A sidewalk paving robot and its operation method

Abstract

This application provides a sidewalk paving robot and its operating method, comprising a brick feeding mechanism, a gripping mechanism, a brick arranging mechanism, and a compaction mechanism. The brick feeding mechanism stores and transports first bricks. The gripping mechanism is positioned above the brick outlet of the brick feeding mechanism and transports the gripped first brick between two adjacent second bricks on the brick arranging mechanism. The brick arranging mechanism is positioned between the brick feeding mechanism and the compaction mechanism, and below the gripping mechanism, and is used to arrange the first and second bricks and lay them sequentially on the ground. The compaction mechanism is positioned at the brick outlet of the brick arranging mechanism and is used to compact the first and second bricks laid sequentially on the ground. This device and method can effectively improve the work efficiency of road paving operations, reduce manual labor intensity, save time and effort, and is highly efficient and fast.

Description

Technical Field

[0001] This application relates to the field of road construction, and in particular to a sidewalk paving robot and its operating method. Background Technology

[0002] Traditionally, pedestrian paving bricks are laid manually, which remains the mainstream method in China. In 2018, Zhang Yanli and others designed an automatic brick-laying machine based on image processing, which automatically lays bricks according to the width of the road, reducing manual labor. Meanwhile, in 2015, the American company Construction Robotics developed a semi-automatic brick-laying machine called "SAM" (Semi-Automated Mason), but it is only suitable for flat surfaces and cannot handle corner paving, thus failing to achieve the goal of liberating labor.

[0003] However, the aforementioned methods of paving pedestrian bricks have many drawbacks: uneven gaps between bricks, uneven heights, low adhesion between bricks and the underlying bonding layer, and extremely slow paving progress, severely hindering the healthy development of the industry. Meanwhile, many existing semi-automated brick-laying robots suffer from limited functionality, cumbersome operation, inability to complete mortar laying, brick transportation, arrangement, placement, leveling, and grouting in a single operation, and also exhibit limitations in the types of bricks they can lay and the difficulty in guaranteeing paving quality. Summary of the Invention

[0004] One of the purposes of this application is to provide a sidewalk paving robot and its operation method, which aims to solve the problem that the existing sidewalk paving methods are limited to a single type and require a high degree of manual assistance.

[0005] The technical solution of this application is:

[0006] A sidewalk paving robot includes a brick feeding mechanism, a gripping mechanism, a brick arranging and laying mechanism, and a compaction mechanism. The brick feeding mechanism stores and transports a first brick. The gripping mechanism is located above the brick outlet of the brick feeding mechanism and transports the gripped first brick between two adjacent second bricks on the brick arranging and laying mechanism. The brick arranging and laying mechanism is located between the brick feeding mechanism and the compaction mechanism, and below the gripping mechanism, and is used to arrange the first brick and the second brick and lay them sequentially on the ground. The compaction mechanism is located at the brick outlet of the brick arranging and laying mechanism and is used to compact the first brick and the second brick laid sequentially on the ground.

[0007] As one technical solution of this application, the brick feeding mechanism includes a first storage box, a liftable platform, a linkage screw jack, and a pushing component; the liftable platform is movably disposed in the inner cavity of the first storage box, and is used to transport the first brick stored on the upper surface to the pushing component; the linkage screw jack is disposed on the first storage box and is connected to the liftable platform for driving the liftable platform to move up and down within the first storage box; the pushing component 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 near the gripping mechanism on the top of the first storage box.

[0008] As one technical solution of this application, the pushing component includes a horizontal slide rail, a horizontal lead screw, a horizontal slider, a servo motor, and a pushing plate; the horizontal slide rail is installed on the top of the first storage box; the horizontal lead screw is installed on the horizontal slide rail; the horizontal slider is linearly and reciprocally installed on the horizontal lead screw; the servo motor is driven by the horizontal lead screw and is used to drive the horizontal lead screw to move the horizontal slider towards or away from the brick outlet of the first storage box; the pushing plate is disposed in the inner cavity of the first storage box and above the lifting platform, and is connected to the horizontal slider, and is used to push the first brick on the lifting platform to the top of the first storage box near the brick outlet of the gripping mechanism.

[0009] As one technical solution of this application, the gripping mechanism includes a connecting frame, a power component, a support slide rail, a power slider, a transmission rod, a limiting component, and a gripping component; the connecting frame is connected to the brick feeding mechanism; the power component, the support slide rail, and the limiting component are respectively and spaced apart on the connecting frame; the power slider is linearly and reciprocally mounted on the support slide rail and is drivenly connected to the transmission rod, for driving the transmission rod to perform linear reciprocating movement on the limiting component; the power component is drivenly connected to the power slider, for driving... The power slider moves on the support slide rail; the two ends of the transmission rod are respectively linearly reciprocatingly arranged on opposite sides of the limiting component, and one end of the transmission rod extends through one side of the limiting component and is connected to the power slider, for driving the gripping component to move and transport the first brick; the gripping component is connected to the transmission rod and can move laterally through the bottom of the limiting component and is arranged above the brick outlet of the brick feeding mechanism, for transporting the gripped first brick between two adjacent second bricks on the brick arranging mechanism.

[0010] As one technical solution of this application, the power assembly includes a power motor, a rotating disk, a power crank, and a power connecting rod; the power motor is mounted on the connecting frame, and its driving end is connected to the rotating disk to drive the rotating disk to rotate; the power crank is located on one side of the rotating disk, with one end hinged to one side of the rotating disk and the other end hinged to one end of the power connecting rod; the other end of the power connecting rod is connected to the power slider to drive the power slider to move linearly back and forth.

[0011] As one technical solution of this application, the limiting component includes an upward-facing U-shaped limiting plate; inclined slides are provided on the two opposite side plates of the U-shaped limiting plate, and multiple spaced limiting channels are provided on the connecting plate in the middle; the height of the inclined slides gradually increases from the direction closer to the brick-laying mechanism towards the direction closer to the brick-feeding mechanism; the two ends of the transmission rod are respectively linearly reciprocatingly mounted on the corresponding inclined slides; the extension directions of the multiple limiting channels are all set at an angle to the length direction of the connecting plate, and the ends of the multiple limiting channels closer to the brick-feeding mechanism are close to each other, while the ends closer to the brick-laying mechanism are dispersed from each other; the top of the gripping component is connected to the transmission rod, and the lower part can move through the corresponding limiting channel in the limiting channel.

[0012] As one technical solution of this application, the gripping assembly includes a plurality of mechanical grippers spaced apart on the transmission rod. Each mechanical gripper includes a connecting slider, a connecting rod, a vacuum generator, and a suction cup gripper. The connecting slider is slidably sleeved on the transmission rod. The connecting rod can move along the limiting channel through the corresponding limiting channel, and its top is connected to the connecting slider, and its 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, for driving the suction cup gripper to pick up the first brick below.

[0013] As one technical solution of this application, the brick-laying mechanism includes a second storage box, a movable platform, a ball screw module, a pusher plate, a ball screw structure, a first conveyor, a second conveyor, and a baffle plate; the second storage box is located below the gripping mechanism, and has multiple brick-carrying openings on its top surface; the movable platform is vertically mounted in the cavity of the second storage box, used to transport multiple second bricks to the corresponding brick-carrying openings; the ball screw module is mounted in the second storage box and is connected to the movable platform for driving the movable platform to move up and down; the pusher plate is linearly and reciprocally mounted on the top surface of the second storage box along its length, used to drive the bricks to be arranged sequentially at intervals. The first and second bricks are moved onto the first conveyor; the ball screw structure is mounted on the second storage box and is connected to the push plate for driving the push plate to move; the first conveyor is mounted at one end of the second storage box and is on the same straight line as the second storage box, for conveying the first and second bricks arranged at intervals 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, for laying the first and second bricks arranged at intervals on the ground; the baffle is detachably mounted on the outer edge of the first and second conveyors away from the second storage box.

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

[0015] A method for operating a sidewalk paving robot, using the aforementioned sidewalk paving robot for paving operations, includes the following steps:

[0016] S1, the first brick to be laid is placed on the lifting platform in the first storage box of the brick feeding mechanism, and the second brick to be laid is placed on the movable platform in the second storage box of the brick laying mechanism.

[0017] S2, start the linkage screw jack in the brick feeding mechanism to drive the lifting platform in the brick feeding mechanism to rise; when the lifting platform drives the first brick to the top layer, the first brick is facing the push plate in the brick feeding mechanism; start the servo motor that is connected to the push plate to drive the first bricks arranged in sequence on the push plate to be pushed directly below the gripping mechanism.

[0018] S3, activate the mechanical gripper in the gripping mechanism, and use the suction cup gripper in the mechanical gripper to grab a row of the first bricks directly below; activate the power motor in the gripping mechanism to drive the transmission rod in the gripping mechanism to move the suction cup gripper toward the top surface of the second storage box, and lower the first bricks onto the top surface of the second storage box so that the first bricks are between two adjacent second bricks;

[0019] S4, activate the ball screw module in the brick-laying mechanism to drive the movable platform to move the second brick to multiple brick conveying ports on the top surface of the second storage box, so that the first brick and the second brick are arranged alternately on the top surface of the second storage box; activate the ball screw structure in the brick-laying mechanism to drive the push plate in the brick-laying mechanism to move the alternately arranged first brick and second brick to the first conveyor and the second conveyor in the brick-laying mechanism;

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

[0021] S6, start the grouting machine and compaction roller in the compaction mechanism to perform grouting and compaction operations on the first brick and the second brick that have been laid on the ground;

[0022] S7. Repeat steps S2 to S6 in sequence until the road paving work is completed.

[0023] The beneficial effects of this application are:

[0024] (1) The sidewalk paving robot of this application lays road bricks through the coordinated design of various structures such as the brick feeding mechanism, the gripping mechanism, the brick arranging mechanism and the compaction mechanism. It can realize the whole process of road paving without human assistance, which greatly improves the efficiency of road paving. At the same time, this application adopts a modular design, which integrates the brick feeding, arranging, laying and compacting structures on the frame structure. It can realize automatic brick laying without human intervention, which greatly improves the efficiency of the sidewalk paving 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 this application, the first brick and the second brick are stored separately and the paving operation is carried out in conjunction with the paving mechanism, which greatly improves the multi-scenario applicability of the sidewalk paving robot. At the same time, it can be adapted to paving in various terrains and can lay various types of bricks. It is highly practical and has a wide range of applications. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a sidewalk paving robot provided in the first embodiment of this application;

[0028] Figure 2 This is a schematic diagram of the brick feeding mechanism provided in the first embodiment of this application;

[0029] Figure 3 This is a schematic diagram of the push component provided in the first embodiment of this application;

[0030] Figure 4 This is a schematic diagram of the gripping mechanism provided in the first embodiment of this application;

[0031] Figure 5 A schematic diagram of the power assembly provided in the first embodiment of this application;

[0032] Figure 6 This is a schematic diagram of the mechanical gripper provided in the first embodiment of this application;

[0033] Figure 7 This is a schematic diagram showing the connection between the brick-laying mechanism and the compaction mechanism provided in the first embodiment of this application;

[0034] Figure 8 This is a schematic diagram of the second storage box provided in the first embodiment of this application;

[0035] Figure 9 This is a schematic diagram of the second storage box at a first angle provided in the first embodiment of this application;

[0036] Figure 10 This is a schematic diagram showing the connection between the second conveyor and the compaction mechanism provided in the first embodiment of this application.

[0037] Icons: 1-Brick feeding mechanism; 2-Gripping mechanism; 3-Brick arranging and laying mechanism; 4-Compacting mechanism; 5-Controller; 6-First storage box; 7-Liftable platform; 8-Linked screw jack; 9-Horizontal slide rail; 10-Horizontal screw; 11-Horizontal slider; 12-Servo motor; 13-Push plate; 14-Support slide rail; 15-Power slider; 16-Transmission rod; 17-Power motor; 18-Rotating disk; 19-Power crank; 20- 21-Power connecting rod; 22-U-shaped limiting plate; 23-Inclined slide; 24-Limiting channel; 25-Connecting slider; 26-Connecting rod; 27-Vacuum generator; 28-Suction cup gripper; 29-Second storage box; 30-Moving platform; 31-Ball screw module; 32-Push plate; 33-Ball screw structure; 34-First conveyor; 35-Second conveyor; 36-Baffle; 37-Adjustable rod; 38-Seam filling machine; 39-Compacting roller. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this 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, it does not need to be further defined or explained in subsequent drawings.

[0041] In the description of this application, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only used to facilitate the description of this application and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] Furthermore, in this application, unless otherwise expressly specified and limited, "above or below" the first feature may include direct contact between the first and second features, or contact between the first and second features through another feature between them. Moreover, "above," "over," and "on" the first feature includes the first feature being above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the first feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply 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 expressly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] First embodiment:

[0046] Please refer to Figure 1 (Refer to) Figures 2 to 10 This application provides a sidewalk paving robot, which mainly includes a brick feeding mechanism 1, a gripping mechanism 2, a brick arranging and paving mechanism 3, a compaction mechanism 4, and a controller 5. The brick feeding mechanism 1 is used to store and transport first bricks. The gripping mechanism 2 is located above the brick outlet of the brick feeding mechanism 1 and above the brick inlet of the brick arranging and paving mechanism 3, and is mainly used to transport the gripped first bricks between two adjacent second bricks on the top surface of the brick arranging and paving mechanism 3. Furthermore, the brick arranging and paving mechanism 3 is located between the brick feeding mechanism 1 and the compaction mechanism 4. The first and second bricks are arranged and laid on the ground in sequence, with the first brick and the second brick arranged and laid on the ground between them. The compaction mechanism 4 is located at the brick outlet of the brick arrangement mechanism 3 and is mainly used to compact the first and second bricks laid on the ground in sequence. At the same time, the controller 5 is electrically connected to the brick feeding mechanism 1, the gripping mechanism 2, the brick arrangement mechanism 3, and the compaction mechanism 4 respectively, and is used to control the opening or closing of the brick feeding mechanism 1, the gripping mechanism 2, the brick arrangement mechanism 3, and the compaction mechanism 4 respectively.

[0047] Further, please refer to Figures 2 to 3 The brick feeding mechanism 1 includes a first storage box 6, a liftable platform 7, a linkage screw jack 8, and a pushing component. The liftable platform 7 is movably disposed in the inner cavity of the first storage box 6, on which multiple layers of first bricks are placed. It is mainly used to transport multiple spaced first bricks stored on its upper surface to the pushing plate 13 near the pushing component. The liftable platform 7 carries the first bricks, and its lifting method is progressive lifting. Each lifting height is the thickness of one layer of first bricks. After the top layer of first bricks is transported, the liftable platform 7 rises again to the thickness of one layer of first bricks. It also includes multiple limiting mechanisms, which are fixedly installed on the surface of the U-shaped linkage screw lifting platform and at the inlet of the storage box. At the same time, the linkage screw lifting machine 8 is set on the first storage box 6 and is connected to the lifting platform 7. It is mainly used to drive the lifting platform 7 to rise and fall within the first storage box 6. Furthermore, the pushing component is installed on the top of the first storage box 6 and is located above the lifting platform 7. It is mainly used to push the first bricks that are delivered to the top of the first storage box 6 near the brick outlet of the grabbing mechanism 2, so that the first bricks in the front row can be grabbed by the grabbing mechanism 2.

[0048] It should be noted that the linkage screw jack 8 adopts the existing structure and is installed on the first storage box 6. The four corners of the liftable platform 7 are connected to the lifting copper nuts on the four ball screws at the four corners of the first storage box 6. Therefore, when the drive motor in the linkage screw jack 8 is started by the controller 5, it drives the four vertically arranged ball screws to rotate through the transmission shaft, coupling and commutator, thereby driving the lifting copper nuts on them to rise and fall on the ball screws, thus realizing the lifting of the liftable platform 7.

[0049] The lifting platform 7 only moves upward when the first brick in the height layer where the pusher plate 13 is located is empty, and it rises by the thickness of one layer of the first brick each time, reaching the height of the first brick in the current highest layer. The brick feeding mechanism 1, which combines the pusher component, the linkage screw jack 8, and the lifting platform 7, can improve the working efficiency of the device, and its brick feeding volume is controllable, greatly improving the adaptability of the device. It also breaks the limitation of existing brick-laying robots that require manual input of bricks, and can efficiently complete the brick pre-sorting process for pedestrian pavement.

[0050] Specifically, please refer to Figure 3The pushing component includes a horizontal slide rail 9, a horizontal lead screw 10, a horizontal slider 11, a servo motor 12, and a pushing plate 13. The horizontal 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 horizontal lead screw 10 is mounted on the horizontal slide rail 9 and is parallel to the length direction of the first storage box 6. The horizontal slider 11 is mounted on the horizontal lead screw 10 and can reciprocate linearly along a direction parallel to the length direction of the first storage box 6. The servo motor 12 is mounted on the top of the first storage box 6, and its drive end is connected to the horizontal slide rail 9. The lead screw 10 drives the horizontal slider 11 to move towards or away from the brick outlet of the first storage box 6. The push plate 13 is disposed in the inner cavity of the first storage box 6 and above the lifting platform 7, with its top protruding through the top surface of the first storage box 6 and fixedly connected to the horizontal 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 bear. It is used to push the first brick on the lifting platform 7 to the top of the first storage box 6 near the brick outlet of the gripping mechanism 2. Therefore, when the top layer of the first brick on the lifting platform 7 rises to the same height as the push plate 13, the servo motor 12 is started by the controller 5, which drives the push plate 13 to move towards the brick outlet of the gripping mechanism 2 via the horizontal slider 11. At this time, the push plate 13 pushes the top layer of the first brick to the brick outlet of the gripping mechanism 2, so that the gripping mechanism 2 can grasp and move it.

[0051] During operation, the horizontal slider 11 is initially positioned at the rear of the top surface of the first storage box 6. Driven by the servo motor 12, the horizontal slider 11 moves from back to front, driving the pusher plate 13 to push the first brick at the top layer forward. The moving distance is the length of the brick to be laid. After the first brick at the top layer is pushed, the horizontal slider 11 drives the pusher plate 13 back to the initial state, and the lifting platform 7 moves up one layer. This cycle repeats until the number of remaining bricks in the first storage box 6 is zero.

[0052] Further, please refer to Figure 4 and Figure 6The gripping mechanism 2 includes a connecting frame, a power component, a support slide rail 14, a power slider 15, a transmission rod 16, a limiting component, and a gripping assembly. The connecting frame is fixedly connected to the outer wall of the first storage box 6 and supports the power component, the support slide rail 14, and the limiting assembly. The power component, the support slide rail 14, and the limiting assembly are respectively and spaced apart on the connecting frame. The power slider 15 is linearly and reciprocally mounted on the support slide rail 14 and fixedly connected to the transmission rod 16. It mainly drives the transmission rod 16 to move linearly and reciprocally on the U-shaped limiting plate 21. The power component transmission... The drive rod 16 is connected to the power slider 15, which is mainly used to drive the power slider 15 to move linearly back and forth on the support slide rail 14. The two ends of the drive rod 16 are respectively arranged on opposite sides of the limiting component, and one end of the drive rod 16 extends out of one side of the limiting component and is connected to the power slider 15, which is used to drive the gripping component to move and transport the first brick. At the same time, the gripping component is connected to the drive rod 16 and can move laterally through the bottom of the limiting component and is arranged above the brick outlet of the brick feeding mechanism 1, which is used to transport the gripped first brick between two adjacent second bricks on the brick laying mechanism 3.

[0053] Specifically, please refer to Figure 5 The power assembly includes a power motor 17, a rotating disk 18, a power crank 19, and a power connecting rod 20. The rotating disk 18 and the support slide rail 14 are arranged parallel to each other and spaced apart, both located above the first storage box 6. The rotating disk 18 is vertically arranged. The power motor 17 is fixedly mounted on the connecting frame, and its drive end is connected to the rotating disk 18. It is mainly used to drive the rotating disk 18 to rotate. Meanwhile, the power crank 19 is located on one side of the rotating disk 18 near the first storage box 6. One end of the crank is hinged to one side of the rotating disk 18, and the other end is hinged to one end of the power connecting rod 20. The other end of the power connecting rod 20 is connected to the power slider 15. It is mainly used to drive the power slider 15 to move linearly back and forth on the support slide rail 14. The controller 5 turns on the power motor 17, which drives the rotating disk 18 to rotate, thereby driving the power crank 19 and the power connecting rod 20 to move. This causes the power slider 15 to move on the support slide rail 14, and then the power slider 15 drives the transmission rod 16 to move on the inclined slide rail 22 of the U-shaped limit plate 21, thereby driving the mechanical gripper at the bottom of the transmission rod 16 to move.

[0054] Please refer to Figure 4The limiting component includes an upward-facing U-shaped limiting plate 21, positioned above the first storage box 6 and the second storage box 28. The U-shaped limiting plate 21 is formed 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. Simultaneously, the two opposite sides of the U-shaped limiting plate 21... Each side plate is provided with an inclined slide 22, and the connecting plate in the middle is provided with multiple spaced limiting channels 23; the height of the inclined slide 22 gradually increases from the direction near the second storage box 28 towards the direction near the first storage box 6, and the opening direction of the inclined slide 22 is consistent with the opposite direction of the width of the U-shaped limiting plate 21; in addition, both ends of its 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 slide rails 22, thereby driving the mechanical gripper connected to the transmission rod 16 to move; and the extension direction of the multiple limiting channels 23 is set at an angle to the length direction of the connecting plate, and the ends of the multiple limiting channels 23 near the first storage box 6 are close to each other, while the ends near the second storage box 28 are dispersed. The first straight line formed by connecting the ends of the multiple limiting channels 23 near the first storage box 6 is parallel to the length of the U-shaped limiting plate 21. The second straight line formed by connecting the other ends of the multiple limiting channels 23 near the second storage box 28 is consistent with the length direction of the U-shaped limiting plate 21. The angle between the limiting channel 23 closest to the power slider 15 and the length direction of the connecting plate is the smallest, and the angle between the limiting channel 23 farthest from the power slider 15 and the length direction of the connecting plate is the largest. In addition, the top of the gripping component is connected to the transmission rod 16, and its lower part can move through the corresponding limiting channel 23 in the limiting channel 23.

[0055] Thanks to the ingenious design of the two inclined slides 22, multiple limiting channels 23, and the transmission rod 16, the mechanical gripper at the bottom of the transmission rod 16 can move to the brick outlet at the top of the first storage box 6, thus accurately gripping multiple first bricks. Furthermore, the multiple mechanical grippers at the bottom of the transmission rod 16 can move to directly above the corresponding top plates on the top surface of the second storage box, accurately placing multiple first bricks onto the corresponding top plates. This allows the first and second bricks to be laid accurately according to the required paving scheme, meeting the paving needs of various road surface bricks, making the paving work simple, convenient, fast, and efficient. This structure facilitates a controllable spacing between adjacent first bricks, allowing for the insertion of other materials between them, thus enabling various brick arrangement schemes. This breaks away from the existing scheme requiring manual brick arrangement, 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 disk 18. When working, the DC motor is powered on, and its rotor drives the rotating disk 18 to rotate.

[0057] Please refer to Figure 6 The gripping assembly includes multiple mechanical grippers spaced apart on the transmission rod 16. Each mechanical gripper includes a connecting slider 24, a connecting rod 25, a vacuum generator 26, and a suction cup gripper 27. The connecting slider 24 is slidably mounted on the transmission rod 16. The connecting rod 25 can move along the limiting channel 23 and passes through the corresponding limiting channel 23, with its top fixedly connected to the connecting slider 24 and its bottom connected to the multiple suction cup grippers 27. The vacuum generator 26 is mounted on the middle of the connecting rod 25 and is connected to the suction cup gripper 27 to drive the suction cup gripper 27 to pick up the first brick below. The vacuum generator 26 is activated by the controller 5, enabling the suction cup gripper 27 to pick up the multiple first bricks below it. After moving to the corresponding position with the transmission rod 16, the vacuum generator 26 releases the suction cup of the suction cup gripper 27, allowing the first brick to be placed down, making the gripping operation simple, convenient, fast, and efficient.

[0058] It should be noted that both the vacuum generator 26 and the suction cup gripper 27 adopt existing structures, and their specific structures and working principles will not be elaborated here.

[0059] Please refer to Figures 7 to 9The brick-laying 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. The second storage box 28 is located below the U-shaped limiting plate 21, and its top surface has multiple brick-carrying openings. Adjacent brick-carrying openings have top plates for placing first bricks. Simultaneously, the movable platform 29 is vertically and vertically installed within the cavity of the second storage box 28, on which multiple layers of second bricks are placed. Its main function is to transport multiple second bricks to corresponding brick-carrying openings. Furthermore, the ball screw... Module 30 is installed in the second storage box 28 and is connected to the movable platform 29 via a transmission mechanism. Its main function is to drive the movable platform 29 to rise and fall. It should be noted that the ball screw module 30 uses a structure from existing technology; its specific structure and working principle will not be elaborated here. Simultaneously, the push plate 31 is linearly and reciprocally positioned on the top surface of the second storage box 28 along its length. Initially, it is located at the end of the top surface of the second storage box 28 furthest from the first conveyor 33. Its main function is to drive the sequentially spaced first and second bricks to move to the first conveyor 33. Meanwhile, a ball screw structure 32 is installed on the second storage box 28 and is connected to the push plate 31. It is mainly used to drive the push plate 31 to move the first and second bricks on the top surface of the second storage box 28. The ball screw structure 32 adopts a structure from the prior art, and its specific structure and working principle will not be described in detail here. Furthermore, a first conveyor 33 is installed at one end of the second storage box 28, and is on the same straight line as the second storage box 28. It is used to convey the sequentially spaced first and second bricks to the second conveyor 34. In addition, the second conveyor 34 is connected to the first conveyor... The conveyor 33 is located on one side and is arranged perpendicularly to the second storage box 28. It is mainly used to lay the first and second bricks arranged at intervals on the ground. The top surface of the second conveyor 34, which is used to transport the first and second bricks, is an inclined surface, which gradually decreases in height from the direction close to the first conveyor 33 to the direction close to the compaction 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 will not be described in detail here. In addition, the baffle 35 is detachably installed on the outer side of the first conveyor 33 and the second conveyor 34 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, with its conveying direction from the rear 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 towards the first conveyor 33. After the first brick and the second brick on the upper surface of the second storage box 28 are moved together to the end point, 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 the active platform 29 and the ball screw module 30 can be one set, or two, three, four sets, etc., which can be adapted to different laying schemes and are not limited to one set in this embodiment. The active platform 29 can store various types of second bricks, and can transport the stored second bricks layer by layer to the top surface of the second storage box 28.

[0062] By activating the ball screw module 30 via controller 5, the movable platform 29 can be raised, thereby conveying multiple second bricks to the corresponding brick conveying ports. Simultaneously, by activating the ball screw structure 32 via controller 5, the push plate 31 pushes the sequentially spaced first and second bricks to the first conveyor 33. By activating the first conveyor 33 via controller 5, the sequentially spaced first and second bricks are moved to the second conveyor 34. By activating the second conveyor 34 via controller 5, the sequentially spaced first and second bricks are moved to the ground for paving.

[0063] Please refer to Figure 10 The compaction mechanism 4 includes multiple adjustable rods 36, a grouting machine 37, and a compaction roller 38. One end of each adjustable rod 36 is rotatably and adjustablely 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 grouting machine 37. The grouting machine 37 is filled with sand and gravel to fill the gaps between the laid second bricks or first bricks. In addition, the compaction roller 38 is rotatably mounted at the lower part of the grouting machine 37 and is located on one side below the sand outlet of the grouting machine 37. It is used to roll and compact the laid second bricks or first bricks.

[0064] The controller 5 starts the grouting machine 37, which fills the gap between the laid second bricks or the first bricks with sand and gravel; the controller 5 starts the compaction roller 38, which rolls and compacts the laid second bricks or the first bricks.

[0065] During operation, the compaction roller 38 rolls and compacts the laid bricks as the device works. The grouting machine 37 is filled with sand and gravel, which fills the gaps between the bricks as the laying operation progresses. The distance between the compaction roller 38 and the ground can be changed by rotating multiple adjustable rods 36, which enhances the adaptability of the device. In addition, when not in operation, the adjustable rods 36 can be adjusted upward to be perpendicular to the ground, 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 compaction roller 38, respectively. It 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 compaction roller 38, respectively. Furthermore, the controller 5 adopts a structure from the prior art, and its specific structure and working principle will not be described in detail here.

[0067] It should be noted that in this embodiment, the first brick can be a regular brick and the second brick can be a patterned brick; in other embodiments, the first brick and the second brick can be adapted to different paving requirements, and are not limited to the design method in this embodiment.

[0068] The working process of this device is as follows:

[0069] After the work team loads the device with the first and second bricks, they drive it onto the road. Once it is close to the edge of the paving area, they activate the linkage screw jack 8, which drives the lifting platform 7 to rise. When the first brick on the top layer is directly opposite the push plate 13, the rising stops. The servo motor 12 controls the push plate 13 to push the first brick forward to directly below the suction cup gripper 27. Each movement is the width of one row of first bricks. Driven by the vacuum generator 26, the suction cup gripper 27 picks up the first brick below. Driven by the power motor 17, the rotating disc 18 rotates, driving the connected power crank 19 and power connecting rod 20 to move, causing the power slider 15 to move within the support rail 14. This causes the transmission rod 16 and the suction cup gripper 27 on it to move horizontally within the various limiting channels 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, placing the first brick on the top surface of the second storage box 28. At this point, the ball screw module 30 is activated, and the movable platform 29 is activated to move the second brick on it to the top surface of the second storage box 28, so that the bottom of the uppermost second brick is flush with the top surface of the second storage box 28. The ball screw structure 32 is activated, driving the push plate 31 to move, so as to push the first brick and the second brick towards the first conveyor 33. After the first brick and the second brick on the top surface of the second storage box 28 are pushed together to the end point, the first brick and the second brick are exactly in contact with the baffle 35. 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 grouting machine 37 is activated so that the sand and gravel inside it can naturally fall down during the laying operation, thereby filling the gaps between the bricks. The compaction roller 38 is activated to roll and compact the laid first brick and second brick. Finally, the above process is repeated until no bricks remain; the work team then remotely controls the device to pause the operation and replenish the bricks until the laying operation is completed.

[0070] Therefore, this application uses a lifting platform 7, a linkage screw jack 8, a pusher 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 the large suction cup robot arm, greatly improving the brick laying efficiency. Through the integrated design of these structures, automatic and precise brick laying can be achieved without manual alignment of the brick gaps, significantly improving the accuracy and efficiency of brick laying. Simultaneously, this application employs a partitioned storage method with the first storage box 6 and the second storage box 28, enabling the laying of various brick laying schemes. It breaks away from the traditional fixed thinking of laying single-shape and color bricks, innovatively proposing a design concept for splicing and laying multiple colors and brick types of bricks. This allows for the splicing of various colors and patterns of bricks, enhancing the versatility of brick laying and greatly improving the universality and practicality of road paving. Furthermore, this application adopts a modular design, coupled with a detachable and installable limiting plate, which greatly reduces the space occupied and breaks through the limitations of traditional paving methods that can only pave large areas. At the same time, this application has made iterative innovations in automation, improving the drawbacks of requiring workers to participate in the construction process. The brick feeding part uses a linkage screw jack 8 to transport the first brick, and the push plate 13 realizes the initial arrangement of the first brick. It also incorporates the unique design of the second storage box 28 to realize the automatic arrangement of bricks of various colors by the machine. Then, the second conveyor 34 automatically lays the bricks, thus achieving an automatic brick laying effect that does not require any human assistance. This greatly improves the automation level of the brick laying machine, saves time and labor, greatly improves the brick laying efficiency, and is free from the interference caused by weather changes, effectively ensuring the high efficiency and intelligence of road paving. Furthermore, by controlling each structure through controller 5, the device can achieve fully automated road paving without human assistance, greatly improving its operational efficiency. Simultaneously, this application adopts a modular design, integrating the brick feeding, arranging, laying, and compaction structures, and controlling them through controller 5 to achieve automated paving without human intervention, significantly improving the device's operational efficiency. This modular design also facilitates the disassembly and replacement of the entire device. Moreover, the sidewalk paving robot provided in this application, by using separate compartments for colored and ordinary bricks, combined with the paving arrangement mechanism 3, greatly improves the robot's applicability to various scenarios. The use of detachable limiting plates on the first conveyor 33 and the second conveyor 34 allows the device to adapt to various terrains and lay various types of bricks, solving the problems of mobility and versatility of existing semi-automatic sidewalk paving robots.

[0071] Second embodiment:

[0072] In this embodiment, a method for using a sidewalk paving robot is provided, which mainly employs the sidewalk paving robot from the first embodiment to perform road paving operations; the method mainly includes the following steps:

[0073] S1, the first brick to be laid is placed on the liftable platform 7 in the first storage box 6 of the brick feeding mechanism 1, and the second brick to be laid is placed on the movable platform 29 in the second storage box 28 of the brick laying mechanism 3.

[0074] S2, start the linkage screw jack 8 to drive the lifting platform 7 to rise; when the lifting platform 7 drives the first brick to the top floor, the first brick is facing the push plate 13; start the servo motor 12 that is connected to the push plate 13 to drive the first bricks arranged in sequence on the push plate 13 to push them to the position directly below the gripping mechanism 2.

[0075] S3, activate the mechanical gripper in the gripping mechanism 2, and use the suction cup gripper 27 in the mechanical gripper to grab a row of first bricks directly below; activate the power motor 17 in the gripping mechanism 2 to drive the transmission rod 16 in the gripping mechanism 2 to move the suction cup gripper 27 towards the top surface of the second storage box 28, and lower the first bricks onto the top surface of the second storage box 28 so that the first bricks are between two adjacent second bricks;

[0076] S4, activate the ball screw module 30 in the brick-laying mechanism 3 to drive the movable platform 29 to move the second brick to multiple brick conveying ports on the top surface of the second storage box 28, so that the first brick and the second brick are arranged alternately on the top surface of the second storage box 28; activate the ball screw structure 32 in the brick-laying mechanism 3 to drive the push plate 31 in the brick-laying mechanism 3 to move the alternately arranged first brick and second brick to the first conveyor 33 and the second conveyor 34 in the brick-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, start the grouting machine 37 and compaction roller 38 in the compaction mechanism 4 to perform grouting and compaction operations on the first and second bricks that have been laid on the ground;

[0079] S7. Repeat steps S2 to S6 in sequence until the road paving work is completed.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A sidewalk paving robot, characterized in that, The system includes a brick feeding mechanism, a gripping mechanism, a brick arranging and laying mechanism, and a compaction mechanism. The brick feeding mechanism stores and transports first bricks. The gripping mechanism is located above the brick outlet of the brick feeding mechanism and transports the gripped first brick between two adjacent second bricks on the brick arranging and laying mechanism. The brick arranging and laying mechanism is located between the brick feeding mechanism and the compaction mechanism, and below the gripping mechanism, and is used to arrange the first and second bricks and lay them sequentially on the ground. The compaction mechanism is located at the brick outlet of the brick arranging and laying mechanism and is used to compact the first and second bricks laid sequentially on the ground. 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 located below the gripping mechanism, and its top surface is open. The system includes multiple brick conveying openings; a movable platform is vertically mounted within the cavity of the second storage box to convey multiple second bricks to the corresponding brick conveying openings; a ball screw module is mounted in the second storage box and is connected to the movable platform for driving the platform to move up and down; a push plate is linearly and reciprocally mounted on the top surface of the second storage box to drive the sequentially spaced first and second bricks to move onto the first conveyor; a ball screw structure is mounted on the second storage box and is connected to the push plate for driving the push plate to move; the first conveyor is mounted at one end of the second storage box and is on the same straight line as the second storage box, for conveying the sequentially spaced first and second bricks onto the second conveyor. The second conveyor is connected to one side of the first conveyor and is arranged perpendicular to the second storage box, for laying the first bricks and the second bricks arranged at intervals on the ground; the baffle is detachably installed on the outer side of the first conveyor and the second conveyor away from the second storage box.

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 linkage screw jack, and a pushing component. The liftable platform is movably disposed within the cavity of the first storage box and is used to transport the first bricks stored on the upper surface to the pushing component. The linkage screw jack is disposed on the first storage box and is connected to the liftable platform for driving the liftable platform to move up and down within the first storage box. The pushing component is installed on the top of the first storage box and is positioned above the liftable platform, used to push the transported first bricks to the brick outlet near the gripping mechanism on the top of the first storage box.

3. The sidewalk paving robot according to claim 2, characterized in that, The pushing component includes a horizontal slide rail, a horizontal lead screw, a horizontal slider, a servo motor, and a pushing plate. The horizontal slide rail is installed on the top of the first storage box. The horizontal lead screw is installed on the horizontal slide rail. The horizontal slider is installed on the horizontal lead screw in a linear reciprocating motion. The servo motor is driven by the horizontal lead screw and is used to drive the horizontal lead screw to move the horizontal slider towards or away from the brick outlet of the first storage box. The pushing plate is disposed in the inner cavity of the first storage box and above the lifting platform, and is connected to the horizontal slider, for pushing the first brick on the lifting platform to the top of the first storage box near the brick outlet of the gripping mechanism.

4. The sidewalk paving robot according to claim 1, characterized in that, The gripping mechanism includes a connecting frame, a power component, a support slide rail, a power slider, a transmission rod, a limiting component, and a gripping component. The connecting frame is connected to the brick feeding mechanism. The power component, the support slide rail, and the limiting component are respectively and spaced apart on the connecting frame. The power slider is linearly reciprocatingly mounted on the support slide rail and is connected to the transmission rod, driving the transmission rod to reciprocate linearly on the limiting component. The power component is connected to the power slider, driving the power slider to move on the support slide rail. The two ends of the transmission rod are linearly reciprocatingly positioned on opposite sides of the limiting component, with one end extending through one side of the limiting component and connected to the power slider, driving the gripping component to move and transport the first brick. The gripping component is connected to the transmission rod and can move laterally through the bottom of the limiting component and is positioned above the brick outlet of the brick feeding mechanism, transporting the gripped first brick between two adjacent second bricks on the brick paving mechanism.

5. The sidewalk paving robot according to claim 4, characterized in that, The power assembly includes a power motor, a rotating disk, a power crank, and a power connecting rod. The power motor is mounted on the connecting frame, and its drive end is connected to the rotating disk to drive the rotating disk to rotate. The power crank is located on one side of the rotating disk, with one end hinged to one side of the rotating disk and the other end hinged to one end of the power connecting rod. The other end of the power connecting rod is connected to the power slider to drive the power slider to move linearly back and forth.

6. The sidewalk paving robot according to claim 4, characterized in that, The limiting component includes an upward-facing U-shaped limiting plate; inclined slides are provided on both opposite side plates of the U-shaped limiting plate, and multiple spaced limiting channels are provided on the connecting plate in the middle; the height of the inclined slides gradually increases from the direction closer to the brick-laying mechanism towards the direction closer to the brick-feeding mechanism; both ends of the transmission rod are respectively linearly reciprocatingly mounted on the corresponding inclined slides; the extension directions of the multiple limiting channels are all set at an angle to the length direction of the connecting plate, and the ends of the multiple limiting channels closer to the brick-feeding mechanism are close to each other, while the ends closer to the brick-laying mechanism are dispersed from each other; the top of the gripping component 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 gripping assembly includes multiple mechanical grippers spaced apart on the transmission rod. Each mechanical gripper includes a connecting slider, a connecting rod, a vacuum generator, and a suction cup gripper. The connecting slider is slidably fitted onto the transmission rod. The connecting rod is movable through the corresponding limiting channel along the limiting channel, and its top is connected to the connecting slider, while its bottom is connected to the suction cup gripper. The vacuum generator is mounted on the middle of the connecting rod and connected to the suction cup gripper, used to drive the suction cup gripper to pick up the first brick below.

8. The sidewalk paving robot according to claim 1, characterized in that, The compaction mechanism includes multiple adjustable rods, a grouting machine, and a compaction roller. One end of each adjustable rod is rotatably and adjustablely connected to two opposite outer walls of the brick-laying mechanism near the brick outlet, and the other end is connected to two opposite outer walls of the grouting machine. The grouting machine is filled with sand and gravel to fill the gaps between the laid second bricks or the first bricks. The compaction roller is rotatably mounted at the lower part of the grouting machine and positioned on one side below the sand outlet of the grouting machine to roll and compact the laid second bricks or the first bricks.

9. A method for operating a sidewalk paving robot, comprising using a sidewalk paving robot as described in any one of claims 1 to 8 for paving operations, characterized in that, Includes the following steps: S1, the first brick to be laid is placed on the lifting platform in the first storage box of the brick feeding mechanism, and the second brick to be laid is placed on the movable platform in the second storage box of the brick laying mechanism. S2, start the linkage screw jack in the brick feeding mechanism to drive the lifting platform in the brick feeding mechanism to rise; when the lifting platform drives the first brick to the top layer, the first brick is facing the push plate in the brick feeding mechanism; start the servo motor that is connected to the push plate to drive the first bricks arranged in sequence on the push plate to be pushed directly below the gripping mechanism. S3, activate the mechanical gripper in the gripping mechanism, and use the suction cup gripper in the mechanical gripper to grab a row of the first bricks directly below; activate the power motor in the gripping mechanism to drive the transmission rod in the gripping mechanism to move the suction cup gripper toward the top surface of the second storage box, and lower the first bricks onto the top surface of the second storage box so that the first bricks are between two adjacent second bricks; S4, activate the ball screw module in the brick-laying mechanism to drive the movable platform to move the second brick to multiple brick conveying ports on the top surface of the second storage box, so that the first brick and the second brick are arranged alternately on the top surface of the second storage box; The ball screw structure in the brick-laying mechanism is activated to drive the push plate in the brick-laying mechanism to move the first brick and the second brick, which are arranged at intervals, to the first conveyor and the second conveyor in the brick-laying mechanism. S5, start the first conveyor and the second conveyor to lay the first brick and the second brick on the ground in sequence; S6, start the grouting machine and compaction roller in the compaction mechanism to perform grouting and compaction operations on the first brick and the second brick that have been laid on the ground; S7. Repeat steps S2 to S6 in sequence until the road paving work is completed.

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