Sidewalk brick paving robot and operation method thereof

Abstract

The invention provides a sidewalk brick paving robot and an operation method thereof. The sidewalk brick paving robot comprises a brick feeding mechanism, a grabbing mechanism, a brick arranging and paving mechanism and a compacting mechanism. The brick feeding mechanism is used for storing and conveying first bricks; the grabbing mechanism is arranged above a brick outlet of the brick feeding mechanism and used for conveying the grabbed first bricks to the position between two adjacent second bricks on the brick arranging and paving mechanism. The brick arranging and paving mechanism is arranged between the brick feeding mechanism and the compacting mechanism, located below the grabbing mechanism and used for arranging the first bricks and the second bricks and then sequentially paving the first bricks and the second bricks on the ground. And the compaction mechanism is arranged at a brick outlet of the brick arranging and paving mechanism and is used for compacting the first bricks and the second bricks which are sequentially paved on the ground. The device and the method can effectively improve the working efficiency of road brick paving operation, reduce the manual operation intensity, save time and labor, and are efficient and rapid.

Description

Technical Field

[0001] The present application relates to the field of road construction, and in particular to a sidewalk paving robot and an operation method thereof. Background Art

[0002] Traditionally, bricks for pedestrian roads are laid manually, which is the mainstream method in China. In 2018, Zhang Yanli and others designed an automatic brick-laying machine based on image processing, which can automatically arrange and lay bricks according to the width of the road, reducing manual workload. At the same time, in 2015, the American company Construction Robotics developed a semi-automatic brick-laying machine "SAM" (Semi-Automated Mason), which is only suitable for flat roads and cannot handle corner paving, and still failed to achieve the goal of liberating labor.

[0003] However, there are many defects in the laying of the above-mentioned bricks for pedestrian roads: uneven gaps between tiles, uneven heights, low bonding rate between tiles and the bonding layer below, and very slow progress in laying tiles, which seriously restricts the healthy development of the industry. At the same time, many existing semi-automatic brick-laying robots have single functions, cumbersome operations, and cannot complete mortar laying, brick transportation, arrangement, placement, leveling, and caulking in one go. There are also problems such as single brick laying type and difficulty in ensuring laying quality. Summary of the invention

[0004] One of the purposes of the present application is to provide a sidewalk brick paving robot and an operating method thereof, aiming to solve the problem that the existing sidewalk brick paving types are single and require a high degree of manual assistance.

[0005] The technical solution of this application is:

[0006] A sidewalk brick-paving robot comprises a brick-feeding mechanism, a gripping mechanism, a brick-arranging and laying mechanism and a compacting mechanism; the brick-feeding mechanism is used to store and transport first bricks; the gripping mechanism is arranged above a brick outlet of the brick-feeding mechanism, and is used to transport the gripped first brick to between two adjacent second bricks on the brick-arranging and laying mechanism; the brick-arranging and laying mechanism is arranged between the brick-feeding mechanism and the compacting mechanism, and is located below the gripping mechanism, and is used to arrange the first bricks and the second bricks and lay them on the ground in sequence; the compacting mechanism is arranged at the brick outlet of the brick-arranging and laying mechanism, and is used to compact the first bricks and the second bricks laid on the ground in sequence.

[0007] As a technical solution of the present application, the brick feeding mechanism includes a first storage box, a liftable platform, a linked screw lift and a pushing assembly; the liftable platform is liftably arranged in the inner cavity of the first storage box, and is used to transport the first bricks stored on the upper surface to the pushing assembly; the linked screw lift is arranged on the first storage box and is transmission-connected to the liftable platform, and is used to drive the liftable platform to rise and fall in the first storage box; the pushing assembly is installed on the top of the first storage box and is located above the liftable platform, and is used to push the transported first brick to the brick outlet on the top of the first storage box near the grabbing mechanism.

[0008] As a technical solution of the present application, the pushing assembly includes a transverse slide rail, a transverse screw rod, a transverse slider, a servo motor and a pushing plate; the transverse slide rail is installed on the top of the first storage box; the transverse screw rod is installed on the transverse slide rail; the transverse slider is installed on the transverse screw rod for linear reciprocating movement; the servo motor is transmission-connected to the transverse screw rod, and is used to drive the transverse screw rod to drive the transverse slider to move toward or away from the brick outlet of the first storage box; the pushing plate is arranged in the inner cavity of the first storage box and is above the liftable platform, and is connected to the transverse slider, and is used to push the first brick on the liftable platform to the brick outlet on the top of the first storage box near the grabbing mechanism.

[0009] As a technical solution of the present application, the grabbing mechanism includes a connecting frame, a power assembly, a supporting slide rail, a power slider, a transmission rod, a limit assembly and a grabbing assembly; the connecting frame is connected to the brick feeding mechanism; the power assembly, the supporting slide rail and the limit assembly are respectively installed on the connecting frame at intervals; the power slider can be installed on the supporting slide rail so as to be reciprocatingly movable in a linear manner, and is connected to the transmission rod for driving the transmission rod to reciprocate linearly on the limit assembly; the power assembly is connected to the power slider for driving The power slider moves on the supporting slide rail; the two ends of the transmission rod are respectively arranged on the opposite sides of the limit assembly for linear reciprocating movement, and one end thereof passes through one side of the limit assembly and is connected to the power slider, so as to drive the grabbing assembly to move and transport the first brick; the grabbing assembly is connected to the transmission rod, and can be laterally moved through the bottom of the limit assembly and is arranged above the brick outlet of the brick feeding mechanism, so as to transport the grabbed first brick to between two adjacent second bricks on the brick arranging and paving mechanism.

[0010] As a technical solution of the present application, the power assembly includes a power motor, a rotating disc, a power crank and a power connecting rod; the power motor is installed on the connecting frame, and the driving end is transmission-connected to the rotating disc, used to drive the rotating disc to rotate; the power crank is arranged at one side of the rotating disc, and one end is hinged to one side of the rotating disc, and the other end is hinged to one end of the power connecting rod; the other end of the power connecting rod is transmission-connected to the power slider, used to drive the power slider to move back and forth in a straight line.

[0011] As a technical solution of the present application, the limiting assembly includes a U-shaped limiting plate with an upward opening; inclined slides are provided on two opposite side plates of the U-shaped limiting plate, and a plurality of spaced limiting channels are provided on the middle connecting plate; the height of the inclined slides gradually increases from the direction close to the brick arranging and laying mechanism toward the direction close to the brick feeding mechanism; the two ends of the transmission rod are respectively arranged on the corresponding inclined slides for linear reciprocating movement; the extension directions of the plurality of limiting channels are arranged at an angle to the length direction of the connecting plate, and the ends of the plurality of limiting channels close to the brick feeding mechanism are close to each other, and the other ends close to the brick arranging and laying mechanism are dispersed; the top of the grabbing assembly is connected to the transmission rod, and the lower part can move through the corresponding limiting channel in the limiting channel.

[0012] As a technical solution of the present application, the gripping assembly includes a plurality of mechanical grippers installed at intervals on the transmission rod, each of the mechanical grippers includes a connecting slider, a connecting rod, a vacuum generator and a suction cup gripper; the connecting slider can be slidably mounted on the transmission rod; the connecting rod can move along the limiting channel and pass through the corresponding limiting channel, and the top is connected to the connecting slider and the bottom is connected to the suction cup gripper; the vacuum generator is installed on the middle part of the connecting rod and connected to the suction cup gripper, and is used to drive the suction cup gripper to absorb the first brick below.

[0013] As a technical solution of the present application, the brick arranging and laying mechanism includes a second storage box, a movable platform, a ball screw module, a push plate, a ball screw structure, a first conveyor, a second conveyor and a baffle; the second storage box is arranged below the grabbing mechanism, and a plurality of brick transport openings are opened on the top surface; the movable platform can be installed in the cavity of the second storage box in a liftable manner, and is used to transport a plurality of the second bricks to the corresponding brick transport openings; the ball screw module is installed in the second storage box, and is transmission-connected to the movable platform, and is used to drive the movable platform to rise and fall; the push plate can be arranged on the top surface of the second storage box in a linear reciprocating manner along the length direction of the top surface of the second storage box, and is used to drive the bricks to be arranged in sequence at intervals. The first bricks and the second bricks are moved to the first conveyor; the ball screw structure is installed on the second storage box and is transmission-connected with the push plate to drive the push plate to move; the first conveyor is installed at one end of the second storage box and is in the same straight line as the second storage box, and is used to convey the first bricks and the second bricks arranged in sequence to the second conveyor; the second conveyor is connected to one side of the first conveyor and is arranged perpendicular to the second storage box, and is used to lay the first bricks and the second bricks arranged in sequence on the ground; the baffle is detachably installed on the first conveyor and the second conveyor on the outside away from the second storage box.

[0014] As a technical solution of the present application, the compacting mechanism includes a plurality of adjustable rods, a caulking machine and a compacting roller; one end of the plurality of adjustable rods is rotatably and adjustably connected to two opposite outer walls of the brick arrangement and laying mechanism near the brick outlet, and the other end is connected to two opposite outer walls of the caulking machine; the caulking machine is filled with sand and gravel for filling the gaps between the laid second bricks or the first bricks; the compacting roller is rotatably installed at the lower part of the caulking machine and is arranged on one side below the sand outlet of the caulking machine for rolling and compacting the laid second bricks or the first bricks.

[0015] A sidewalk paving robot operation method, using the sidewalk paving robot described above to perform paving operations, comprises the following steps:

[0016] S1, discharging the first bricks to be laid onto the liftable platform in the first storage box of the brick feeding mechanism, and discharging the second bricks to be laid onto the movable platform in the second storage box of the brick arranging and laying mechanism;

[0017] S2, start the linkage screw lift in the brick feeding mechanism to drive the liftable platform in the brick feeding mechanism to rise; when the liftable platform drives the first brick to rise to the highest layer, the first brick faces the push plate in the brick feeding mechanism; start the servo motor connected to the push plate to drive the push plate to push the first bricks arranged in sequence to the position directly below the grabbing mechanism;

[0018] S3, start the mechanical gripper in the gripping mechanism, and grasp the row of the first bricks directly below through the suction cup gripper in the mechanical gripper; start the power motor in the gripping mechanism to drive the transmission rod in the gripping mechanism to drive the suction cup gripper to move toward the top surface of the second storage box, and put the first brick down to the top surface of the second storage box, so that the first brick is between two adjacent second bricks;

[0019] S4, start the ball screw module in the brick arranging and laying mechanism to drive the movable platform to drive the second brick to move up to the multiple brick transport openings on the top surface of the second storage box, so that the first brick and the second brick are sequentially arranged on the top surface of the second storage box; start the ball screw structure in the brick arranging and laying mechanism to drive the push plate in the brick arranging and laying mechanism to move the first brick and the second brick that are sequentially arranged to the first conveyor and the second conveyor in the brick arranging and laying mechanism;

[0020] S5, starting the first conveyor and the second conveyor to lay the first brick and the second brick on the ground in sequence;

[0021] S6, starting the caulking machine and the compacting roller in the compacting mechanism to perform caulking and compacting operations on the first bricks and the second bricks laid on the ground;

[0022] S7, repeating the operations in step S2 to step S6 in sequence until the road paving operation is completed.

[0023] Beneficial effects of this application:

[0024] (1) The sidewalk brick-laying robot of the present application performs road brick laying operations by means of the mutual coordination design between the brick feeding mechanism, the gripping mechanism, the brick arranging and laying mechanism, and the compacting mechanism, so as to realize the whole process of road brick paving without human assistance, which greatly improves the operation efficiency of road brick paving. At the same time, the present application adopts a modular design, and integrates the brick feeding, arranging, laying and compacting structures on the frame structure, so as to realize automatic brick paving operations without human intervention, which greatly improves the operation efficiency of the sidewalk brick-laying robot. At the same time, its modular integrated design also facilitates the disassembly and replacement of the entire device.

[0025] (2) In the sidewalk paving robot operation method of the present application, it adopts the method of storing the first bricks and the second bricks in separate compartments, and cooperates with the paving arrangement mechanism to perform paving operations, which greatly improves the multi-scenario applicability of the sidewalk paving robot. At the same time, it can adapt to the paving use of various terrains and lay various different types of bricks. It is highly practical and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a sidewalk paving robot provided in the first embodiment of the present application;

[0028] Figure 2 A schematic diagram of a brick feeding mechanism provided in the first embodiment of the present application;

[0029] Figure 3 A schematic diagram of a push component provided for the first embodiment of the present application;

[0030] Figure 4 A schematic diagram of a gripping mechanism provided in the first embodiment of the present application;

[0031] Figure 5 A schematic diagram of a power assembly provided for the first embodiment of the present application;

[0032] Figure 6 A schematic diagram of a mechanical gripper provided in the first embodiment of the present application;

[0033] Figure 7 A schematic diagram of the connection between the brick arranging and laying mechanism and the compacting mechanism provided in the first embodiment of the present application;

[0034] Figure 8 A schematic diagram of a second storage box provided in the first embodiment of the present application;

[0035] Fig. 9 A schematic diagram of a second storage box at a first angle provided in the first embodiment of the present application;

[0036] Fig.10 Schematic diagram of the connection between the second conveyor and the compacting mechanism provided in the first embodiment of the present application.

[0037] Icons: 1-brick feeding mechanism; 2-grabbing mechanism; 3-brick arrangement mechanism; 4-compacting mechanism; 5-controller; 6-first storage box; 7-liftable platform; 8-linked screw lifter; 9-transverse slide rail; 10-transverse screw rod; 11-transverse slider; 12-servo motor; 13-push plate; 14-support slide rail; 15-power slider; 16-transmission rod; 17-power motor; 18-rotating disc; 19-power crank; 20- Power connecting rod; 21-U-shaped limit plate; 22-inclined slide; 23-limit channel; 24-connecting slider; 25-connecting rod; 26-vacuum generator; 27-suction cup gripper; 28-second storage box; 29-movable platform; 30-ball screw module; 31-push plate; 32-ball screw structure; 33-first conveyor; 34-second conveyor; 35-baffle; 36-adjustable rod; 37-caulking machine; 38-compacting roller. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0040] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0041] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is usually placed when in use. These are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0042] In addition, in the present application, unless otherwise clearly specified and limited, the first feature being above or below the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being above, above, and above the second feature includes the first feature being above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being below, below, and below the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0044] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] First embodiment:

[0046] Please refer to Figure 1 , with reference Figures 2 to 10 The present application provides a sidewalk brick-laying robot, which mainly includes a brick-feeding mechanism 1, a gripping mechanism 2, a brick-arranging and laying mechanism 3, a compacting mechanism 4 and a controller 5; wherein the brick-feeding mechanism 1 is used to store and transport a first brick; at the same time, the gripping mechanism 2 is arranged above the brick outlet of the brick-feeding mechanism 1 and above the brick-feeding port of the brick-arranging and laying mechanism 3, and is mainly used to transport the gripped first brick to between two adjacent second bricks on the top surface of the brick-arranging and laying mechanism 3; in addition, the brick-arranging and laying mechanism 3 is arranged between the brick-feeding mechanism 1 and the compacting mechanism 4. The first and second bricks are arranged on the ground and laid in sequence thereon; and the compacting mechanism 4 is arranged at the brick outlet of the brick arranging and laying mechanism 3, and is mainly used to compact the first and second bricks laid in sequence on the ground; at the same time, the controller 5 is electrically connected to the brick feeding mechanism 1, the gripping mechanism 2, the brick arranging and laying mechanism 3, and the compacting mechanism 4, respectively, for controlling the opening or closing of the brick feeding mechanism 1, the gripping mechanism 2, the brick arranging and laying mechanism 3, and the compacting mechanism 4, respectively.

[0047] For further information, please refer to Figures 2 to 3 The brick feeding mechanism 1 includes a first storage box 6, a liftable platform 7, a linked screw lift 8 and a pushing assembly; wherein the liftable platform 7 is liftably arranged in the inner cavity of the first storage box 6, and multiple layers of first bricks are placed thereon, and is mainly used to transport multiple spaced first bricks stored on its upper surface to a pushing plate 13 close to the pushing assembly; the liftable platform 7 carries the first bricks, and its lifting method is progressive lifting, and each lifting height is the thickness of a layer of first bricks. After the transportation of the top layer of first bricks is completed, the liftable platform 7 rises again by the thickness of a layer of first bricks. It also includes multiple limiting mechanisms, which are fixedly installed on the surface of the U-shaped linked screw lifting platform and the entrance of the storage box; at the same time, the linked screw lift 8 is arranged on the first storage box 6, which is transmission-connected with the liftable platform 7, and is mainly used to drive the liftable platform 7 to rise and fall in the first storage box 6; and the pushing component is installed on the top of the first storage box 6 and is above the liftable platform 7. It is mainly used to push the first bricks transported to the top of the first storage box 6 near the brick outlet of the grabbing mechanism 2, so that the multiple first bricks in the front row can be grabbed by the grabbing mechanism 2.

[0048] It should be noted that the linked screw lift 8 as a whole adopts the structure of the prior art, which is installed on the first storage box 6; the four corner ends of the liftable platform 7 are connected to the lifting copper nuts on the four ball screws at the four corner ends of the first storage box 6; therefore, when the driving motor in the linked screw lift 8 is started by the controller 5, it drives the four vertically arranged ball screws to rotate through the transmission shaft, coupling and commutator, and then drives the lifting copper nuts thereon to rise and fall on the ball screw, thereby realizing the lifting and lowering of the liftable platform 7.

[0049] The liftable platform 7 will only move up when the first brick of the height layer where the push plate 13 is located is empty, and each time it rises to the height of the thickness of the first brick of one layer, its height is the height of the first brick of the current highest layer. The brick feeding mechanism 1 that adopts the combination of the push component, the linkage screw lift 8 and the liftable platform 7 can help improve the operating efficiency of the device, and its brick feeding amount is controllable, which greatly improves the adaptability of the device. It also breaks the limitation of the existing brick laying robot that bricks need to be manually input, and can efficiently complete the brick pre-sorting process for pedestrian road paving.

[0050] For details, please refer to Figure 3The push assembly includes a transverse slide rail 9, a transverse screw rod 10, a transverse slider 11, a servo motor 12 and a push plate 13; wherein the transverse slide rail 9 is mounted on the top of the first storage box 6, and is parallel to the length direction of the first storage box 6; the transverse screw rod 10 is mounted on the transverse slide rail 9, and is parallel to the length direction of the first storage box 6; the transverse slider 11 can be mounted on the transverse screw rod 10 in a linear reciprocating manner along a direction parallel to the length direction of the first storage box 6; and the servo motor 12 is mounted on the top of the first storage box 6, and its driving end is connected to the transverse The screw rod 10 is used to drive the transverse screw rod 10 to drive the transverse slider 11 to move toward or away from the brick outlet of the first storage box 6; the push plate 13 is arranged in the inner cavity of the first storage box 6 and is located above the liftable platform 7, and its top passes through the top surface of the first storage box 6 and is fixedly connected to the transverse slider 11. It is in the same space as the brick outlet of the first storage box 6 and is located at the highest layer height of the first brick that the first storage box 6 can carry. It is used to push the first brick on the liftable platform 7 to the brick outlet of the top of the first storage box 6 near the grabbing mechanism 2. Therefore, when the first brick layer on the top layer of the liftable platform 7 rises to the same height as the push plate 13, the servo motor 12 is started by the controller 5, and the push plate 13 can be driven by the transverse slider 11 to move toward the brick outlet near the grabbing mechanism 2. At this time, the push plate 13 pushes the first brick layer on the top layer to move to the brick outlet near the grabbing mechanism 2, waiting for the grabbing mechanism 2 to grab and move.

[0051] During operation, the initial position of the transverse slider 11 is located at the rearmost of the top surface of the first storage box 6. Driven by the servo motor 12, the transverse slider 11 drives the pushing plate 13 from back to front to push the first brick at the highest layer forward. The moving distance is the length of the bricks laid this time. After the highest supported first brick is pushed, the transverse slider 11 drives the pushing plate 13 back to the initial state, and the lifting platform 7 moves up one layer. This cycle is repeated until the remaining bricks in the first storage box 6 are zero.

[0052] For further information, please refer to Figure 4 and Figure 6The grabbing mechanism 2 includes a connecting frame, a power assembly, a supporting rail 14, a power slider 15, a transmission rod 16, a limiting assembly and a grabbing assembly; wherein the connecting frame is fixedly connected to the outer wall of the first storage box 6, and is used to support the power assembly, the supporting rail 14 and the limiting assembly; at the same time, the power assembly, the supporting rail 14 and the limiting assembly are respectively installed on the connecting frame at intervals; the power slider 15 can be installed on the supporting rail 14 in a linear reciprocating manner, and is fixedly connected to the transmission rod 16, which is mainly used to drive the transmission rod 16 to perform a linear reciprocating movement on the U-shaped limiting plate 21; the power assembly transmission connection It is connected to the power slider 15, which is mainly used to drive the power slider 15 to perform linear reciprocating movement on the supporting slide rail 14; and, the two ends of the transmission rod 16 are respectively arranged on the opposite sides of the limit assembly for linear reciprocating movement, and one end thereof passes through one side of the limit assembly and is connected to the power slider 15, so as to drive the grabbing assembly to move and transport the first brick; at the same time, the grabbing assembly is connected to the transmission rod 16, and can be laterally moved through the bottom of the limit assembly and is arranged above the brick outlet of the brick feeding mechanism 1, so as to transport the grabbed first brick to between two adjacent second bricks on the brick arranging and paving mechanism 3.

[0053] For details, please refer to Figure 5 The power assembly includes a power motor 17, a rotating disc 18, a power crank 19 and a power connecting rod 20; the rotating disc 18 is arranged in parallel and at intervals with the supporting slide rail 14, and both are located above the first storage box 6, and the rotating disc 18 is arranged vertically; the power motor 17 is fixedly installed on the connecting frame, and its driving end is transmission-connected to the rotating disc 18, and it is mainly used to drive the rotating disc 18 to rotate; at the same time, the power crank 19 is arranged on a side of the rotating disc 18 close to the first storage box 6, and one end of it is hinged on one side of the rotating disc 18, and the other end of it is hinged to one end of the power connecting rod 20; and the other end of the power connecting rod 20 is transmission-connected to the power slider 15, which is mainly used to drive the power slider 15 to perform linear reciprocating movement on the supporting slide rail 14. The power motor 17 is turned on through the controller 5, and the power motor 17 drives the rotating disk 18 to rotate, thereby driving the power crank 19 and the power connecting rod 20 to move, thereby driving the power slider 15 to move on the supporting slide rail 14, and then driving the transmission rod 16 to move on the inclined slide 22 of the U-shaped limit plate 21 through the power slider 15, thereby driving the mechanical grabber at the bottom of the transmission rod 16 to move.

[0054] Please refer to Figure 4The limiting assembly includes a U-shaped limiting plate 21 with an opening facing upward, which is located above the first storage box 6 and the second storage box 28; wherein the U-shaped limiting plate 21 is connected by two side plates and a connecting plate, the length direction of the U-shaped limiting plate 21 is parallel to the length direction of the second storage box 28, the length direction of the first storage box 6 is perpendicular to the length direction of the second storage box 28, and the length direction of the supporting slide rail 14 is perpendicular to the length direction of the U-shaped limiting plate 21; at the same time, the two opposite sides of the U-shaped limiting plate 21 Each side plate is provided with an inclined slide 22, and a plurality of spaced limiting channels 23 are provided on the connecting plate in the middle; the height of the inclined slide 22 gradually increases from the direction close to the second storage box 28 toward the direction close to the first storage box 6, and the trend of the opening direction of the inclined slide 22 is consistent with the opposite width of the U-shaped limiting plate 21; in addition, the two ends of the transmission rod 16 are respectively arranged on the corresponding inclined slide 22 for linear reciprocating movement, and one end is fixedly connected to the power slider 15, when the power slider 15 is in When the support slide rail 14 moves, it can drive the transmission rod 16 to move on the two inclined slides 22, thereby driving the mechanical grabber connected to the transmission rod 16 to move; and the extension directions of the multiple limiting channels 23 are arranged at an angle to the length direction of the connecting plate, and the ends of the multiple limiting channels 23 close to the first storage box 6 are close to each other, and the other ends close to the second storage box 28 are dispersed from each other, and the first straight line formed by connecting the ends of the multiple limiting channels 23 close to the first storage box 6 is connected to the length of the U-shaped limiting plate 21. The second straight line formed by connecting the other ends of the plurality of limiting channels 23 close to the second storage box 28 is consistent with the length direction of the U-shaped limiting plate 21, the limiting channel 23 closest to the power slider 15 has the smallest angle with the length direction of the connecting plate, and the limiting channel 23 farthest from the power slider 15 has the largest angle with the length direction of the connecting plate; in addition, the top of the grabbing assembly is connected to the transmission rod 16, and the lower part thereof can move in the limiting channel 23 and pass through the corresponding limiting channel 23.

[0055] Due to the ingenious design between the two inclined slides 22, the multiple limiting channels 23 and the transmission rod 16, the mechanical gripper at the bottom of the transmission rod 16 can be moved to the brick outlet at the top of the first storage box 6, so as to accurately grab multiple first bricks; in addition, it can also enable the multiple mechanical grippers at the bottom of the transmission rod 16 to be respectively moved to the top of each corresponding top plate on the top surface of the second storage box, so as to accurately place multiple first bricks on the corresponding top plate, so that the first bricks and the second bricks can be accurately laid according to the required laying plan, meet the laying requirements of various road surface bricks, and make the laying work simple, convenient, fast and efficient. This structure is conducive to the controllable spacing between adjacent first bricks, and facilitates the insertion of other materials between the subsequent first bricks, so as to realize a variety of brick arrangement schemes, breaking the current situation that the existing scheme requires manual arrangement of bricks, which is conducive to improving the efficiency of brick sorting.

[0056] In addition, the power motor 17 can be a DC motor, and the rotor of the DC motor is concentric with the rotating disc 18; when working, the DC motor is powered, and its rotor drives the rotating disc 18 to rotate.

[0057] Please refer to Figure 6 The grabbing assembly includes a plurality of mechanical grabbers installed at intervals on the transmission rod 16, each mechanical grabber includes a connecting slider 24, a connecting rod 25, a vacuum generator 26 and a suction cup gripper 27; wherein the connecting slider 24 can be slidably mounted on the transmission rod 16; the connecting rod 25 can move along the limiting channel 23 and pass through the corresponding limiting channel 23, and its top is fixedly connected to the connecting slider 24, and its bottom is connected to a plurality of suction cup grippers 27; and the vacuum generator 26 is installed on the middle part of the connecting rod 25, which is connected to the suction cup gripper 27 and is used to drive the suction cup gripper 27 to absorb the first brick below. The vacuum generator 26 is started by the controller 5, so that the suction cup gripper 27 can absorb the first bricks below it, and after the transmission rod 16 moves to the corresponding position, the vacuum generator 26 releases the suction cup of the suction cup gripper 27 and puts down the first brick, making the grabbing work simple, convenient, fast and efficient.

[0058] It should be noted that the vacuum generator 26 and the suction cup gripper 27 both adopt structures in the prior art, and their specific structures and working principles are not described in detail here.

[0059] Please refer to Figures 7 to 9The brick arranging mechanism 3 includes a second storage box 28, a movable platform 29, a ball screw module 30, a push plate 31, a ball screw structure 32, a first conveyor 33, a second conveyor 34 and a baffle 35; wherein the second storage box 28 is arranged below the U-shaped limit plate 21, and a plurality of brick transport openings are opened on its top surface, and a top plate for placing the first bricks is provided between adjacent brick transport openings; at the same time, the movable platform 29 can be installed in the cavity of the second storage box 28 in a lifting manner, and multiple layers of second bricks are placed thereon, which is mainly used to transport multiple second bricks to the corresponding brick transport openings; in addition, the ball screw The module 30 is installed in the second storage box 28, and is connected to the movable platform 29 in a transmission manner. It is mainly used to drive the movable platform 29 to rise and fall. It should be noted that the ball screw module 30 adopts the structure in the prior art, and its specific structure and working principle are not repeated here. At the same time, the push plate 31 can be arranged on the top surface of the second storage box 28 in a linear reciprocating manner along the length direction of the top surface of the second storage box 28. Its initial state is located at the end of the top surface of the second storage box 28 away from the first conveyor 33. It is mainly used to drive the first bricks and the second bricks arranged in sequence to move to the first conveyor 33. At the same time, a ball screw structure 32 is installed on the second storage box 28, which is transmission-connected with the push plate 31, and is mainly used to drive the push plate 31 to drive the first brick and the second brick to move on the top surface of the second storage box 28. The ball screw structure 32 adopts the structure in the prior art, and its specific structure and working principle are not repeated here; and a first conveyor 33 is installed at one end of the second storage box 28, which is in the same straight line as the second storage box 28, and is used to convey the first bricks and the second bricks arranged in sequence to the second conveyor 34; in addition, the second conveyor 34 is connected to the first conveyor The second conveyor 34 is located on one side of the conveyor 33 and is arranged perpendicular to the second storage box 28. It is mainly used to lay the first bricks and the second bricks arranged in sequence on the ground. The top surface of the second conveyor 34 for transporting the first bricks and the second bricks is an inclined surface, which gradually decreases from the direction close to the first conveyor 33 to the height close to the compacting roller 38. The first conveyor 33 and the second conveyor 34 both adopt the structure in the prior art, and their specific structure and working principle are not repeated here. In addition, the baffle 35 can be detachably installed on the first conveyor 33 and the second conveyor 34 on the outer edge away from the second storage box 28.

[0060] It should be noted that the first conveyor 33 is connected to the top surface of the second storage box 28 and is adjacent to the second conveyor 34, and its conveying direction is from the back to the second conveyor 34. During operation, the second storage box 28 transports the second brick to its upper surface, and the ball screw structure 32 drives the push plate 31 to move toward the first conveyor 33, and after the first brick and the second brick on the upper surface of the second storage box 28 are moved to the end point together, the first conveyor 33 conveys the first brick and the second brick to the second conveyor 34, and the second conveyor 34 conveys the first brick and the second brick to the ground.

[0061] It should be noted that the number of movable platforms 29 and ball screw modules 30 can be one group, or two groups, three groups, four groups, etc., which can be adaptively adjusted according to different laying schemes and are not limited to one group in the present embodiment. A variety of different types of second bricks can be stored on the movable platform 29, which can transport the stored second bricks layer by layer to the top surface of the second storage box 28.

[0062] By starting the ball screw module 30 through the controller 5, the movable platform 29 can be raised, and then the multiple second bricks can be transported to the corresponding brick transport port; at the same time, the ball screw structure 32 is started by the controller 5, so that the push plate 31 pushes the first bricks and the second bricks arranged in sequence to move to the first conveyor 33; the first conveyor 33 is started by the controller 5, so that the first bricks and the second bricks arranged in sequence are moved to the second conveyor 34; the second conveyor 34 is started by the controller 5, so that the first bricks and the second bricks arranged in sequence are moved to the ground for laying.

[0063] Please refer to Fig.10 The compacting mechanism 4 includes a plurality of adjustable rods 36, a caulking machine 37 and a compacting roller 38; wherein, one end of the plurality of adjustable rods 36 is rotatably and adjustably connected to two opposite outer walls of the second conveyor 34 near the brick outlet, and the other end is connected to two opposite outer walls of the caulking machine 37; at the same time, the caulking machine 37 is filled with sand and gravel, which is used to fill the gaps between the laid second bricks or the first bricks; in addition, the compacting roller 38 is rotatably installed at the lower part of the caulking machine 37 and is arranged on one side below the sand outlet of the caulking machine 37, which is used to roll and compact the laid second bricks or the first bricks.

[0064] The caulking machine 37 is started by the controller 5 so that the sand and gravel thereon fill the gaps between the laid second bricks or the first bricks; the compacting roller 38 is started by the controller 5 so that the laid second bricks or the first bricks are rolled and compacted.

[0065] During operation, as the device operates, the compacting roller 38 rolls and compacts the laid bricks, and the caulking machine 37 is filled with sand and gravel, which fills the gaps between bricks as the laying operation proceeds. The distance between the compacting roller 38 and the ground can be changed by rotating multiple adjustable rods 36, thereby enhancing the adaptability of the device; in addition, when not in operation, the adjustable rods 36 can be adjusted upward to a state perpendicular to the ground, thereby reducing the overall space occupied by the device.

[0066] It should be noted that the controller 5 is electrically connected to the drive motor, servo motor 12, power motor 17, vacuum generator 26, ball screw module 30, ball screw structure 32, first conveyor 33, second conveyor 34, caulking machine 37, and compacting roller 38, respectively, and can control the opening and closing of the drive motor, servo motor 12, power motor 17, vacuum generator 26, ball screw module 30, ball screw structure 32, first conveyor 33, second conveyor 34, caulking machine 37, and compacting roller 38, respectively; and the controller 5 adopts the structure of the prior art, and its specific structure and working principle will not be repeated here.

[0067] It should be noted that, in this embodiment, the first brick can be an ordinary brick, and the second brick can be a patterned brick; in other embodiments, the first brick and the second brick can be adaptively adjusted according to different laying requirements, and are not limited to the design method in this embodiment.

[0068] The working process of the device is:

[0069] After the operation team fills the device with the first brick and the second brick, it drives it into the road. When it is close to the paving edge, the linkage screw lift 8 is started to drive the lifting platform 7 to rise. When it rises to the first brick on the highest layer facing the push plate 13, it stops rising. The servo motor 12 controls the push plate 13 to push the first brick forward to the bottom of the suction cup gripper 27. The distance of each movement is the width of one row of first bricks. Under the drive of the vacuum generator 26, the suction cup gripper 27 sucks the first brick below. Under the drive of the power motor 17, the rotating disc 18 rotates, driving the power crank 19 and the power connecting rod 20 connected thereto to move, so that the power slider 15 moves in the supporting slide rail 14, driving the transmission rod 16 and the suction cup gripper 27 thereon to move horizontally within the range of each limiting channel 23 of the U-shaped limiting plate 21. After moving to the corresponding position, the vacuum generator 26 releases the suction cup of the suction cup gripper 27 and places the first brick on the top surface of the second storage box 28. At this time, the ball screw module 30 is started, and the movable platform 29 is started to drive the second brick on it to move up to the top surface of the second storage box 28, so that the bottom of the second brick on the top layer is flush with the top surface of the second storage box 28; the ball screw structure 32 is started to drive the push plate 31 to move, so as to push the first brick and the second brick to move in the direction close to the first conveyor 33, and after the first brick and the second brick on the top surface of the second storage box 28 are pushed to the end point together, the first brick and the second brick just fit with the baffle 35, and the first conveyor 33 conveys the first brick and the second brick to the second conveyor 34, and the second conveyor 34 conveys them to the ground for laying. The caulking machine 37 is started to allow the sand and gravel inside to leak naturally during the laying operation, thereby filling the gaps between the bricks; the compacting roller 38 is started to roll and compact the laid first brick and second brick. Finally, the above process is repeated until there are no bricks left; the operation team remotely controls the device to suspend operation and replenish bricks until the laying operation is completed.

[0070] Therefore, the present application adopts a lifting platform 7, a linkage screw lift 8, a push plate 13, a push plate 13, a first storage box 6, a second storage box 28, a ball screw module 30, a ball screw structure 32, a first conveyor 33, and a second conveyor 34 to replace a large suction cup manipulator, which greatly improves the efficiency of brick laying, and through the integrated design of each structure, it can realize the automatic and accurate laying of bricks, without the need for manual alignment of the brick gaps, which greatly improves the accuracy and efficiency of brick laying. At the same time, the present application adopts a partitioned storage method of the first storage box 6 and the second storage box 28, so that it can lay a variety of brick laying schemes, which jumps out of the traditional fixed thinking of laying bricks of a single shape and color, and innovatively proposes a design idea of ​​splicing and laying bricks of various colors and brick types, which can splice bricks of various colors, enhance the versatility of brick laying, and greatly improve the universality and practicality of road paving. In addition, the present application adopts a modular design, with a detachable limit plate, which greatly reduces the space occupied and breaks through the limitation of the traditional paving method that can only pave large areas. At the same time, the present application has made iterative innovations in the degree of automation, improving the disadvantages of requiring workers to participate in the construction process. The brick feeding part adopts a linkage screw lift 8 to convey the first brick, and the push plate 13 is used to realize the preliminary arrangement of the first brick. At the same time, it also integrates the unique design of the second storage box 28 to realize the automatic arrangement of bricks of various colors by the machine, and then the second conveyor 34 is used to automatically lay bricks, so as to achieve an automatic brick laying effect without human assistance, greatly improving the automation of the brick laying machine, saving time and effort, greatly improving the efficiency of brick laying, and avoiding interference caused by weather changes, which can effectively ensure the efficiency and intelligence of road paving. Moreover, the controller 5 controls each structure to perform operations, which can realize the whole process of road paving without human assistance, greatly improving the operation efficiency of the device; at the same time, the present application adopts a modular design, integrates the structures such as brick feeding, arrangement, laying and compaction, and controls through the controller 5, which can realize automatic brick paving operations without human intervention, greatly improving the operation efficiency of the device; at the same time, this modular design is also convenient for the disassembly and replacement of the entire device. Furthermore, the sidewalk paving robot provided by the present application adopts the storage of colored bricks and ordinary bricks in separate warehouses, cooperates with the brick paving arrangement mechanism 3, greatly improving the multi-scenario applicability of the sidewalk paving robot, and adopts a detachable limit plate on the first conveyor 33 and the second conveyor 34, so that the device can adapt to various terrains and can lay various types of bricks, solving the problems of the existing semi-automatic sidewalk paving robots in terms of mobility and versatility.

[0071] Second embodiment:

[0072] In this embodiment, a sidewalk paving robot operation method is provided, which mainly uses the sidewalk paving robot in the first embodiment to perform road paving operations; the operation method mainly includes the following steps:

[0073] S1, discharging the first bricks to be laid onto the liftable platform 7 in the first storage box 6 of the brick feeding mechanism 1, and discharging the second bricks to be laid onto the movable platform 29 in the second storage box 28 of the brick arranging and laying mechanism 3;

[0074] S2, start the linkage screw lift 8 to drive the liftable platform 7 to rise; when the liftable platform 7 drives the first brick to rise to the highest level, the first brick faces the push plate 13; start the servo motor 12 connected to the push plate 13 to drive the push plate 13 to push the first bricks arranged in sequence to the position directly below the grabbing mechanism 2;

[0075] S3, start the mechanical gripper in the gripping mechanism 2, and use the suction cup gripper 27 in the mechanical gripper to grab the first brick in the row directly below; start the power motor 17 in the gripping mechanism 2 to drive the transmission rod 16 in the gripping mechanism 2 to drive the suction cup gripper 27 to move toward the top surface of the second storage box 28, and put the first brick down to the top surface of the second storage box 28, so that the first brick is between two adjacent second bricks;

[0076] S4, start the ball screw module 30 in the brick arranging and laying mechanism 3 to drive the movable platform 29 to drive the second brick to move up to the multiple brick transport openings on the top surface of the second storage box 28, so that the first brick and the second brick are sequentially arranged on the top surface of the second storage box 28; start the ball screw structure 32 in the brick arranging and laying mechanism 3 to drive the push plate 31 in the brick arranging and laying mechanism 3 to move the first brick and the second brick arranged sequentially to the first conveyor 33 and the second conveyor 34 in the brick arranging and laying mechanism 3;

[0077] S5, start the first conveyor 33 and the second conveyor 34 to lay the first brick and the second brick on the ground in sequence;

[0078] S6, starting the caulking machine 37 and the compacting roller 38 in the compacting mechanism 4 to perform caulking and compacting operations on the first brick and the second brick laid on the ground;

[0079] S7, repeating the operations in step S2 to step S6 in sequence until the road paving operation is completed.

[0080] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A sidewalk paving robot, characterized in that: It includes a brick feeding mechanism, a gripping mechanism, a brick arranging and laying mechanism, and a compacting mechanism; the brick feeding mechanism is used to store and transport first bricks; the gripping mechanism is arranged above the brick outlet of the brick feeding mechanism, and is used to transport the gripped first brick to between two adjacent second bricks on the brick arranging and laying mechanism; the brick arranging and laying mechanism is arranged between the brick feeding mechanism and the compacting mechanism, and is located below the gripping mechanism, and is used to arrange the first bricks and the second bricks and lay them on the ground in sequence; the compacting mechanism is arranged at the brick outlet of the brick arranging and laying mechanism, and is used to compact the first bricks and the second bricks laid on the ground in sequence.

2. The sidewalk paving robot according to claim 1, characterized in that: The brick feeding mechanism includes a first storage box, a liftable platform, a linked screw lift and a pushing assembly; the liftable platform is liftably arranged in the inner cavity of the first storage box, and is used to transport the first bricks stored on the upper surface to the pushing assembly; the linked screw lift is arranged on the first storage box and is transmission-connected with the liftable platform, and is used to drive the liftable platform to rise and fall in the first storage box; the pushing assembly is installed on the top of the first storage box and is located above the liftable platform, and is used to push the transported first brick to the brick outlet on the top of the first storage box close to the grabbing mechanism.

3. The sidewalk paving robot according to claim 2, characterized in that: The pushing assembly includes a transverse slide rail, a transverse screw rod, a transverse slider, a servo motor and a pushing plate; the transverse slide rail is installed on the top of the first storage box; the transverse screw rod is installed on the transverse slide rail; the transverse slider is installed on the transverse screw rod so as to be linearly reciprocating; the servo motor is transmission-connected to the transverse screw rod, and is used to drive the transverse screw rod to drive the transverse slider to move toward or away from the brick outlet of the first storage box; the pushing plate is arranged in the inner cavity of the first storage box and is located above the liftable platform, and is connected to the transverse slider, and is used to push the first brick on the liftable platform to the brick outlet near the grabbing mechanism on the top of the first storage box.

4. The sidewalk paving robot according to claim 1, characterized in that: The grabbing mechanism comprises a connecting frame, a power assembly, a supporting slide rail, a power slider, a transmission rod, a limiting assembly and a grabbing assembly; the connecting frame is connected to the brick feeding mechanism; the power assembly, the supporting slide rail and the limiting assembly are respectively installed on the connecting frame at intervals; the power slider can be installed on the supporting slide rail in a linear reciprocating manner, and is transmission-connected with the transmission rod, used to drive the transmission rod to perform linear reciprocating movement on the limiting assembly; the power assembly is transmission-connected to the power slider, used to drive the power slider to move on the supporting slide rail; the two ends of the transmission rod are respectively arranged on opposite sides of the limiting assembly in a linear reciprocating manner, and one end thereof passes through one side of the limiting assembly and is connected to the power slider, used to drive the grabbing assembly to move and transport the first brick; the grabbing assembly is connected to the transmission rod, and can be laterally moved through the bottom of the limiting assembly and is arranged above the brick outlet of the brick feeding mechanism, used to transport the grabbed first brick to between two adjacent second bricks on the brick arranging and paving mechanism.

5. The sidewalk paving robot according to claim 4, characterized in that: The power assembly includes a power motor, a rotating disc, a power crank and a power connecting rod; the power motor is installed on the connecting frame, and the driving end is transmission-connected to the rotating disc, so as to drive the rotating disc to rotate; the power crank is arranged at one side of the rotating disc, and one end is hinged to one side of the rotating disc, and the other end is hinged to one end of the power connecting rod; the other end of the power connecting rod is transmission-connected to the power slider, so as to drive the power slider to move back and forth in a straight line.

6. The sidewalk paving robot according to claim 4, characterized in that: The limiting assembly includes a U-shaped limiting plate with an upward opening; inclined slides are provided on two opposite side plates of the U-shaped limiting plate, and a plurality of spaced limiting channels are provided on the connecting plate in the middle; the height of the inclined slides gradually increases from the direction close to the brick arranging and laying mechanism toward the direction close to the brick feeding mechanism; the two ends of the transmission rod are respectively arranged on the corresponding inclined slides for linear reciprocating movement; the extension directions of the plurality of limiting channels are arranged at an angle to the length direction of the connecting plate, and the ends of the plurality of limiting channels close to the brick feeding mechanism are close to each other, and the other ends close to the brick arranging and laying mechanism are dispersed; the top of the grabbing assembly is connected to the transmission rod, and the lower part can move through the corresponding limiting channel in the limiting channel.

7. The sidewalk paving robot according to claim 6, characterized in that: The grabbing assembly includes a plurality of mechanical grabbers installed at intervals on the transmission rod, each of the mechanical grabbers includes a connecting slider, a connecting rod, a vacuum generator and a suction cup gripper; the connecting slider can be slidably mounted on the transmission rod; the connecting rod can move along the limiting channel and pass through the corresponding limiting channel, and the top is connected to the connecting slider and the bottom is connected to the suction cup gripper; the vacuum generator is installed on the middle part of the connecting rod and connected to the suction cup gripper, and is used to drive the suction cup gripper to absorb the first brick below.

8. The sidewalk paving robot according to claim 1, characterized in that: The brick arranging and laying mechanism includes a second storage box, a movable platform, a ball screw module, a push plate, a ball screw structure, a first conveyor, a second conveyor and a baffle; the second storage box is arranged below the grabbing mechanism, and a plurality of brick transporting ports are opened on the top surface; the movable platform can be installed in the cavity of the second storage box in a lifting manner, and is used to transport a plurality of the second bricks to the corresponding brick transporting ports; the ball screw module is installed in the second storage box, and is transmission-connected with the movable platform, and is used to drive the movable platform to rise and fall; the push plate can be arranged on the top surface of the second storage box in a linear reciprocating manner along the length direction of the top surface of the second storage box, and is used to drive the first bricks and the second bricks arranged in sequence to move to the first conveyor; the ball screw structure is installed on the second storage box, and is transmission-connected with the push plate, and is used to drive the push plate to move; the first conveyor is installed at one end of the second storage box, and is on the same straight line with the second storage box, and is used to transport the first bricks and the second bricks arranged in sequence to the second conveyor; The second conveyor is connected to one side of the first conveyor and is arranged perpendicular to the second storage box, and is used to lay the first bricks and the second bricks arranged in sequence on the ground; the baffle is detachably installed on the first conveyor and the second conveyor on the outside away from the second storage box.

9. The sidewalk paving robot according to claim 1, characterized in that: The compacting mechanism includes a plurality of adjustable rods, a caulking machine and a compacting roller; one end of the plurality of adjustable rods is rotatably and adjustably connected to two opposite outer walls of the brick arranging and laying mechanism near the brick outlet, and the other end is connected to two opposite outer walls of the caulking machine; the caulking machine is filled with sand and gravel for filling the gaps between the laid second bricks or the first bricks; the compacting roller is rotatably installed at the lower part of the caulking machine and is arranged on one side below the sand outlet of the caulking machine, for rolling and compacting the laid second bricks or the first bricks.

10. A sidewalk paving robot operation method, using the sidewalk paving robot according to any one of claims 1 to 9 to perform paving operations, characterized in that: The following steps are involved: S1, discharging the first bricks to be laid onto the liftable platform in the first storage box of the brick feeding mechanism, and discharging the second bricks to be laid onto the movable platform in the second storage box of the brick arranging and laying mechanism; S2, start the linkage screw lift in the brick feeding mechanism to drive the liftable platform in the brick feeding mechanism to rise; when the liftable platform drives the first brick to rise to the highest layer, the first brick faces the push plate in the brick feeding mechanism; start the servo motor connected to the push plate to drive the push plate to push the first bricks arranged in sequence to the position directly below the grabbing mechanism; S3, start the mechanical gripper in the gripping mechanism, and grasp the row of the first bricks directly below through the suction cup gripper in the mechanical gripper; start the power motor in the gripping mechanism to drive the transmission rod in the gripping mechanism to drive the suction cup gripper to move toward the top surface of the second storage box, and put the first brick down to the top surface of the second storage box, so that the first brick is between two adjacent second bricks; S4, starting the ball screw module in the brick arranging and laying mechanism to drive the movable platform to drive the second brick to move upward to a plurality of brick transport openings on the top surface of the second storage box, so that the first brick and the second brick are sequentially arranged on the top surface of the second storage box at intervals; Starting the ball screw structure in the brick arranging and laying mechanism to drive the push plate in the brick arranging and laying mechanism to move the first bricks and the second bricks arranged in sequence to the first conveyor and the second conveyor in the brick arranging and laying mechanism; S5, starting the first conveyor and the second conveyor to lay the first brick and the second brick on the ground in sequence; S6, starting the caulking machine and the compacting roller in the compacting mechanism to perform caulking and compacting operations on the first bricks and the second bricks laid on the ground; S7, repeating the operations in step S2 to step S6 in sequence until the road paving operation is completed.

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