part 22100. The electric gripper 22002 is fixed at the lower end of the gripper fixing plate 22308, and is used to clamp and place bricks. The long rack slide rail part 22100, the short rack slide rail part 22200 and the lifting arm part 22300 constitute the xyz axis of the robot arm, so that the robot arm part 22000 can work in a space composed of three axes.

[0163] like Fig.21As shown, the long rack rail part 22100 of the present invention is composed of a long arm 22101, a slide rail b22102, a rack a22103, a slider b22104, a gear a22105, a stepper motor e22106 and a connecting seat 22107. The long arm 22101 is fixedly mounted on the fixed leg 22001. The two slide rails b22102 are fixedly mounted at both ends of the long arm 22101. The slider b22104 is mounted on the slide rail 22102. The rack a22103 is fixedly mounted on the long arm 22101. The gear a22105 is fixed on the output shaft of the stepper motor e22106 and meshes with the rack a22103. The connecting seat 22107 is fixed on the slider b22104. The stepper motor e22106 is fixedly mounted on the connecting seat 22107. The short rack rail part 22200 has the same structure as the long rack rail part 22100, and will not be described in detail; the short rack rail part 22200 is fixedly mounted on the connecting seat 22107. The stepper motor e22106 drives the gear a22105 to rotate, thereby driving the connecting seat 22107 to move.

[0164] like Fig. 22 As shown, the lifting arm part 22300 of the present invention is composed of a lifting arm 22301, a slide rail c22302, a slider c22303, a connecting sleeve 22304, a rack b22305, a gear b22306, a stepping motor c22307 and a clamping claw fixing plate 22308. Three slide rails c22302 and a rack b22305 are fixedly installed around the lifting arm 22301. The connecting sleeve 22304 is fixedly installed on the connecting seat of the short rack slide rail part 22200. The gear b22306 is fixed on the output shaft of the stepping motor c22307 and meshes with the rack b22305. The stepping motor c22307 drives the gear b22306 to rotate, thereby driving the lifting arm 22301 to rise and fall. The clamping claw fixing plate 22308 is fixed to the lower end of the lifting arm 22301 and is used to connect the electric clamping claw 22002.

[0165] like Fig.23 As shown, the mortar spraying arm part 23000 of the present invention is composed of a lifting leg part a23100, a rack rail part a23200 and a mortar spraying part 23300. The lifting leg part a23100 is used to adjust the distance between the mortar spraying part 23300 and the upper end of the wall. The rack rail part a23200 has the same structure as the long rack slide rail part 22100, which will not be repeated here; it is used to control the movement of the mortar spraying part 23300 thereunder. The mortar spraying part 23300 is used to spray mortar on the top of the wall before placing bricks.

[0166] like Fig.24As shown, the lifting leg part a23100 of the present invention is composed of a leg outer tube 23101, a leg inner tube 23102 and a hydraulic cylinder d23103. The leg outer tube 23101 is fixedly mounted on the side loading plate a21002. The leg inner tube 23102 is installed in the leg outer tube 23101, and its top is fixed to the rack rail part a23200. The two ends of the hydraulic cylinder d23103 are respectively fixed to the leg outer tube 23101 and the leg inner tube 23102. The hydraulic cylinder d23103 controls the lifting and lowering of the leg inner tube 23102, thereby controlling the lifting and lowering of the mortar spraying part 23300.

[0167] like Fig.25 As shown, the mortar spraying part 23300 of the present invention is composed of a spraying base 23301, a stepper motor d23302, a slide rail d23303, a slider d23304, a rack c23305, a gear c23306, a baffle 23307 and a mortar nozzle 23308. The spraying base 23301 is fixed on the rack rail part a23200. The stepper motor d23302 is fixed in the spraying base 23301. Two sets of slide rails d23303 are fixed on the lower end of the spraying base 23301, and the slider d23304 is installed on the slide rail d23303. Two racks c23306 are respectively installed on two sliders d23304. Two baffles 23307 are respectively installed on the sides of two racks c23306. Gear c23306 is fixed on the output shaft of stepper motor d23302 and meshes with two racks c23305. Stepper motor d23302 drives gear c23306 to rotate, thereby driving rack c23305 to move, thereby realizing the contraction and opening of two baffles 23307. When spraying mortar, the two baffles 23307 block both sides of the wall, which can effectively reduce the waste of mortar. Mortar nozzle 23308 is installed on the spraying base 23301 for spraying mortar.

[0168] like Fig.26 As shown, the mortar scraping arm part 24000 of the present invention is composed of a lifting leg part b24100, a rack rail part b24200 and a mortar scraping part 24300. The structures and functions of the lifting leg part b24100 and the rack rail part b24200 are the same as those of the lifting leg part a23100 and the rack rail part a23200, and are not described in detail here.

[0169] like Fig. 27As shown, the mortar scraping part 24300 of the present invention is composed of a connecting block 24301, a screw wire rail a24302, a scraping arm 24303, a hinged seat 24304, a gas spring 24305 and a scraper 24306. The connecting block 24301 is fixed on the rack rail part b24200. The base of the screw wire rail a24302 is fixed on the side of the connecting block 24301. The screw wire rail a24302 has the same structure as the screw wire rail in the brick pushing part 12100, which will not be repeated here. The screw wire rail a24302 is used to drive the scraper 24306 to move, thereby achieving the scraping of the mortar. The scraping arm 24303 is installed on the screw wire rail a24302, and the screw wire rail a24302 can drive it to move. The two hinged seats 24304 are respectively mounted on the scraping arm 24303 and the scraper 24306. The two ends of the gas spring 24305 are respectively hinged on the two hinged seats 24304 to prevent the scraper 24306 from deforming the newly built and not yet solid wall, affecting the construction quality, but not hindering the scraping of mortar. The scraper 24306 is hinged with the scraping arm 24303 to scrape off excess mortar.

[0170] like Fig.28 , Fig.29 , Fig.30As shown, the brick cutting part 25000 of the present invention is composed of a cutting machine fixing frame 25001, a cutting base 25002, a screw rod and a wire rail b25003, a push plate connecting rod 25004, a brick pushing plate b25005 and a cutting saw part 25100. Among them, the cutting saw part 25100 is composed of a motor base 25101, a three-phase motor b25102, a transmission connecting piece b25103, a cutting saw housing 25104, a saw blade 25105, an electric saw fixing seat 25106, a solenoid valve 25107 and a water spray head 25108. The cutting machine fixing frame 25001 is fixedly mounted on the cutting base 25002 for fixing the cutting saw part 25100. The cutting base 25002 is fixedly mounted on the intermediate loading plate 25001, and three openings are opened on its upper end, and the upper end is used to place the bricks to be cut. The screw rail b25003 has the same structure as the screw rail in the brick pushing part 12100, which will not be repeated here. The screw rail b25003 is connected to the brick pushing plate b25005 through the push plate connecting rod 25004. The screw rail b25003 can drive the brick pushing plate b25005 to move, push the brick through the cutting saw part 25100 to cut the brick. The motor base 25101 and the electric saw fixing seat 25106 are fixedly installed at the lower end of the cutting machine fixing frame 25001. The three-phase motor b25102 is fixed on the motor base 25101 to drive the saw blade 25105, and its output shaft is connected to the saw blade 25105 through the transmission connecting piece b25103. The cutting saw housing 25104 is fixed on the side of the motor base 25101 to protect the saw blade 25105 and prevent dust from splashing. The saw blade 25105 is fixed on both sides of the electric saw fixed seat 25106 and the motor base 25101 through bearings for cutting bricks. The solenoid valve 25107 is fixed on the electric saw fixed seat 25106, and its water inlet is connected to the water source on the construction site with a hose, and the water outlet is connected to the water spray head 25108, which is used to control the water output of the water spray head 25108. The water spray head 25108 is used to spray water on the bricks to reduce the dust generated by cutting. When the bricks need to be cut, the electric clamp 22002 places the bricks on the cutting base 25002, and the screw rod wire rail b25003 can drive the brick pushing plate b25005 to move, push the bricks through the cutting saw part 25100 to complete the cutting of the bricks.

[0171] like Fig.31As shown, the chassis part 26000 of the wall-building trolley of the present invention is composed of a loading plate 26001, a crawler chassis part 26100, a slewing support part 26200 and a hydraulic support leg part 26300. The loading plate 26001 is used to support the three-stage lifting part 21000. The crawler bottom plate part 26100 is a walking unit of the wall-building trolley part 26100, and the crawler can enable the device to walk on a complex construction site environment. The slewing support part 26200 is used to rotate the crawler chassis part 26100. The hydraulic support leg part 26300 is used to support the device when the crawler chassis part 26100 is rotated. The hydraulic support leg part 26300 lifts the device, and the crawler chassis part 26100 is suspended in the air, and then the crawler chassis part 26100 is rotated through the slewing support part 26200. This allows the wall-building trolley part 20000 to move sideways close to the wall, then rotate the crawler chassis part 26100, and then start the reciprocating wall-building work.

[0172] like Fig.32 As shown, the crawler chassis part 26100 of the present invention is composed of an upper loading plate 26101, a lower loading plate 26102, a chassis pillar 26103, a battery b26104, a reduction motor 26105 and a crawler 26106. The upper loading plate 26101 is mounted on the chassis pillar 26103 and fixed to the loading plate 26001. Threaded rods are welded at both ends of the chassis pillar 26103, and the chassis pillar 26103 is fixedly mounted between the upper loading plate 26101 and the lower loading plate 26102 by nuts. The reduction motor 26105 is fixed on the lower loading plate 26102, and the output shaft of the reduction motor 26105 is connected to the crawler 26106 for driving the device to move. The crawler 26106 is a rubber crawler, so that the device can move on a construction site with complex road conditions. The battery b26104 is fixedly mounted on the lower loading plate 26102 for powering the device.

[0173] like Fig.33As shown, the slewing bearing part 26200 of the present invention is composed of a bearing connecting plate 26201, a bearing outer ring 26202, a bearing inner ring 26203, a hydraulic motor 26204, a gear d26205, an annular rack 26206 and a bearing bottom plate 26207. The upper end of the upper loading plate 26101 is fixed to the bottom of the loading plate 26001. The bearing outer ring 26202 is fixedly connected to the bearing connecting plate 26201, and the bearing inner ring 26203 is fixedly connected to the bearing bottom plate 26207. The bearing outer ring 26202 and the bearing inner ring 26203 are staggered from each other, which is conducive to the rotation of the slewing bearing part 26204. The annular rack 26206 is fixedly connected to the bearing connecting plate 26201. The gear d26205 is meshed with the annular rack 26206, and the gear d26205 is also fixed to the output shaft of the hydraulic motor 26204. The hydraulic motor 26204 is fixedly mounted on the bearing base plate 26207, and its output shaft is fixed to the gear d26205. The hydraulic motor 26204 drives the gear d26205 to rotate, and the gear d26205 meshes with the annular rack 26206, thereby realizing the rotation of the slewing support part 26200. The bearing base plate 26207 is fixedly mounted on the upper loading plate 26101.

[0174] like Fig.34 As shown, the hydraulic outrigger part 26300 of the present invention is composed of a telescopic steel pipe 26301, a hydraulic push rod 26302, an I-beam b26303, a hydraulic oil cylinder e26304, a ball joint 26305 and an outrigger seat 26306. The telescopic steel pipe 26301 is fixed to the bottom of the loading plate 26001. The bottom of the hydraulic push rod 26302 is fixed in the telescopic steel pipe 26301, and the top is fixed to the I-beam b26303, which is used to control the extension of the I-beam b26303. The hydraulic oil cylinder e26304 is fixed to the lower end of the I-beam b26303. The ball joint 26305 is fixed to the top of the output shaft of the hydraulic oil cylinder e26304, so that the hydraulic outrigger part 26300 can be well contacted with the bottom surface to reduce stress concentration. The outrigger seat 26306 is connected to the ball joint 26305. When the device needs to rotate the track chassis part 26100, the hydraulic push rod 26302 pushes out the I-beam b26303, and the hydraulic cylinder e26304 extends to lift the device up, and the track chassis part 26100 is suspended in the air, and then the track chassis part 26100 is rotated through the slewing support part 26200.

[0175] Example 2

[0176] A wall-building method using the wall-building robot described in Example 1, comprising the following steps:

[0177] S1. Preparation: Check whether battery a13002 and battery b26104 are fully charged. Fill the mortar bucket 14001 with mortar, and connect the outlet of the mortar pump 14005 to the mortar nozzle 23308 with a hose. Connect the solenoid valve 25107 to the water source on the construction site with a hose.

[0178] S2, taking and delivering bricks: the brick-taking trolley part 10000 is moved to the brick pile, the lifting fork transmission part 11120 controls the lifting fork part 11110 to extend to the bottom of the brick pile, and the lifting fork part 11110 then controls the lifting fork 11111 to lift the brick pile, and then controls the lifting fork part 11110 to be retracted by the lifting fork transmission part 11120. After retraction, the lifting fork 11111 slowly descends to place the brick pile on the brick platform 11101. When laying a wall at a low place, one end of the brick platform 11101 of the brick-taking trolley part 10000 is directly directed toward the wall-laying trolley part 20000 and close to the wall-laying trolley part 20000, so that the wall-laying trolley part 20000 can directly take bricks from the brick pile and follow the wall-laying trolley part 20000 to work.

[0179] S3, high-altitude brick delivery: When building a wall at a high altitude, the high-altitude brick delivery part 12200 of the brick trolley part 10000 is directed toward the wall-building trolley part 20000 and close to the wall-building trolley part 20000. Then the brick pushing part 12100 pushes the bricks on the brick stack layer by layer onto the brick placing plate 12207; and then the bricks on the brick placing plate 12207 are delivered to the required construction height by the scissor-type lifting device in the high-altitude brick delivery part 12200.

[0180] S4. The masonry trolley part approaches the wall: the masonry trolley part 20000 can move sideways to approach the wall. After approaching the wall, the hydraulic support leg part 26300 lifts the device, and the crawler chassis part 26100 is suspended in the air, and then the crawler chassis part 26100 is rotated through the slewing support part 26200, and then the masonry work can begin.

[0181] S5. Walling work: Before spraying mortar, the two baffles 23307 need to block the two sides of the wall, and the mortar nozzle 23308 should be kept at an appropriate distance from the top of the wall, and then start spraying mortar. After spraying, the robot arm part 22000 takes the bricks from the brick trolley part 10000 and places them on the top of the wall that has been sprayed with mortar. If the bricks need to be cut, the robot arm part 22000 only needs to place the bricks in the brick cutting part 25000 for cutting. After cutting, walling can be carried out. After the bricks are placed, the mortar scraping part 24300 scrapes off the excess mortar on the wall.

[0182] The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be understood by anyone familiar with the technology within the technical scope disclosed by the present invention should be included in the scope of the present invention.

Claims

1. A wall-building robot, characterized in that: include: The brick trolley is used to carry brick stacks to the construction site and to deliver bricks to a certain construction height; The wall-laying trolley part is docked with the brick-taking trolley part and is used for carrying out wall-laying operations at a designated construction location.

2. The wall-building robot according to claim 1, characterized in that: The brick-taking trolley part comprises: The brick loading platform is arranged on the chassis of the brick-taking trolley, and includes a brick-taking platform, a brick stack clamping part and a brick loading platform hydraulic lifting part, and is used to fork the brick stack into the trolley and transport the brick stack; The brick delivery part is arranged on the chassis part of the brick-taking trolley and is located above the brick-carrying platform after extending on one side. It includes a brick pushing part and a high-altitude brick delivery part, which is used to deliver bricks layer by layer to a high place so that the wall-building trolley part can take bricks; The chassis part of the brick-taking trolley is the power unit of the brick-taking trolley; The mortar barrel part is arranged on the chassis part of the brick-taking trolley and is located behind the brick-carrying platform part, and is used for providing mortar for wall construction.

3. The wall-building robot according to claim 2, characterized in that: The brick-taking platform part includes a brick-carrying platform, a lifting fork part and a lifting fork transmission part. The lifting fork part includes a lifting fork, a lifting slot, a universal wheel, a slide rail, a lifting link a, a central axis, a sliding shaft and a long hydraulic cylinder. The lifting fork is connected to the lifting link a through the sliding shaft, and the lifting slot is connected to the brick-carrying platform through the slide rail. The universal wheel is installed under the lifting slot. The upper and lower ends of the slide rail are respectively connected to the lifting slot and the brick-carrying platform. The lifting link a, the central axis, the sliding shaft and the long hydraulic cylinder constitute a scissor-type lifting device inside the lifting fork part; The lifting fork transmission part includes a transmission connecting part a, a ball bearing seat, a stepper motor a, a motor transmission part a, a screw a and a screw support seat. The two ends of the transmission connecting part a are respectively connected to the lifting fork part, and the bottom is connected to the ball bearing seat; the ball bearing seat is installed on the screw a, and the stepper motor a and the screw support seat are both installed on the brick carrier. The screw a is installed on the screw support seat through a bearing and is connected to the output shaft of the motor transmission part a.

4. The wall-building robot according to claim 2, characterized in that: The brick stack clamping part includes an upper connecting plate, a side connecting plate, a fixed plate, a brick stack clamp, an electric push rod, a lower connecting plate, a sliding sleeve and a sliding rod. The upper connecting plate, the lower connecting plate, the side connecting plate and the fixed plate are connected to each other, and the fixed plate is connected to the chassis of the brick-taking trolley; the brick stack clamp is connected to the sliding rod through a sliding sleeve, and both ends of the sliding rod are installed on the side connecting plates. The electric push rod is installed on the fixed plate, and its output shaft is connected to the brick stack clamp; The hydraulic lifting part of the brick carrier includes a lifting connecting plate, an I-beam a, a rail wheel, a hydraulic cylinder a, a chain fixing a, a sprocket a, a sprocket b and a chain fixing b. The two ends of the lifting connecting plate are respectively connected to the brick carrier and the rail wheel. The I-beam a is installed between the upper connecting plate and the lower connecting plate; the hydraulic cylinder a is installed on the lower connecting plate, and the chain fixing a and the sprocket b are installed at the lower end of the upper connecting plate; the sprocket a is installed on the upper end of the hydraulic cylinder a through a connecting rod, and the chain fixing b is installed on the lifting connecting plate.

5. The wall-building robot according to claim 2, characterized in that: The brick delivery part includes a brick pushing part and a high-altitude brick delivery part. The brick pushing part includes a brick pushing bottom plate, a slide rail a, a screw rod b, a stepper motor b, a slider a and a brick pushing plate a. The bottom of the brick pushing bottom plate is installed on the upper connecting plate and the long connecting square steel, and is used to carry the screw rod and screw rail in the brick pushing part; the slide rail a is installed on the brick pushing bottom plate, and the screw rod b is installed on the slide rail a through a bearing and is connected to the output shaft of the stepper motor b; the stepper motor b is installed on one side of the slide rail a, and is used to drive the screw rod b to rotate; the slider a is installed on the screw rod b, and the brick pushing plate a is installed on the slider a, and is used to push bricks; The high-altitude brick-feeding part includes a bottom plate, a long connecting square steel, a lifting base, a hydraulic cylinder b, a lifting connecting rod b, a connecting rod and a brick-setting plate. The bottom plate is installed on the short connecting square steel and is used to carry other devices in the high-altitude brick-feeding part; The long connecting square steel is installed on the base plate and is used to carry the brick pushing part; the lifting base is installed on the base plate, and the lifting base, hydraulic cylinder b, lifting connecting rod b, connecting rod and brick placing plate together constitute a scissor-type lifting device in the high-altitude brick sending part, which is used to deliver the bricks on the brick placing plate to the required construction height.

6. The wall-building robot according to claim 2, characterized in that: The chassis part of the brick-taking trolley includes a four-turn four-wheel drive chassis, a battery a and a short connecting square steel. The battery a is installed on the four-turn four-wheel drive chassis to power the brick-taking trolley. The two ends of the short connecting square steel are respectively connected to the four-turn four-wheel drive chassis and the bottom plate to support the high-altitude brick delivery part. The mortar barrel part includes a mortar barrel, a slurry outlet, a stirring paddle, a three-phase motor a and a mortar pump. The mortar barrel is installed on a four-turn four-wheel drive chassis, and the stirring paddle is connected to the three-phase motor a and installed inside the mortar barrel; the three-phase motor a is installed in the lower layer of the mortar barrel, and the three-phase motor a drives the stirring paddle to rotate, so as to stir the mortar in the mortar barrel; the mortar pump is installed on the four-turn four-wheel drive chassis, and its inlet is connected to the paddle outlet through a hose, and its outlet is connected to the mortar nozzle through a hose, so as to pump the mortar to the mortar spraying part.

7. The wall-building robot according to claim 1 or 2, characterized in that: The wall-building trolley part comprises: The three-stage lifting part is arranged on the chassis of the wall-building trolley and is used to lift the middle loading board, the side loading board a and the side loading board b to different heights so that the wall-building trolley can carry out wall-building from low to high; The mechanical arm part is arranged on the chassis part of the wall-laying trolley and is located in the three-stage lifting part, and is used to take bricks from the brick-carrying platform or the brick-setting board, and then to lay the wall, and can also place the bricks into the brick cutting part; A mortar spraying arm part is arranged on the chassis part of the wall-laying trolley and is located on one side of the three-stage lifting part, and is used to spray mortar on the top of the wall in advance before laying bricks; The mortar scraping arm part is arranged on the chassis part of the wall-laying trolley and is located on the other side of the three-stage lifting part, and is used to scrape off the excess mortar after the bricks are laid to improve the beauty of the wall surface; A brick cutting part, which is arranged on the chassis part of the wall-building trolley and located in the mechanical arm part, is used for cutting bricks; The chassis part of the masonry trolley is a power travel unit of the masonry trolley part, and is used to enable the masonry trolley part to carry out uninterrupted masonry work.

8. The wall-building robot according to claim 7, characterized in that: The three-stage lifting part includes a middle loading plate, a side loading plate a, a side loading plate b, a first lifting arm, a second lifting arm, a third lifting arm, a chain fixing plate a, a chain fixing plate b, a primary chain, a sprocket c, a cylinder connecting block, a sprocket d, a secondary chain, a hydraulic cylinder c, a primary chain fixing piece a, a secondary chain fixing piece a, a primary chain fixing piece b, a secondary chain fixing piece b, a bottom fixing plate, a lifting connecting block, a track wheel, a top fixing plate and a chain fixing plate c, The middle loading plate, the side loading plate a and the side loading plate b are connected to each other through square steel, and are also connected to the lifting connection block through square steel; the first lifting arm, the second lifting arm and the third lifting arm are connected to each other through track wheels; the two first lifting arms are connected through a top fixing plate, and the bottoms of the two third lifting arms are connected through a bottom fixing plate; the chain fixing plate a, the chain fixing plate b and the chain fixing plate c are respectively installed on the outside of the two second lifting arms, the outside of the two third lifting arms and the inside of the two first lifting arms; The primary chain fixing member a, the secondary chain fixing member a, the primary chain fixing member b and the secondary chain fixing member b are respectively mounted on the chain fixing plate a, the chain fixing plate b, the intermediate loading plate and the chain fixing plate c; the sprocket c is mounted below the top fixing plate, the cylinder connecting block is mounted above the hydraulic cylinder c and connected to the chain fixing plate a; the sprocket d is respectively mounted on the shafts at both ends of the cylinder connecting block, the bottom of the hydraulic cylinder c is mounted on the bottom fixing plate, the lifting connecting block is connected to the intermediate loading plate, but not to the side loading plate a and the side loading plate b, and the side of the lifting connecting block is connected to the track wheel installed inside the first lifting arm; One end of the primary chain is connected to the primary chain fixing member a, passes through the upper end of the sprocket c in the middle, and is connected to the primary chain fixing member b at the other end; the secondary chain is connected to the secondary chain fixing member a, passes through the upper end of the sprocket d in the middle, and is connected to the secondary chain fixing member b at the other end; the hydraulic cylinder c extends out directly through the chain fixing plate a to drive the second lifting arm to rise relative to the third lifting arm, and at the same time, the first lifting arm is driven by the secondary chain to rise relative to the third lifting arm at a speed twice that of the second lifting arm, thereby realizing three-stage lifting; at the same time, the first lifting arm rises at a speed twice that of the second lifting arm, and the middle loading plate, the side loading plate a and the side loading plate b are driven by the primary chain to rise relative to the first lifting arm at the same speed as the second lifting arm; thereby achieving a maximum lifting height of the three loading plates that is close to the sum of the heights of the three lifting arms.

9. The wall-building robot according to claim 7, characterized in that: The mechanical arm part includes a fixed leg, an electric gripper, a long rack slide rail part, a short rack slide rail part and a lifting arm part. The fixed leg is installed on the middle loading plate to support the long rack slide rail part; the electric gripper is installed under the gripper fixing plate to clamp and place bricks; the long rack slide rail part, the short rack slide rail part and the lifting arm part constitute the xyz axis of the mechanical arm, so that the mechanical arm part can work in a space composed of three axes; The long rack slide rail part includes a long arm, a slide rail b, a rack a, a slider b, a gear a, a stepper motor e and a connecting seat. The long arm is installed on a fixed leg, two slide rails b are installed at both ends of the long arm, the slider b is installed on the slide rail, and the rack a is installed on the long arm; the gear a is installed on the output shaft of the stepper motor e and meshes with the rack a; the connecting seat is installed on the slider b, and the stepper motor e is installed on the connecting seat; the short rack slide rail part has the same structure as the long rack slide rail part; the short rack slide rail part is installed on the connecting seat, and the stepper motor e drives the connecting seat to move by driving the gear a to rotate; The lifting arm part includes a lifting arm, a slide rail c, a slider c, a connecting sleeve, a rack b, a gear b, a stepper motor c and a clamp fixing plate. Three slide rails c and racks b are installed around the lifting arm respectively. The connecting sleeve is installed on the connecting seat of the short rack slide rail part. The gear b is installed on the output shaft of the stepper motor c and meshes with the rack b. The stepper motor c drives the gear b to rotate, thereby driving the lifting arm to rise and fall. The clamp fixing plate is installed at the lower end of the lifting arm for connecting the electric clamp.

10. The wall-building robot according to claim 7, characterized in that: The mortar spraying arm part includes a lifting leg part a, a rack rail part a and a mortar spraying part. The lifting leg part a includes a leg outer tube, a leg inner tube and a hydraulic cylinder d. The leg outer tube is installed on the side loading plate a, and the leg inner tube is installed in the leg outer tube, and its top is connected to the rack rail part a; the two ends of the hydraulic cylinder d are respectively connected to the leg outer tube and the leg inner tube, and the hydraulic cylinder d controls the lifting of the leg inner tube, thereby controlling the lifting of the mortar spraying part; the rack rail part a has the same structure as the long rack slide rail part; The mortar scraping arm part includes a lifting leg part b, a rack rail part b and a mortar scraping part, and the lifting leg part b and the rack rail part b have the same structure and function as the lifting leg part a and the rack rail part a; The mortar scraping part includes a connecting block, a screw wire rail a, a scraping arm, a hinged seat, a gas spring and a scraper. The connecting block is installed on the rack rail part b, and the base of the screw wire rail a is installed on the side of the connecting block. The screw wire rail a has the same structure as the screw wire rail in the brick pushing part; the screw wire rail a is used to drive the scraper to move, so as to scrape the mortar; the scraping arm is installed on the screw wire rail a, and the screw wire rail a can drive it to move; The two articulated seats are respectively installed on the scraping arm and the scraper, the two ends of the gas spring are respectively articulated on the two articulated seats, and the scraper is articulated with the scraping arm to scrape off excess mortar.

11. The wall-building robot according to claim 7, characterized in that: The brick cutting part includes a cutting machine fixing frame, a cutting base, a screw wire rail b, a push plate connecting rod, a brick pushing plate b and a cutting saw part. The cutting saw part includes a motor base, a three-phase motor b, a transmission connecting piece b, a cutting saw shell, a saw blade, an electric saw fixing seat, a solenoid valve and a water spray head. The cutting machine fixing frame is installed on the cutting base for fixing the cutting saw part. The cutting base is installed on the middle loading plate, and three openings are opened on the upper end thereof. The upper end is used to place the bricks to be cut. The screw wire rail b has the same structure as the screw wire rail in the brick pushing part. The screw wire rail b is connected to the brick pushing plate b through the push plate connecting rod. The screw wire rail b drives the brick pushing plate b to move, pushes the bricks through the cutting saw part and cuts the bricks. The motor base and the electric saw fixing base are installed at the lower end of the cutting machine fixing frame. The three-phase motor b is installed on the motor base and is used to drive the saw blade. Its output shaft is connected to the saw blade through a transmission connecting piece b; the cutting saw shell is installed on the side of the motor base; the two sides of the saw blade are installed on the electric saw fixing base and the motor base through bearings; the solenoid valve is installed on the electric saw fixing base, and its water inlet is connected to the water source on the construction site with a hose, and its water outlet is connected to the sprinkler head.

12. The wall-building robot according to claim 7, characterized in that: The chassis part of the wall-building trolley includes a loading plate, a crawler chassis part, a slewing bearing part and a hydraulic leg part. The crawler chassis part includes an upper loading plate, a lower loading plate, a chassis pillar, a battery b, a reduction motor and a crawler. The upper loading plate is mounted on the chassis pillar and connected to the loading plate; threaded rods are installed at both ends of the chassis pillar, and the chassis pillar is installed between the upper loading plate and the lower loading plate through nuts; the reduction motor is installed on the lower loading plate, and the output shaft of the reduction motor is connected to the crawler for driving the device to move; the crawler is a rubber crawler, and the battery b is fixedly installed on the lower loading plate for powering the device; The slewing bearing part comprises a bearing connecting plate, a bearing outer ring, a bearing inner ring, a hydraulic motor, a gear d, an annular rack and a bearing bottom plate. The upper end of the upper loading plate is mounted on the bottom of the loading plate. The bearing outer ring is connected to the bearing connecting plate, the bearing inner ring is connected to the bearing bottom plate, and the bearing outer ring and the bearing inner ring are staggered with each other, which is conducive to the rotation of the slewing bearing part; the annular rack is connected to the bearing connecting plate, the gear d is meshed with the annular rack, and the gear d is connected to the output shaft of the hydraulic motor; the hydraulic motor is mounted on the bearing bottom plate, and its output shaft is connected to the gear d; the hydraulic motor drives the gear d to rotate, and the gear d is meshed with the annular rack, thereby realizing the rotation of the slewing bearing part; the bearing bottom plate is mounted on the upper loading plate; The hydraulic outrigger part includes a telescopic steel pipe, a hydraulic push rod, an I-beam b, a hydraulic cylinder e, a spherical joint and an outrigger seat. The telescopic steel pipe is installed at the bottom of the loading plate. The bottom of the hydraulic push rod is installed in the telescopic steel pipe, and the top is connected to the I-beam b for controlling the extension of the I-beam b; the hydraulic cylinder e is installed at the lower end of the I-beam b, and the spherical joint is installed at the top of the output shaft of the hydraulic cylinder e so that the hydraulic outrigger part can be in good contact with the bottom surface; the outrigger seat is connected to the spherical joint. When the crawler chassis part needs to be rotated, the hydraulic push rod pushes out the I-beam b, the hydraulic cylinder e extends, lifts the device, and the crawler chassis part is suspended in the air, and then the crawler chassis part is rotated through the slewing bearing part.

13. A wall-building method using the wall-building robot according to any one of claims 1 to 12, characterized in that: The following steps are involved: S1. Preparation: Check whether battery a and battery b are fully charged, fill the mortar bucket with mortar, connect the discharge port of the mortar pump to the mortar nozzle with a hose, and connect the solenoid valve to the water source on the construction site with a hose; S2, taking and delivering bricks: the brick-taking trolley part is moved to the side of the brick pile, the lifting fork transmission part controls the lifting fork part to extend to the bottom of the brick pile, and the lifting fork part then controls the lifting of the lifting fork to lift the brick pile, and then controls the lifting fork part to be retracted through the lifting fork transmission part. After retraction, the lifting fork is slowly lowered to place the brick pile on the brick loading platform; when laying a wall at a low place, one end of the brick loading platform of the brick-taking trolley part is directly directed toward the wall-laying trolley part and close to the wall-laying trolley part, so that the wall-laying trolley part can directly take bricks from the brick pile and follow the wall-laying trolley part to work at the same time; S3. High-altitude brick delivery: When building a wall at a high altitude, the high-altitude brick delivery part is directed toward and close to the wall-building trolley part, and the brick pushing part pushes the bricks on the brick stack onto the brick placing plate layer by layer; Then the bricks on the brick plate are delivered to the required construction height through the scissor-type lifting device in the high-altitude brick delivery part; S4. The masonry trolley approaches the wall: The masonry trolley moves sideways to approach the wall. After approaching the wall, the hydraulic outriggers lift the device, the crawler chassis is suspended in the air, and then the crawler chassis is rotated through the slewing bearing to start masonry work; S5. Walling work: Before spraying mortar, two baffles need to be placed on both sides of the wall, and the mortar nozzle should be kept at an appropriate distance from the top of the wall to start spraying mortar. After spraying, the robot arm part takes bricks from the brick trolley part and places them on the top of the wall that has been sprayed with mortar. If the bricks need to be cut, the robot arm part only needs to place the bricks in the brick cutting part for cutting. After cutting, walling can be carried out. After the bricks are placed, the mortar scraping part will scrape off the excess mortar on the wall.

Images