Wall masonry robot

Abstract

The invention discloses a wall masonry robot, and relates to the technical field of building robots, the wall masonry robot comprises a mobile vehicle body, a masonry mechanical arm and a cement discharge port, the masonry mechanical arm is fixedly connected to the top end of the mobile vehicle body, the cement discharge port is arranged at the front end of the mobile vehicle body, and the mortar joint processing mechanism is arranged at the front end of the mobile vehicle body. The mortar joint processing mechanism comprises a mounting frame arranged in front of the moving vehicle body, a first motor is fixedly connected to the surface of the mounting frame, an output shaft of the first motor is fixedly connected with a rotating rod, two cutting knives with opposite knife edge directions are fixedly connected to the end, away from the first motor, of the rotating rod, and a second guide rail is fixedly connected to the front end of the moving vehicle body. And a fixed motor shell is fixedly connected to the bottom end of the second guide rail, and a movable motor shell is slidably connected to the interior of the second guide rail, so that the problems that the labor cost is increased and the overall masonry efficiency is reduced due to the fact that cement is manually removed are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and more particularly to a wall-building robot. Background Art

[0002] The wall masonry robot is an industrial robot specially used for wall masonry operations. It can perform bricklaying tasks and assist manual work in wall masonry. The wall masonry robot can complete multiple links such as brick transportation, positioning, grabbing, placement and masonry. It can complete bricklaying work efficiently and accurately, improve construction efficiency and quality, and reduce labor intensity and safety risks.

[0003] When using a wall-building robot for masonry work, the gaps between bricks need to be filled with cement to ensure the stability of the masonry structure. The pressure exerted by the bricks on the cement slurry causes the excess cement slurry to be squeezed out of the brick joints. After the wall masonry is completed, if the overflowed cement slurry is not removed in time, it will directly cause the wall surface to become uneven when it hardens. At this time, manual removal of cement not only greatly increases labor costs, but also reduces the overall masonry efficiency. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a wall masonry robot to solve the problem that manual removal of cement increases labor costs and reduces overall masonry efficiency.

[0005] To solve the above problems, the present invention adopts the following technical solutions.

[0006] A wall masonry robot comprises a mobile body, a masonry robot arm and a cement discharge outlet, wherein the masonry robot arm is fixedly connected to the top of the mobile body, the cement discharge outlet is arranged at the front end of the mobile body, and a mortar joint processing mechanism is arranged at the front end of the mobile body. The mortar joint processing mechanism comprises a mounting frame arranged in front of the mobile body, a first motor is fixedly connected to the surface of the mounting frame, a rotating rod is fixedly connected to the output shaft of the first motor, and two scraping knives with opposite blade directions are fixedly connected to the end of the rotating rod away from the first motor.

[0007] Furthermore, the front end of the mobile vehicle body is fixedly connected to a second guide rail, the bottom end of the second guide rail is fixedly connected to a fixed motor housing, the interior of the second guide rail is slidably connected to a dynamic motor housing, the side of the dynamic motor housing is fixedly connected to the first guide rail, the interior of the first guide rail is slidably connected to a moving frame, the interiors of the first guide rail and the second guide rail are both rotatably connected to screw rods, power motors are installed inside the dynamic motor housing and the stator motor housing, the two screw rods are fixedly connected to the output shafts of the two power motors respectively, the dynamic motor housing is threadedly connected to the screw rod inside the second guide rail, the surface of the screw rod inside the first guide rail is threadedly sleeved with a moving frame, and the mounting frame is fixedly connected to the surface of the moving frame.

[0008] Furthermore, connecting rods are fixedly connected on both sides of the first motor, the front end of the connecting rods is fixedly connected to a connecting frame, the surface of the connecting frame is fixedly connected to a collecting cover, the backs of the two scraping knives are fixedly connected to baffles, and the rotating rod is rotatably inserted into the middle of the connecting frame.

[0009] Furthermore, the lower end of the collecting cover is connected to a frame opening, and side panels are fixedly connected to both sides of the frame opening, the lower end of the front surface of the frame opening is fixedly connected to a front end plate, the lower end of the front end plate is provided with a lower end plate, and the rear end of the lower end plate is provided with a rear end plate, the front end plate and the lower end plate are rotatably connected by a hinge, the lower end plate and the rear end plate are rotatably connected by a hinge, the upper end of the rear end plate is fixedly connected to a magnet sheet, and the frame opening is made of iron material and can be attracted by the magnet sheet.

[0010] Furthermore, a knocking mechanism is provided at the upper end of the movable frame, including a first rotating shaft and a second rotating shaft rotatably connected to the movable frame, the surfaces of the first rotating shaft and the second rotating shaft are fixedly connected with a turntable, the arc surface of the turntable is rotatably connected with a cam, the ends of the first rotating shaft and the second rotating shaft close to each other are fixedly connected with a bevel gear, the top of the movable frame is fixedly connected with a second motor, the output shaft of the second motor is fixedly connected with the top of the second rotating shaft, the two bevel gears are meshed with each other, the surface of the movable frame is fixedly connected with a first guide frame and a second guide frame, the surfaces of the first guide frame and the second guide frame are fixedly connected with a touch plate, the sides of the two touch plates are fixedly connected with a connecting double rod, the ends of the two connecting double rods away from the touch plate are respectively fixedly connected with a first knocking hammer and a second knocking hammer, the first knocking hammer is located at the top of the knocking plate, and the second knocking hammer is located at the right end of the knocking plate, two guide rods are inserted into the upper end of the movable frame, and the lower ends of the two guide rods are fixedly connected with the knocking plate.

[0011] Furthermore, a second spring is fixedly connected between the second guide frame and the touch plate located on the right side of the tapping plate.

[0012] Furthermore, the first percussion hammer is a structure composed of an inner lead block and an outer rubber material, and the second percussion hammer is made of rubber material.

[0013] Furthermore, a first spring is fixedly connected between the knocking plate and the movable frame.

[0014] Furthermore, a thread groove is provided at the upper end of the guide rod at the front end, a transverse plate is fixedly connected to the upper ends of the two guide rods, and a rotating retaining ring is threadedly sleeved on the surface of the thread groove on the guide rod.

[0015] Furthermore, a connecting ring is sleeved on the surface of the guide rod at the rear end, a sliding groove is opened on the surface of the rotating ring, a connecting plate is slidably connected inside the sliding groove on the rotating retaining ring, and the rear end of the connecting plate is fixedly connected to the surface of the connecting ring.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) This solution drives the rotating rod to rotate at a high speed through the drive of the first motor, so that the scraping knife rotates at the same high speed, which can scrape away the cement overflowed during the masonry process and the cement residue that has hardened, thereby reducing the direct participation of manual labor in the masonry operation, effectively reducing labor costs, and greatly improving the overall efficiency of the masonry work.

[0018] (2) After the overflow cement is removed, the removed cement falls into a collection container composed of the side plates, front plate, rear plate and lower plate, preventing the cement from falling to the ground, thereby reducing the difficulty of subsequent cleaning operations. When it is necessary to clean the container, the cement can be physically separated from the lower plate and rear plate by rotating and unfolding the lower plate and rear plate, effectively preventing the incompletely dried cement from hardening and adhering to the inner wall of the container after falling into the container, thereby ensuring the smooth discharge of the cement and the convenient cleaning of the container.

[0019] (3) This solution utilizes a second motor to drive the cam to come into contact with the touch plate and lift the touch plate. When the cam rotates to a position away from the touch plate, the first hammer and the second hammer strike the knock plate, causing the knock plate to apply pressure to the bricks below. This can adjust the position of the bricks in the mortar layer, ensure the accuracy of laying, compact the mortar layer to enhance its density and uniformity, enhance the bonding force between bricks and mortar, improve the stability of the overall structure, eliminate potential hollowing phenomena, improve the overall quality of the masonry, further reduce labor costs, and greatly improve the overall efficiency of masonry work.

[0020] (4) This solution can adjust the relative positions of the rotating retaining ring and the connecting ring on the guide rod by rotating the rotating retaining ring. When the knocking plate applies impact force to the bricks, the displacement amplitude of the guide rod is effectively limited, thereby controlling the thickness of the cement slurry in the gaps between the bricks during the extrusion process. When different types of bricks are used to construct walls, the thickness of the cement slurry in the gaps between the bricks can be flexibly adjusted according to actual needs, which significantly improves the adaptability and flexibility of the masonry operation and further enhances the quality of the wall masonry. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the mobile vehicle body of the present invention;

[0023] Figure 3 It is a schematic structural diagram of the collecting cover part of the present invention;

[0024] Figure 4 It is a schematic structural diagram of the first guide rail and the second guide rail of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure inside the collecting cover of the present invention;

[0026] Figure 6 It is a structural schematic diagram of the scraping knife of the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of the front end plate, the lower end plate and the rear end plate of the present invention;

[0028] Figure 8 It is a structural schematic diagram of the knocking plate part of the present invention;

[0029] Fig. 9 It is a structural schematic diagram of the bevel gear of the present invention;

[0030] Fig.10 It is a schematic diagram of the structure of the first percussion hammer and the second percussion hammer of the present invention;

[0031] Fig.11 It is a schematic structural diagram of the rotating retaining ring and the connecting ring of the present invention.

[0032] Description of the numbers in the figure:

[0033] 1. Mobile body; 2. Masonry mechanical arm; 3. Cement discharge port; 401. First guide rail; 402. Second guide rail; 403. Screw rod; 404. Fixed motor housing; 405. Dynamic motor housing; 406. Mobile frame; 407. Mounting frame; 408. Collecting cover; 409. First motor; 410. Connecting frame; 411. Connecting rod; 412. Baffle; 413. Cutting knife; 414. Rotating rod; 415. Frame; 416. Side plate; 417. Rear end plate; 418. Magnet sheet; 419. Lower end plate; 420. Front end plate ; 421, hinge; 501, tapping plate; 502, first tapping hammer; 503, connecting rod; 504, touch plate; 505, first guide frame; 506, second guide frame; 507, second tapping hammer; 508, second motor; 509, bevel gear; 510, turntable; 511, cam; 512, guide rod; 513, cross plate; 514, rotating retaining ring; 515, threaded groove; 516, first spring; 517, second spring; 518, connecting plate; 519, connecting ring; 520, first rotating shaft; 521, second rotating shaft. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-Figure 7 A wall-building robot comprises a mobile body 1, a building robot arm 2 and a cement outlet 3, wherein the building robot arm 2 is fixedly connected to the top of the mobile body 1, and the cement outlet 3 is arranged at the front end of the mobile body 1.

[0036] Among them, the mortar seam processing mechanism is arranged at the front end of the mobile body 1, and the mortar seam processing mechanism includes a mounting frame 407 arranged in front of the mobile body 1, and the surface of the mounting frame 407 is fixedly connected with a first motor 409, and the first motor 409 can drive the scraping knife 413 to rotate at a high speed, and the output shaft of the first motor 409 is fixedly connected with a rotating rod 414, and the end of the rotating rod 414 away from the first motor 409 is fixedly connected with two scraping knives 413 with opposite blade directions, and the scraping knife 413 can be used to scrape the overflowed cement and hardened cement.

[0037] Among them, the front end of the mobile body 1 is fixedly connected with a second guide rail 402, the bottom end of the second guide rail 402 is fixedly connected with a fixed motor housing 404, the interior of the second guide rail 402 is slidably connected with a dynamic motor housing 405, the side of the dynamic motor housing 405 is fixedly connected with a first guide rail 401, the interior of the first guide rail 401 is slidably connected with a moving frame 406, the interiors of the first guide rail 401 and the second guide rail 402 are both rotatably connected with a screw rod 403, the interiors of the dynamic motor housing 405 and the stator motor housing 404 are both equipped with power motors, the two screw rods 403 are respectively fixedly connected to the output shafts of the two power motors, the dynamic motor housing 405 is threadedly connected with the screw rod 403 inside the second guide rail 402, and the surface of the screw rod 403 inside the first guide rail 401 is threadedly sleeved with a moving frame 406, the corresponding power motor drives the corresponding screw rod 403 to rotate, which can drive the moving frame 406 to move flexibly horizontally and vertically.

[0038] Among them, the mounting frame 407 is fixedly connected to the surface of the movable frame 406, the first motor 409 is fixedly connected with connecting rods 411 on both sides, the front end of the connecting rod 411 is fixedly connected with a connecting frame 410, the surface of the connecting frame 410 is fixedly connected with a collecting cover 408, which can prevent the removed cement from scattering to other locations, the backs of the two removing knives 413 are fixedly connected with baffles 412, and the rotating rod 414 is rotatably inserted into the middle of the connecting frame 410.

[0039] The lower end of the collecting cover 408 is connected to a frame opening 415, and the two sides of the frame opening 415 are fixedly connected to side panels 416. The lower end of the front surface of the frame opening 415 is fixedly connected to a front end panel 420, and the lower end of the front end panel 420 is provided with a lower end panel 419, and the rear end of the lower end panel 419 is provided with a rear end panel 417. The front end panel 420 and the lower end panel 419 are rotatably connected by a hinge 421. The container composed of the side panels 416, the front end panel 420, the rear end panel 417 and the lower end panel 419 can be The removed cement is collected, and the lower end plate 419 and the rear end plate 417 are rotated and unfolded to separate the lower end plate 419 and the rear end plate 417 from the cement. The lower end plate 419 and the rear end plate 417 are rotatably connected via a hinge 421. A magnet sheet 418 is fixedly connected to the upper end of the rear end plate 417. The frame opening 415 is made of iron and can be attracted by the magnet sheet 418. The magnet sheet 418 and the frame opening 415 are attracted to each other to keep the positions of the rear end plate 417 and the lower end plate 419 fixed, so that they form a container.

[0040] By adopting the above technical solution, when the wall is being built, the mobile body 1 moves to the designated position, and then the building robot arm 2 is used to pick up the bricks, and the cement is discharged through the cement discharge port 3 and smeared on the bricks. The bricks can be placed and laid by the building robot arm 2. After the bricks are placed at the designated position, the corresponding power motor drives the corresponding screw 403 to rotate, which can drive the mobile frame 406 to move flexibly horizontally and vertically, and then the collecting cover 408 moves to the position where the bricks are laid. At the same time, the first motor 409 drives the rotating rod 414 to rotate at a high speed, so as to drive the scraping knife 413 to rotate at a high speed, and the scraping knife 413 can be used to scrape the overflowed cement and hardened cement, so as to reduce the human intervention in the building process, reduce the labor cost and improve the building efficiency.

[0041] After the overflowed cement is scraped off, the scraped cement falls into the container composed of the side plate 416, the front end plate 420, the rear end plate 417 and the lower end plate 419 for collection. Since the scraped cement may contain undried cement, it will harden and stick to the inside of the container after falling into the container, making it difficult to remove and clean it. At this time, the lower end plate 419 and the rear end plate 417 can be rotated and unfolded to separate the lower end plate 419 and the rear end plate 417 from the cement, so as to facilitate the removal of the cement.

[0042] like Figure 8-Figure 11 As shown, the knocking mechanism is arranged at the upper end of the movable frame 406, including a first rotating shaft 520 and a second rotating shaft 521 rotatably connected to the movable frame 406, the surfaces of the first rotating shaft 520 and the second rotating shaft 521 are fixedly connected with a turntable 510, the inner part of the arc surface of the turntable 510 is rotatably connected with a cam 511, the ends of the first rotating shaft 520 and the second rotating shaft 521 close to each other are fixedly connected with a bevel gear 509, the top of the movable frame 406 is fixedly connected with a second motor 508, the output shaft of the second motor 508 is fixedly connected to the top of the second rotating shaft 521, and then the turntable 510 can be driven to rotate by the second motor 508.

[0043] The two bevel gears 509 mesh with each other, and the bevel gears 509 can drive the two sets of turntables 510 to rotate synchronously. The surface of the mobile frame 406 is fixedly connected with the first guide frame 505 and the second guide frame 506. The surfaces of the first guide frame 505 and the second guide frame 506 are fixedly connected with the touch plate 504. The sides of the two touch plates 504 are fixedly connected with the connecting double rods 503. The ends of the two connecting double rods 503 away from the touch plate 504 are respectively fixedly connected with the first percussion hammers. 502 and a second knocking hammer 507, the first knocking hammer 502 is located at the top of the knocking plate 501, and the second knocking hammer 507 is located at the right end of the knocking plate, so that the first knocking hammer 502 hits the top of the knocking plate 501, and the second knocking hammer 507 is pushed by the thrust of the second spring 517 to hit the right side surface of the knocking plate, so that the knocking plate 501 can apply pressure to the bricks, and two guide rods 512 are inserted at the upper end of the movable frame 406, and the lower ends of the two guide rods 512 are fixedly connected with the knocking plate 501.

[0044] Among them, a second spring 517 is fixedly connected between the second guide frame 506 and the touch plate 504 on the right side of the knocking plate 501. The thrust of the second spring 517 pushes the second knocking hammer 507 to hit the right surface of the knocking plate. The first knocking hammer 502 is a structure composed of an internal lead block and an external rubber material. The first knocking hammer 502 can be hit on the top of the knocking plate 501 through gravity and the influence of the built-in lead block as a counterweight. The second knocking hammer 507 is made of rubber material. The first spring 516 is fixedly connected between the knocking plate 501 and the moving frame 406, which can apply an inclined downward thrust after the knocking plate 501 is lifted, thereby playing a role in guiding force.

[0045] Among them, a threaded groove 515 is provided at the upper end of the guide rod 512 at the front end, and a cross plate 513 is fixedly connected to the upper ends of the two guide rods 512. A rotating retaining ring 514 is threadedly sleeved on the surface of the threaded groove 515 on the guide rod 512, and a connecting ring 519 is sleeved on the surface of the guide rod 512 at the rear end. By adjusting the positions of the rotating retaining ring 514 and the connecting ring 519 on the guide rod 512, the moving distance of the guide rod 512 can be limited when the knocking plate 501 hits the brick, so as to achieve the purpose of controlling the thickness of cement in the gap during the extrusion process. A sliding groove is provided on the surface of the rotating ring, and a connecting plate 518 is slidably connected to the inside of the sliding groove on the rotating retaining ring 514. The connecting plate 518 can synchronously drive the connecting ring 519 to move when the rotating retaining ring 514 moves, and the rear end of the connecting plate 518 is fixedly connected to the surface of the connecting ring 519.

[0046] By adopting the above technical solution, when the brick laying is completed and the overflowed cement is removed, the knocking plate 501 just covers the laid bricks, and then the second motor 508 is used to drive the second rotating shaft 521 to rotate, and the cooperation of the two bevel gears 509 can synchronously drive the first rotating shaft 520 to rotate, which can drive the turntable 510 to rotate. When the cam 511 contacts the touch plate 504, the touch plate 504 can be lifted up. When the cam 511 is separated from the touch plate 504, the first knocking hammer 502 can be hit on the top of the knocking plate 501 through gravity and the influence of the built-in lead block as a counterweight, and the second knocking hammer 507 is pushed by the thrust of the second spring 517 to hit the right surface of the knocking plate, so that the knocking plate 501 can exert pressure on the bricks, thereby achieving the purpose of adjusting the position of the bricks, compacting the mortar layer, enhancing the bonding force and eliminating potential hollows.

[0047] When different types of bricks are used to build walls, the thickness requirements of cement in the gaps between bricks are also different. Therefore, the positions of the rotating baffle ring 514 and the connecting ring 519 on the guide rod 512 can be adjusted by rotating the rotating baffle ring 514, so that the moving distance of the guide rod 512 can be limited when the tapping plate 501 hits the bricks, thereby achieving the purpose of controlling the thickness of cement in the gap during the extrusion process.

[0048] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A wall-building robot, comprising a mobile body (1), a building mechanical arm (2) and a cement outlet (3), wherein the building mechanical arm (2) is fixedly connected to the top of the mobile body (1), and the cement outlet (3) is arranged at the front end of the mobile body (1), characterized in that: A mortar seam processing mechanism, the mortar seam processing mechanism is arranged at the front end of a mobile vehicle body (1), the mortar seam processing mechanism comprises a mounting frame (407) arranged in front of the mobile vehicle body (1), a first motor (409) is fixedly connected to the surface of the mounting frame (407), an output shaft of the first motor (409) is fixedly connected to a rotating rod (414), and an end of the rotating rod (414) away from the first motor (409) is fixedly connected to two scraping knives (413) with opposite blade directions.

2. A wall-building robot according to claim 1, characterized in that: The front end of the mobile vehicle body (1) is fixedly connected to a second guide rail (402), the bottom end of the second guide rail (402) is fixedly connected to a fixed motor housing (404), the interior of the second guide rail (402) is slidably connected to a motor housing (405), the side of the motor housing (405) is fixedly connected to a first guide rail (401), the interior of the first guide rail (401) is slidably connected to a moving frame (406), and the interiors of the first guide rail (401) and the second guide rail (402) are both rotatable. A screw rod (403) is connected, and a power motor is installed inside the dynamic motor housing (405) and the fixed motor housing (404). The two screw rods (403) are fixedly connected to the output shafts of the two power motors respectively. The dynamic motor housing (405) is threadedly connected to the screw rod (403) inside the second guide rail (402). The surface of the screw rod (403) inside the first guide rail (401) is threadedly sleeved with a movable frame (406), and the mounting frame (407) is fixedly connected to the surface of the movable frame (406).

3. A wall-building robot according to claim 1, characterized in that: Both sides of the first motor (409) are fixedly connected with connecting rods (411), the front end of the connecting rod (411) is fixedly connected with a connecting frame (410), the surface of the connecting frame (410) is fixedly connected with a collecting cover (408), the backs of the two scraping knives (413) are fixedly connected with baffles (412), and the rotating rod (414) is rotatably inserted into the middle of the connecting frame (410).

4. A wall-building robot according to claim 3, characterized in that: The lower end of the collecting cover (408) is connected to a frame opening (415), and side panels (416) are fixedly connected to both sides of the frame opening (415). A front end plate (420) is fixedly connected to the lower end of the front surface of the frame opening (415), a lower end plate (419) is arranged at the lower end of the front end plate (420), and a rear end plate (417) is arranged at the rear end of the lower end plate (419). The front end plate (420) and the lower end plate (419) are rotatably connected via a hinge (421), and the lower end plate (419) and the rear end plate (417) are rotatably connected via a hinge (421). A magnet sheet (418) is fixedly connected to the upper end of the rear end plate (417), and the frame opening (415) is made of iron material and can be attracted by the magnet sheet (418).

5. A wall-building robot according to claim 1, characterized in that: A knocking mechanism, wherein the knocking mechanism is arranged at the upper end of the moving frame (406), and comprises a first rotating shaft (520) and a second rotating shaft (521) which are rotatably connected to the moving frame (406); the surfaces of the first rotating shaft (520) and the second rotating shaft (521) are both fixedly connected with a rotating disk (510); the arc surface of the rotating disk (510) is internally rotatably connected with a cam (511); the ends of the first rotating shaft (520) and the second rotating shaft (521) which are close to each other are both fixedly connected with a bevel gear (509); the top end of the moving frame (406) is fixedly connected with a second motor (508); the output shaft of the second motor (508) is fixedly connected with the top end of the second rotating shaft (521); the two bevel gears (509) are meshed with each other; A first guide frame (505) and a second guide frame (506) are fixedly connected on the surface; a touch plate (504) is fixedly connected to the surface of the first guide frame (505) and the second guide frame (506); the sides of the two touch plates (504) are fixedly connected with connecting double rods (503); the ends of the two connecting double rods (503) away from the touch plate (504) are respectively fixedly connected with a first knocking hammer (502) and a second knocking hammer (507); the first knocking hammer (502) is located at the top of the knocking plate (501), and the second knocking hammer (507) is located at the right end of the knocking plate; two guide rods (512) are inserted at the upper end of the movable frame (406), and the lower ends of the two guide rods (512) are fixedly connected to the knocking plate (501).

6. A wall-building robot according to claim 5, characterized in that: A second spring (517) is fixedly connected between the second guide frame (506) and the touch plate (504) located on the right side of the tapping plate (501).

7. A wall-building robot according to claim 5, characterized in that: The first percussion hammer (502) is a structure composed of an inner lead block and an outer rubber material, and the second percussion hammer (507) is made of rubber material.

8. A wall-building robot according to claim 5, characterized in that: A first spring (516) is fixedly connected between the knocking plate (501) and the movable frame (406).

9. A wall-building robot according to claim 5, characterized in that: A thread groove (515) is provided at the upper end of the guide rod (512) at the front end, a transverse plate (513) is fixedly connected to the upper ends of the two guide rods (512), and a rotating retaining ring (514) is threadedly sleeved on the surface of the thread groove (515) on the guide rod (512).

10. A wall-building robot according to claim 9, characterized in that: A connecting ring (519) is sleeved on the surface of the guide rod (512) at the rear end, a sliding groove is provided on the surface of the rotating ring, a connecting plate (518) is slidably connected inside the sliding groove on the rotating retaining ring (514), and the rear end of the connecting plate (518) is fixedly connected to the surface of the connecting ring (519).

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