A multi-angle rotating brick-laying robot

Abstract

The present invention discloses a multi-angle rotating bricklaying robot, which belongs to the technical field of paving robots, and comprises a driving body, a supporting platform is installed on the top of the driving body, a supporting frame is installed on the top of the supporting platform, supporting mechanisms are installed on both vertical sides and the top of the horizontal side of the supporting frame, and a mechanical arm mechanism is installed on one side of a single supporting mechanism. In the present invention, through the designed supporting mechanism, when the main push rod arm and the auxiliary push rod arm located on one side of the support rod are driven to displace by the main push rod arm on the other side, the main push rod arm can rotate in the rotating seat through the second rotating block connected to the rear side, and the rotation of the rotating seat can make the first rotating block on the other side drive the support rod to rotate and deflect around the axis of the bearing seat, so that the interference in the displacement process can be reduced by the main push rod arm and the side push rod arm that can be deflected, which is conducive to reducing the displacement interference between the mechanical arm mechanisms and improving the motion stability.

Description

Technical Field

[0001] The present invention belongs to the technical field of paving robots, and in particular relates to a brick-laying robot capable of rotating at multiple angles. Background Art

[0002] In order to effectively improve the industry's production efficiency, the use of robot-automated construction to replace traditional manual operations has become a significant trend in the future development of the construction industry. Among the many construction links, tile laying construction has attracted much attention due to its high repetitive consistency, high labor intensity, and strict construction quality requirements. The construction tile laying robot is an advanced intelligent construction equipment that is widely used in the construction industry to improve construction efficiency and quality. There are many tile laying robot design solutions in the existing technology. However, there are still many process problems that need to be solved.

[0003] The Chinese invention patent with the authorization announcement number CN115787986B discloses a tile laying robot, including a mobile chassis, a mechanical arm, an end effector and a controller, wherein the end effector includes a frame, a tile picking and placing assembly, a first paving and pouring assembly and a positioning assembly, wherein the first paving and pouring assembly includes a first scraper and a first spray pipe; one end of the mechanical arm is connected to the mobile chassis, and the other end is connected to the frame; the controller is connected to the mobile chassis, the mechanical arm and the end effector in communication; the mobile chassis is used to move to a preset position according to the instructions of the controller; the positioning assembly is used to detect the first paving and pouring assembly and the tile picking and placing assembly. The controller adjusts the posture of each axis of the robotic arm according to the detection results, so as to use the first scraper to spread the mortar, use the first spray pipe to spray cement slurry onto the scraped mortar, and use the tile pick-up and placement assembly to grab the tiles to be laid and lay them in the specified position. The robotic arm of the tile laying robot in this scheme is a traditional linked arm control mechanism, which is limited in its movable range. When there are irregular ranges in the paving area or the bricks have curved angles, it is easy to affect the placement angle of the bricks, and it is necessary to monitor the various angles of the first paving grouting assembly and the tile pick-up and placement assembly, which consumes a lot of computing power and needs room for improvement. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of limited movable range of the robot arm of a tile laying robot and to propose a tile laying robot with multi-angle rotation.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A multi-angle rotating brick-laying robot comprises a driving body, a supporting platform is installed on the top of the driving body, a supporting frame is installed on the top of the supporting platform, supporting mechanisms are installed on both vertical sides and the top of the horizontal side of the supporting frame, and a mechanical arm mechanism is installed on one side of a single supporting mechanism, and a brick adsorption mechanism is transmission-connected between the multiple mechanical arm mechanisms. Brick laying is performed by controlling the direction of the brick adsorption mechanism through multi-angle displacement of the mechanical arm mechanism.

[0007] As a further description of the above technical solution:

[0008] The support mechanism includes bearing seats arranged on the protruding parts on both sides of the support frame, and a support rod is rotatably connected between the bearing seats on both sides, and two first rotating blocks are connected to the outside of the support rod, and one side of the first rotating block is rotatably connected to the rotating seat, and the other side of the rotating group is rotatably connected to the second rotating block, and one side of the two second rotating blocks corresponding to the shaft side are respectively connected to the corresponding positions on one side of the robotic arm mechanism.

[0009] As a further description of the above technical solution:

[0010] The mechanical arm mechanism includes a main push rod arm and a secondary push rod arm, and the main push rod arm and the secondary push rod arm are respectively connected to one side of the second rotating block at the corresponding position, one end of the telescopic part of the secondary push rod arm is connected to a fixed block, one side of the fixed block is rotatably connected to a rotating frame, and the other side of the rotating frame is arranged on the outer side of the telescopic part of the main push rod arm, and the movement angle of the main push rod arm is controlled by the telescopic part of the secondary push rod arm, and the end of the telescopic part of the main push rod arm is connected to a push rod through a coupling, and the other end of the push rod is connected to a connecting sleeve, and the connecting sleeve is rotatably connected to one side of the rotating ear of the brick adsorption mechanism, and the telescopic part of the main push rod arm is controlled by the telescopic part.

[0011] As a further description of the above technical solution:

[0012] A coating mechanism is installed on one side of the top of the supporting platform, and the coating mechanism includes a coating seat, and two rollers are rotatably connected to the inner cavity of the coating seat, and both ends of the two sides of the coating seat are connected to fixed frames, and a rotating frame is rotatably connected between adjacent fixed frames, and a scraping roller is rotatably connected inside the rotating frame, and a plurality of convex strips are connected to the outside of the scraping roller.

[0013] As a further description of the above technical solution:

[0014] One side of the rotating frame is connected to a rotating wheel through an axle, and one side of the rotating wheel is inserted and connected with a limiting tooth, and both ends of one side of the limiting tooth are connected to sliding rods, and a sliding sleeve is provided on the outer sleeve of the sliding rod, and the sliding sleeve is connected to one side of the fixed frame, and a spring is provided on the outer wall of the sliding rod, and the two ends of the spring are respectively connected to the corresponding positions of the sliding cylinder and one side of the limiting tooth, and the position of the rotating frame and the scraper roller is controlled by the limiting tooth and the rotating wheel.

[0015] As a further description of the above technical solution:

[0016] The bottom of the coating seat is connected with a grouting cavity, and the grouting cavity is located between the rotating rollers on both sides, and the grouting cavity is connected with an external grouting pump through a pipeline.

[0017] As a further description of the above technical solution:

[0018] A control method for a multi-angle rotating bricklaying robot, comprising:

[0019] Identify the real-time position of the brick-laying robot driving body for positioning and navigation;

[0020] Through the local cost map planning algorithm, the local cost map is updated in real time to construct the planning curve for the dynamic path.

[0021] As a further description of the above technical solution:

[0022] The identifying the real-time posture of the driving body of the brick-laying robot for positioning and navigation comprises:

[0023] The posture is divided into position and attitude. The position is represented by a three-dimensional vector, and the attitude is represented by a rotation matrix. The 4x4 homogeneous transformation matrix is ​​used to represent the posture of the driving vehicle in space:

[0024] =

[0025] in, is a The rotation matrix is ​​used to describe the rotational part of the driving vehicle body and belongs to a special orthogonal group , is a 3D translation vector or column vector that describes the position of the translation part of the driving vehicle body and belongs to the real space The lower right corner element of the matrix is ​​1, which represents the scaling factor in homogeneous coordinates, and the lower left corner of the matrix is ​​the zero vector to ensure that the homogeneous coordinate form is maintained;

[0026] Transformation Matrix Describes the 6D posture change of the driving vehicle, including the synthetic effect of rotation and translation. The position parameter describes the position of the object in three-dimensional space, using a three-dimensional vector , for the position parameter, the transformation is calculated by homogeneous coordinate representation, expanding the three-dimensional position vector to four dimensions:

[0027]

[0028] In homogeneous coordinates, the fourth element is set to 1, a 3D rotation matrix is a An orthogonal matrix, when the determinant is 1 (i.e. ) is converted to a rotation matrix when using the rotation vector for calculations;

[0029] Rotate a set of vectors in the space vector along the xyz axis and calculate it through the rotation matrix identity relationship. Suppose the space vector before rotation is , the rotation angles around each axis are:

[0030] Rotation along the x-axis:

[0031]

[0032] Rotation along the y axis:

[0033]

[0034] Rotation along the z-axis:

[0035]

[0036] The rotation matrix describes the process of transforming from one posture to another. The template rotation and combined transformation methods are used to obtain the relative relationship between the two postures, providing rotation guidance and data support for posture estimation of sensor data.

[0037] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0038] 1. In the present invention, through the designed support mechanism, when the main push rod arm and the auxiliary push rod arm located on one side of the support rod are driven to displace by the main push rod arm on the other side, the main push rod arm can rotate in the rotating seat through the second rotating block connected to the rear side. The rotation of the rotating seat can enable the first rotating block on the other side to drive the support rod to rotate and offset around the axis of the bearing seat, thereby reducing the interference in the displacement process through the displaceable main push rod arm and the side push rod arm, which is beneficial to reducing the displacement interference between the mechanical arm mechanisms and improving the movement stability.

[0039] 2. In the present invention, through the designed support mechanism, when the main push rod arm and the auxiliary push rod arm located on one side of the support rod are driven to displace by the main push rod arm on the other side, the main push rod arm can rotate in the rotating seat through the second rotating block connected to the rear side. The rotation of the rotating seat can enable the first rotating block on the other side to drive the support rod to rotate and offset around the axis of the bearing seat, thereby reducing the interference in the displacement process through the displaceable main push rod arm and the side push rod arm, which is beneficial to reducing the displacement interference between the mechanical arm mechanisms and improving the movement stability.

[0040] 3. In the present invention, the designed coating mechanism is extended forward by the mechanical arm mechanism located on the top side of the brick adsorption mechanism, and the brick adsorption mechanism is controlled to contact the coating mechanism forward. At this time, the cement mortar can be injected into the coating seat through the external material pump. At this time, the rotation of the rollers on both sides can suspend the cement mortar to be laid to one side, and continue to move to one side of the coating seat through the mechanical arm mechanism. The mechanical arm mechanism can lay the bricks coated with cement mortar to the preset position of the program. The bricks with mortar can fully contact and adhere to the pre-laid base layer, which is beneficial to reduce the hollowing caused by the laying of the blocks and improve the laying effect.

[0041] 4. In the present invention, the designed control method is conducive to analyzing the real-time posture of the brick-laying robot crawler vehicle, facilitating subsequent positioning and navigation, and improving the stability of the posture feedback of the brick-laying robot crawler vehicle. By developing multi-source sensors for effective fusion and loop detection, the accuracy of SLAM posture estimation and its robustness in complex scenarios can be improved, providing stable data support and theoretical guidance for navigation and exploration of unknown spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the overall structure of a multi-angle rotating brick-laying robot proposed by the present invention;

[0043] Figure 2 This is a schematic diagram of the lateral structure of a multi-angle rotating brick-laying robot proposed by the present invention;

[0044] Figure 3 This is a schematic diagram of the horizontal structure of a multi-angle rotating brick-laying robot proposed by the present invention;

[0045] Figure 4 This is a schematic diagram of the coating mechanism structure of a multi-angle rotating brick-laying robot proposed by the present invention;

[0046] Figure 5 The present invention proposes Figure 4 The structural diagram of the enlarged part A in the middle;

[0047] Figure 6 This is a schematic diagram of the transverse structure of a multi-angle rotating brick-laying robot coating mechanism proposed in the present invention.

[0048] Legend:

[0049] 1. Driving vehicle body; 2. Support frame; 3. Support mechanism; 301. Bearing seat; 302. Support rod; 303. First rotating block; 304. Rotating seat; 305. Second rotating block; 4. Mechanical arm mechanism; 401. Main push rod arm; 402. Second push rod arm; 403. Fixed block; 404. Rotating frame; 405. Coupling; 406. Push rod; 407. Connecting sleeve; 5. Brick adsorption mechanism; 6. Coating mechanism; 601. Coating seat; 602. Scraping roller; 603. Raised strip; 604. Rotating roller; 605. Fixed frame; 606. Rotating wheel; 607. Rotating frame; 608. Limiting tooth; 609. Sliding sleeve; 610. Spring; 611. Sliding rod; 7. Support platform. DETAILED DESCRIPTION

[0050] 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.

[0051] See also Figure 1-Figure 6 The present invention provides a technical solution: a multi-angle rotating brick-laying robot, comprising a driving body 1, a supporting platform 7 is installed on the top of the driving body 1, a supporting frame 2 is installed on the top of the supporting platform 7, supporting mechanisms 3 are installed on both sides of the vertical and horizontal sides of the supporting frame 2, and a mechanical arm mechanism 4 is installed on one side of a single supporting mechanism 3, and a plurality of mechanical arm mechanisms 4 are transmission-connected with a brick adsorption mechanism 5, and brick laying is performed by controlling the direction of the brick adsorption mechanism 5 through the multi-angle displacement of the mechanical arm mechanism 4;

[0052] The support mechanism 3 includes a bearing seat 301 arranged on the protruding parts on both sides of the support frame 2, and a support rod 302 is rotatably connected between the bearing seats 301 on both sides, and two first rotating blocks 303 are connected to the outside of the support rod 302, and one side of the first rotating block 303 is rotatably connected to a rotating seat 304, and the other side of the rotating group is rotatably connected to a second rotating block 305, and one side of the two second rotating blocks 305 corresponding to the axis side are respectively connected to the corresponding positions on one side of the robot arm mechanism 4.

[0053] Specifically: through the designed support mechanism 3, when the main push rod arm 401 and the auxiliary push rod arm 402 located on one side of the support rod 302 are driven to displace by the main push rod arm 401 on the other side, the main push rod arm 401 can rotate in the rotating seat 304 through the second rotating block 305 connected to the rear side. The rotation of the rotating seat 304 can enable the first rotating block 303 on the other side to drive the support rod 302 to rotate and offset around the axis of the bearing seat 301, so that the interference in the displacement process can be reduced through the displaceable main push rod arm 401 and the side push rod arm, which is beneficial to reduce the displacement interference between the robot arm mechanisms 4 and improve the movement stability.

[0054] See also Figure 2-Figure 3 The mechanical arm mechanism 4 includes a main push rod arm 401 and a secondary push rod arm 402, and the main push rod arm 401 and the secondary push rod arm 402 are respectively connected to one side of the second rotating block 305 at the corresponding position, and one end of the telescopic part of the secondary push rod arm 402 is connected to a fixed block 403, and one side of the fixed block 403 is rotatably connected to a rotating frame 404, and the other side of the rotating frame 404 is arranged on the outer side of the telescopic part of the main push rod arm 401, and the movement angle of the main push rod arm 401 is controlled by the telescopic part of the secondary push rod arm 402, and the end of the telescopic part of the main push rod arm 401 is connected to a push rod 406 through a coupling 405, and the other end of the push rod 406 is connected to a connecting shaft sleeve 407, and the connecting shaft sleeve 407 is rotatably connected to one side of the rotating ear of the brick adsorption mechanism 5, and the telescopic part of the main push rod arm 401 is controlled by the telescopic part.

[0055] Specifically, through the designed multiple sets of mechanical arm mechanisms 4, after the three sets of main push rod arms 401 and auxiliary push rod arms 402 move around the front brick adsorption mechanism 5, the brick adsorption mechanism 5 can improve the adaptability and matching degree to the laying angle through the adjustment of the six-axis position. When the auxiliary push rod arm 402 drives the front fixed block 403 to push the rotating frame 404, the fixed block 403 can rotate in the rotating frame 404 and push the main push rod arm 401 on one side to move, which is conducive to the precise position adjustment through the partial displacement of the auxiliary push rod arm 402, and is conducive to the fine-tuning control of the brick adsorption mechanism 5, so as to improve the adaptation of the brick laying angle in the angle change area.

[0056] Among them, the brick adsorption mechanism 5 is designed, and the brick adsorption mechanism 5 can be an electric vacuum suction cup or a clamping claw mechanism to improve the adsorption and clamping effect of the rotating block.

[0057] See also Figure 3-Figure 6A coating mechanism 6 is installed on one side of the top of the support platform 7, and the coating mechanism 6 includes a coating seat 601, and two rollers 604 are rotatably connected to the inner cavity of the coating seat 601, and both ends of the coating seat 601 are connected to fixed frames 605, and a rotating frame 607 is rotatably connected between adjacent fixed frames 605, and a scraping roller 602 is rotatably connected inside the rotating frame 607, and a plurality of convex strips 603 are connected to the outside of the scraping roller 602;

[0058] One side of the rotating frame 607 is connected to a rotating wheel 606 through an axle, and one side of the rotating wheel 606 is inserted and connected with a limiting tooth 608, and both ends of one side of the limiting tooth 608 are connected to a sliding rod 611, and a sliding sleeve 609 is provided on the outer sleeve of the sliding rod 611, and the sliding sleeve 609 is connected to one side of the fixed frame 605. The outer wall of the sliding rod 611 is provided with a spring 610, and the two ends of the spring 610 are respectively connected to the corresponding positions of the sliding cylinder and one side of the limiting tooth 608, and the positions of the rotating frame 607 and the scraper roller 602 are controlled by the limiting of the limiting tooth 608 and the rotating wheel 606;

[0059] The bottom of the coating seat 601 is connected to a grouting chamber, and the grouting chamber is located between the rollers 604 on both sides, and the grouting chamber is connected to an external grouting pump through a pipeline.

[0060] Specifically, through the designed coating mechanism 6, when paving is required, the mechanical arm mechanism 4 located on the top side of the brick adsorption mechanism 5 can be extended forward to control the brick adsorption mechanism 5 to contact the coating mechanism 6 forward. At this time, the cement mortar can be injected into the coating seat 601 through the external material pump. At this time, the rotation of the rollers 604 on both sides can suspend the cement mortar to be laid to one side, and after the mechanical arm mechanism 4 continues to move to one side of the coating seat 601, the mortar-adhered turning block to be laid can scrape out the corresponding casting groove through contact with the outer convex strip 603 of the scraper roller 602. At this time, the mechanical arm mechanism 4 can lay the bricks coated with cement mortar to the preset position of the program, and the bricks with mortar can fully contact and adhere to the pre-laid base layer by casting, which is beneficial to reduce the hollowing caused by the laying of the turning block and improve the laying effect.

[0061] Furthermore, through the designed scraper roller 602, when the limiting tooth 608 is pulled to separate from the rotating wheel 606, the rotating frame 607 can be used to drive the rotating wheel 606 to rotate, thereby adjusting the distance between the rotating frame 607 and the scraper roller 602 and the bricks, thereby facilitating the adjustment of the mortar coating thickness, and the rotating wheel 606 can maintain the limiting stability and the fitting effect by engaging with the limiting tooth 608, and the sliding rod 611 can maintain the engagement effect of the front limiting tooth 608 by pulling the spring 610, thereby preventing the rotating frame 607 and the scraper roller 602 from shaking and deviating.

[0062] A control method for a multi-angle rotating bricklaying robot, comprising:

[0063] Identify the real-time position of the brick-laying robot driving body for positioning and navigation;

[0064] Through the local cost map planning algorithm, the local cost map is updated in real time to construct the planning curve for the dynamic path.

[0065] Identifying the real-time position of the driving body of the brick-laying robot for positioning and navigation includes:

[0066] The posture is divided into position and attitude. The position is represented by a three-dimensional vector, and the attitude is represented by a rotation matrix. The 4x4 homogeneous transformation matrix is ​​used to represent the posture of the driving vehicle in space:

[0067] =

[0068] in, is a The rotation matrix is ​​used to describe the rotational part of the driving vehicle body and belongs to a special orthogonal group , is a 3D translation vector or column vector that describes the position of the translation part of the driving vehicle body and belongs to the real space The lower right corner element of the matrix is ​​1, which represents the scaling factor in homogeneous coordinates, and the lower left corner of the matrix is ​​the zero vector to ensure that the homogeneous coordinate form is maintained;

[0069] Transformation Matrix Describes the 6D posture change of the driving vehicle, including the synthetic effect of rotation and translation. The position parameter describes the position of the object in three-dimensional space, using a three-dimensional vector , for the position parameter, the transformation is calculated by homogeneous coordinate representation, expanding the three-dimensional position vector to four dimensions:

[0070]

[0071] In homogeneous coordinates, the fourth element is set to 1, a 3D rotation matrix is a An orthogonal matrix, when the determinant is 1 (i.e. ) is converted to a rotation matrix when using the rotation vector for calculations;

[0072] Rotate a set of vectors in the space vector along the xyz axis and calculate it through the rotation matrix identity relationship. Suppose the space vector before rotation is , the rotation angles around each axis are:

[0073] Rotation along the x-axis:

[0074]

[0075] Rotation along the y axis:

[0076]

[0077] Rotation along the z-axis:

[0078]

[0079] The rotation matrix describes the process of transforming from one posture to another. The template rotation and combined transformation methods are used to obtain the relative relationship between the two postures, providing rotation guidance and data support for posture estimation of sensor data.

[0080] Specifically: by identifying the real-time posture of the driving body of the brick-laying robot, rotation guidance and data support can be provided through posture estimation, which is beneficial to improving the movement stability of the brick-laying robot.

[0081] Working principle: When in use, when the main push rod arm 401 and the auxiliary push rod arm 402 located on one side of the support rod 302 are driven to displace by the main push rod arm 401 on the other side, the main push rod arm 401 can rotate in the rotating seat 304 through the second rotating block 305 connected to the rear side, and the rotation of the rotating seat 304 can make the first rotating block 303 on the other side drive the support rod 302 to rotate and deflect around the axis of the bearing seat 301, so that the interference in the displacement process can be reduced by the main push rod arm 401 and the side push rod arm that can be deflected;

[0082] After the three groups of main push rod arms 401 and auxiliary push rod arms 402 move around the front brick adsorption mechanism 5, the brick adsorption mechanism 5 can improve the adaptability and matching degree to the laying angle through the adjustment of the six-axis position. When the auxiliary push rod arm 402 drives the front fixed block 403 to push the rotating frame 404, the fixed block 403 can rotate in the rotating frame 404 and push one side of the main push rod arm 401 to move, which is conducive to the precise position adjustment through the partial displacement of the auxiliary push rod arm 402.

[0083] When paving is required, the mechanical arm mechanism 4 located on the top side of the brick adsorption mechanism 5 can be extended forward to control the brick adsorption mechanism 5 to contact the coating mechanism 6. At this time, cement mortar can be injected into the coating seat 601 through an external material pump. At this time, the rollers 604 on both sides rotate to suspend the cement mortar to be laid to one side. Moreover, after the mechanical arm mechanism 4 continues to move to one side of the coating seat 601, the mortar-adhered brick to be laid can be scraped out of the corresponding casting groove by contacting the outer convex strip 603 of the scraper roller 602. At this time, the mechanical arm mechanism 4 can lay the bricks coated with cement mortar to the preset position of the program to carry out pre-coated brick paving;

[0084] When the limiting tooth 608 is pulled apart from the rotating wheel 606, the rotating frame 607 can be used to drive the rotating wheel 606 to rotate, and the distance between the rotating frame 607 and the scraper roller 602 and the bricks can be adjusted to facilitate the adjustment of the mortar coating thickness, and the rotating wheel 606 can maintain limiting stability by engaging with the limiting tooth 608.

[0085] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-angle rotating bricklaying robot, comprising a driving body (1), a supporting platform (7) is installed on the top of the driving body (1), and a supporting frame (2) is installed on the top of the supporting platform (7), characterized in that: The support frame (2) is provided with support mechanisms (3) on both sides in the vertical direction and on the top in the horizontal direction, and a mechanical arm mechanism (4) is provided on one side of a single support mechanism (3), and a brick adsorption mechanism (5) is connected between the plurality of mechanical arm mechanisms (4) in a transmission manner, and brick laying is performed by controlling the orientation of the brick adsorption mechanism (5) through multi-angle displacement of the mechanical arm mechanism (4); A coating mechanism (6) is installed on one side of the top of the support platform (7), and the coating mechanism (6) comprises a coating seat (601), and two rollers (604) are rotatably connected to the inner cavity of the coating seat (601), and both ends of the coating seat (601) are connected to fixed frames (605), and a rotating frame (607) is rotatably connected between adjacent fixed frames (605), and a scraping roller (602) is rotatably connected inside the rotating frame (607), and a plurality of convex strips (603) are connected to the outside of the scraping roller (602); One side of the rotating frame (607) is connected to a rotating wheel (606) through an axle, and a limiting tooth (608) is inserted and connected to one side of the rotating wheel (606), and both ends of one side of the limiting tooth (608) are connected to a sliding rod (611), and a sliding sleeve (609) is provided on the outer sleeve of the sliding rod (611), and the sliding sleeve (609) is connected to one side of the fixed frame (605), and a spring (610) is provided on the outer wall of the sliding rod (611), and the two ends of the spring (610) are respectively connected to the corresponding positions of the sliding cylinder and one side of the limiting tooth (608), and the position of the rotating frame (607) and the scraper roller (602) is controlled by the limiting of the limiting tooth (608) and the rotating wheel (606); The bottom of the coating seat (601) is connected to a grouting chamber, and the grouting chamber is located between the rotating rollers (604) on both sides, and the grouting chamber is connected to an external grouting pump through a pipeline.

2. The multi-angle rotating bricklaying robot according to claim 1, characterized in that: The support mechanism (3) comprises bearing seats (301) arranged on the protruding parts on both sides of the support frame (2), and a support rod (302) is rotatably connected between the bearing seats (301) on both sides, and two first rotating blocks (303) are externally connected to the support rod (302), and one side of the first rotating block (303) is rotatably connected to a rotating seat (304), and the other side of the rotating group is rotatably connected to a second rotating block (305), and one side of the two second rotating blocks (305) corresponding to the shaft side are respectively connected to corresponding positions on one side of the robot arm mechanism (4).

3. The multi-angle rotating bricklaying robot according to claim 2, characterized in that: The mechanical arm mechanism (4) comprises a main push rod arm (401) and a secondary push rod arm (402), wherein the main push rod arm (401) and the secondary push rod arm (402) are respectively connected to one side of a second rotating block (305) at a corresponding position, one end of the telescopic portion of the secondary push rod arm (402) is connected to a fixed block (403), one side of the fixed block (403) is rotatably connected to a rotating frame (404), and the other side of the rotating frame (404) is arranged outside the telescopic portion of the main push rod arm (401). On the side, the movement angle of the main push rod arm (401) is controlled by the extension and retraction of the extension part of the auxiliary push rod arm (402), and the end of the extension part of the main push rod arm (401) is connected to a push rod (406) through a coupling (405), and the other end of the push rod (406) is connected to a connecting sleeve (407), and the connecting sleeve (407) is rotatably connected to one side of the rotating ear of the brick adsorption mechanism (5), and the extension and retraction of the brick adsorption mechanism (5) is controlled by the extension and retraction of the extension part of the main push rod arm (401).

4. A control method for a multi-angle rotating bricklaying robot, applied to the multi-angle rotating bricklaying robot according to any one of claims 1 to 3, characterized in that: include: Identify the real-time position of the brick-laying robot driving body for positioning and navigation; Through the local cost map planning algorithm, the local cost map is updated in real time to construct the planning curve for the dynamic path.

5. The control method of a multi-angle rotating bricklaying robot according to claim 4, characterized in that: Identifying the real-time position of the driving body of the brick-laying robot for positioning and navigation specifically includes: The posture is divided into position and attitude. The position is represented by a three-dimensional vector, and the attitude is represented by a rotation matrix. The 4x4 homogeneous transformation matrix is ​​used to represent the posture of the driving vehicle in space: Among them, R is a 3×3 rotation matrix, which is used to describe the rotational posture of the driving vehicle body and belongs to a special orthogonal group. t is a 3D translation vector or column vector to describe the translational position of the driving vehicle body and belongs to the real number space. The lower right corner element of the matrix is ​​1, which indicates the scaling factor in homogeneous coordinates. The lower left corner of the matrix is ​​the zero vector to ensure that the homogeneous coordinate form is maintained. The transformation matrix T describes the 6D posture change of the driving vehicle body, including the combined effects of rotation and translation. The position parameter describes the position of the object in three-dimensional space. A three-dimensional vector P is used. For the position parameter, the transformation is calculated through the homogeneous coordinate representation, and the three-dimensional position vector is expanded to four dimensions: In homogeneous coordinates, the fourth element is set to 1. A 3D rotation matrix R is a 3×3 orthogonal matrix. When the determinant is 1, it is converted to a rotation matrix when using the rotation vector for calculations; Rotate a set of vectors in the space vector along the xyz axis and calculate it through the rotation matrix identity relationship. Suppose the space vector before rotation is a=(x1,y1,z1), and the rotation angle around each axis is: Rotation along the x-axis: Rotation along the y-axis: Rotation along the z-axis: The rotation matrix describes the process of transforming from one posture to another. The template rotation and combined transformation methods are used to obtain the relative relationship between the two postures, providing rotation guidance and data support for posture estimation of sensor data.

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