A robotic arm for a gantry wall-building robot and its usage method

Abstract

The present invention relates to the technical field of wall-building robots, and discloses a robotic arm for a gantry wall-building robot and its usage method, including a gantry connection base and a robotic arm. The robotic arm is rotatably connected to the top of the gantry connection base. One end of the robotic arm away from the gantry connection base is rotatably connected with a mounting member. The invention further includes a brick-taking mechanism. The brick-taking mechanism is arranged on the mounting member. The brick-taking mechanism includes a mounting frame, and the mounting frame is detachably mounted on the mounting member. In the process of the movable clamping plate frame loosening the clamping of the brick and before the brick-taking mechanism leaves the brick, the movable clamping plate frame repeats the action of clamping and loosening the brick twice, and compresses the brick by secondary rolling, which improves the evenness of the mortar spreading at the bottom of the brick, reduces the phenomenon of the brick tilting caused by the lack of cement at one end of the bottom of the brick, thereby reducing the phenomenon of uneven height of the brick, improving the flatness and verticality of the wall after wall-building, and improving the quality of wall-building.

Description

Technical Field

[0001] The present invention relates to the technical field of wall - building robots, and particularly to a robotic arm for a gantry - type wall - building robot and its usage method. Background Technique

[0002] In the prior art, after a robotic arm places a brick coated with cement on a wall being built, it mostly directly applies a downward pressure on the brick through the robotic arm to squeeze the cement at the bottom of the brick, so that the brick is built on the wall. However, after applying cement on the brick and moving the cement to the brick - laying position on the wall by the robotic arm, due to the swing of the robotic arm, the cement on the brick will shift towards the edge or part of the cement will fall to the ground, resulting in the lack of cement at one end of the bottom of the brick, and the uneven distribution of cement at the bottom of the brick.

[0003] After the robotic arm builds the brick on the wall, it only presses the brick to build it on the wall. However, the force applied by the robotic arm to press the brick is generally fixed. After applying a fixed downward pressure on the brick built on the wall, not only will the brick tilt due to the uneven distribution of cement at the bottom of the brick, and after the robotic arm presses the brick and then releases it, the brick will be uneven due to the lack of cement at one end of the bottom of the brick, which will affect the flatness and verticality of the wall and the quality of wall - building. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm for a gantry - type wall - building robot and its usage method, so as to solve the problem that due to the uneven distribution of cement at the bottom of the brick, after the robotic arm presses the brick and then releases it, the brick will tilt due to the lack of cement at one end of the bottom of the brick, resulting in the unevenness of the brick, which will affect the flatness and verticality of the wall and the quality of wall - building as mentioned in the above - mentioned background technique.

[0005] To solve the above - mentioned technical problems, the present invention is realized through the following technical solutions:

[0006] The present invention is a robotic arm for a gantry - type wall - building robot and its usage method, which includes a gantry connection base and a robotic arm. The robotic arm is rotatably connected to the top of the gantry connection base. One end of the robotic arm away from the gantry connection base is rotatably connected with a mounting member, and further includes:

[0007] A brick - taking mechanism, the brick - taking mechanism is arranged on the mounting member. The brick - taking mechanism includes a mounting frame, the mounting frame is detachably mounted on the mounting member, and a brick - taking box is fixedly connected to the bottom of the mounting frame;

[0008] A pressing mechanism, the pressing mechanism is arranged inside the brick - taking box;

[0009] The clamping mechanism is arranged inside the brick taking mechanism and is used to cooperate with the brick taking mechanism to clamp the bricks;

[0010] The compacting mechanism is used to roll and compact the bricks after the bricks are laid on the wall.

[0011] Furthermore, the brick taking mechanism also includes a limit block, which is fixedly connected to the bottom of the brick taking box, the bottom of the limit block is against the top of the brick, a slide groove is provided at the end of the bottom of the limit block away from the mounting frame, a connecting strip hole is provided through the top of the slide groove, and an opening is provided at the bottom of the limit block.

[0012] Furthermore, two groups of through-strip sliding holes are opened at the bottom of the brick taking box, and the through-strip sliding holes pass through the brick taking box. The end of the bottom of the limit block away from the slide groove is fixedly connected with a fixed clamping plate, and the side of the fixed clamping plate close to the slide groove is provided with upwardly raised transverse grooves. The top of the brick taking box is fixedly connected with a driving connection component.

[0013] Furthermore, a pressing mechanism is provided at the bottom of the limit block, and the pressing mechanism includes two groups of flexible strips, both of which are fixedly connected to the bottom of the limit block on two sides opposite to the opening, the flexible strips are elastic, and a lower pressure plate is fixedly connected between the two groups of flexible strips, and a number of double-sided protrusions are fixedly connected to the top and bottom of the lower pressure plate.

[0014] Furthermore, the clamping mechanism also includes two sliding connecting frames, which are both slidably connected to the inner wall of the bottom of the brick box. Two hinge joints are provided on the side where the two sliding connecting frames are close to each other. Two lifting rods are slidably connected to the bottom of the sliding connecting frame, and the lifting rods slide through the sliding connecting frame. The tops of the two lifting rods are fixedly connected with a 匚-shaped frame.

[0015] Furthermore, two tension springs are fixedly connected between the bottom of the 匚-shaped frame and the sliding connecting frame. The 匚-shaped frame slides through the top of the brick box. The lifting rod is slidably connected to the inside of the through-bar sliding hole. A clamping wheel group is fixedly connected to the bottom of the two lifting rods, and the roller inside the clamping wheel group is against the top of the brick.

[0016] Furthermore, the clamping mechanism also includes a pneumatic cylinder, which is fixedly connected to the inside of the brick removal box, the pneumatic cylinder is fixedly connected to the driving connection assembly, the output end of the pneumatic cylinder is fixedly connected to a sliding frame, the sliding frame is slidably connected to the inside of the connecting strip hole, the bottom of the sliding frame is fixedly connected to a movable clamping plate frame, and the movable clamping plate frame is slidably connected to the inside of the slide groove.

[0017] Furthermore, a connecting rod is fixedly connected to one side of the sliding frame away from the movable clamping plate frame, two groups of movable push strips are hinged on the outer wall of the connecting rod, and one end of the movable push strip away from the connecting rod is rotatably connected to the hinge head.

[0018] Further, a pull rod is fixedly connected to the side of the movable clamping plate frame away from the air cylinder. The pull rod slides through the limiting block, and a sliding plate is fixedly connected to the side of the pull rod away from the movable clamping plate frame. The double-sided convex block is slidably connected to the inside of the limiting block. A plurality of single-sided convex blocks are fixedly connected to the bottom of the sliding plate, and the single-sided convex blocks abut against the double-sided convex blocks on the top of the lower pressing plate.

[0019] A method for using a robotic arm for a gantry wall-building robot includes the following steps:

[0020] S1: After the bricks are transported to the designated position, the connection base of the gantry is used to move on the gantry, and the robotic arm controls the brick-taking mechanism and the internal structure to move to the position of the bricks. When the bottom of the brick-taking box is parallel to the top of the bricks, the robotic arm then controls the overall vertical descent of the brick-taking box, so that the bottom of the limiting block gradually approaches the top of the bricks.

[0021] S2: After the bottom of the limiting block abuts against the top of the bricks, the air cylinder is used to control the sliding frame to slide inside the connecting bar hole, thereby driving the movable clamping plate frame to slide towards the fixed clamping plate inside the sliding groove, so as to clamp the bricks between the fixed clamping plate and the movable clamping plate frame.

[0022] S3: During the movement of the sliding frame, the connecting rod is synchronously driven. Through the rotational connection of the two ends of the two groups of movable push bars with the connecting rod and the hinge joint respectively, the two sliding connection frames are pushed away from each other, and at the same time, the two groups of pressing wheel sets are pushed to roll on the top of the bricks. Cooperating with the upwardly warped patterns on the fixed clamping plate and the movable clamping plate frame, during the process of lifting the bricks, by continuously applying a downward pressure on the bricks, the bricks are tightly clamped between the movable clamping plate frame and the fixed clamping plate.

[0023] S4: Through the cooperation of the robotic arm and the connection base of the gantry, after applying mortar to the bricks, the bricks with mortar applied are laid on the wall.

[0024] The present invention has the following beneficial effects:

[0025] After the bricks are laid on the wall, the pneumatic cylinder is used to control the moving clamping plate frame to release the clamping of the bricks. Thus, during the process of the moving clamping plate frame releasing the bricks, the pneumatic cylinder will drive the connecting rod to reset at the same time. Through the rotational connection of the two ends of the two sets of movable push bars with the connecting rod and the hinge joint respectively, the two sliding connection frames are pulled to slide on the inner wall of the bottom of the brick-taking box, making the two sliding connection frames approach each other, thereby driving the two sets of pressing wheel groups to approach each other. When the moving clamping plate frame releases the clamping of the bricks, the pressing wheel groups abut against the top of the bricks, and the stretched tension spring will apply a continuous pressing force to the pressing wheel groups. Thus, after the moving clamping plate frame releases the clamping of the bricks, the lifting rod and the pressing wheel groups can be pulled down by the elastic force of the tension spring to press the bricks for the second time. At the same time, the pressing wheel groups roll on the top of the bricks to increase the pressing range of the pressing wheel groups on the top of the bricks. After the bricks are laid on the wall, during the process of the moving clamping plate frame releasing the clamping of the bricks and before the brick-taking mechanism leaves the bricks, the moving clamping plate frame repeats the action of clamping and releasing the bricks twice to perform the secondary rolling and pressing of the bricks, improving the evenness of the mortar spreading at the bottom of the bricks, reducing the phenomenon that the bricks tilt due to the lack of cement at one end of the bottom of the bricks, thereby reducing the phenomenon that the bricks are uneven, improving the flatness and verticality of the wall after wall building, and improving the quality of wall building.

[0026] During the process of the pneumatic cylinder controlling the moving clamping plate frame to release the clamping of the rotating block, the pull rod will be driven to slide through the outer wall of the limiting block synchronously, thereby pulling the sliding plate to slide inside the limiting block. During the sliding process of the sliding plate, the single-sided convex block will abut against the double-sided convex block on the top of the lower pressing plate. Since the flexible strip is elastic, each single-sided convex block will be quickly pressed against at least two double-sided convex blocks, thereby fully squeezing the mortar, making the mortar evenly distributed under the bricks, facilitating the filling or discharging of the residual bubbles or voids inside the mortar, further increasing the bonding strength between the mortar and the bricks, making the mortar fill the brick joints more evenly, forming a tighter bonding surface, and increasing the quality of wall building by the robotic arm.

[0027] After the bricks are transported to the designated position, the gantry is connected to the base and moves on the gantry. The robotic arm controls the brick-taking mechanism and the internal structure to move to the position of the bricks. When the bottom of the brick-taking box is parallel to the top of the bricks, the robotic arm then controls the overall vertical descent of the brick-taking box, making the bottom of the limit block gradually approach the top of the bricks. During this process, the rollers of the pressing wheel group will abut against the top of the bricks. The lifting rod slides through the through-strip-shaped sliding holes and is slidably connected to the sliding connecting frame. When the brick-taking box descends, the lifting rod will remain stationary and the tension spring will be stretched. When the bottom of the limit block abuts against the top of the bricks, the pneumatic cylinder is used to control the sliding of the sliding frame inside the communicating strip holes, thereby driving the movable clamping plate frame to slide towards the fixed clamping plate inside the sliding groove, so as to clamp the bricks between the fixed clamping plate and the movable clamping plate frame. When the sliding frame moves, it synchronously drives the connecting rod to move. Through the rotational connection of the two ends of the two sets of movable push bars with the connecting rod and the hinge joint respectively, the two sliding connecting frames are pushed away from each other, and at the same time, the two sets of pressing wheel groups are pushed to roll against each other on the top of the bricks. Cooperating with the upwardly warped patterns on the fixed clamping plate and the movable clamping plate frame, during the process of lifting the bricks, by continuously applying a downward pressure on the bricks, the bricks are tightly clamped between the movable clamping plate frame and the fixed clamping plate. Then, in cooperation with the robotic arm and the gantry connecting base, after applying mortar to the bricks, the bricks with mortar applied are laid on the wall. Thus, when moving the bricks, the phenomenon of the bricks moving between the movable clamping plate frame and the fixed clamping plate is reduced, and further, due to the unstable clamping of the bricks when applying mortar, the slight shaking of the bricks during movement causes the mortar not to be fully applied to the brick surface. This not only improves the effect of mortar application but also improves the wall-laying effect.

[0028] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0030] Figure 1 Schematic diagram of the overall structure of the present invention;

[0031] Figure 2 Schematic diagram of the robotic arm structure of the present invention;

[0032] Figure 3 Schematic diagram of the brick-taking mechanism structure of the present invention;

[0033] Figure 4 Schematic diagram of the cooperation between the brick-taking mechanism and the pressing mechanism of the present invention;

[0034] Figure 5 Schematic diagram of the brick-taking mechanism and the clamping mechanism of the present invention in cooperation;

[0035] Figure 6 Schematic diagram of the structure of the clamping mechanism of the present invention;

[0036] Figure 7 Schematic diagram of the structure of the pressing mechanism of the present invention;

[0037] Figure 8 is Figure 5 enlarged view of part A in

[0038] Figure 9 Method diagram of the present invention.

[0039] In the figure: 1. Gantry connection base; 101. Manipulator; 102. Mounting member; 2. Brick-taking mechanism; 201. Mounting frame; 202. Brick-taking box; 203. Limit block; 204. Chute; 205. Connecting strip hole; 206. Through strip-shaped sliding hole; 207. Fixed clamping plate; 208. Driving connection assembly; 3. Pressing mechanism; 301. Flexible strip; 302. Lower pressing plate; 303. Double-sided convex block; 304. Pull rod; 305. Sliding plate; 306. Single-sided convex block; 4. Pressing mechanism; 401. Sliding connection frame; 402. Hinge joint; 403. Lifting rod; 404. C-shaped frame; 405. Tensile spring; 406. Pressing wheel group; 5. Clamping mechanism; 501. Pneumatic cylinder; 502. Sliding frame; 503. Movable clamping plate frame; 504. Connecting rod; 505. Movable push bar. Specific embodiments

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] Example 1, please refer to Figures 1-9As shown in the figure, the present invention relates to a robotic arm for a gantry wall-building robot and its usage method, including a pressing mechanism 4. The pressing mechanism 4 is arranged inside the brick-taking box 202. The pressing mechanism 4 further includes two sliding connection frames 401. Both of the two sliding connection frames 401 are slidably connected to the inner wall of the bottom of the brick-taking box 202. On one side of the two sliding connection frames 401 close to each other, there are two hinge joints 402. At the bottom of the sliding connection frame 401, there are two lifting rods 403 slidably connected, and the lifting rods 403 slidably penetrate through the sliding connection frame 401. At the top of the two lifting rods 403, there is a U-shaped frame 404 fixedly connected. Between the bottom of the U-shaped frame 404 and the sliding connection frame 401, there are two tension springs 405 fixedly connected. The U-shaped frame 404 slidably penetrates through the top of the brick-taking box 202. The lifting rods 403 are slidably connected inside the through-strip-shaped sliding holes 206. At the bottom of the two lifting rods 403, there is a pressing wheel group 406 fixedly connected. The rollers inside the pressing wheel group 406 are in contact with the top of the brick. After the pressing mechanism 4 lays the brick on the wall, it is used to roll and press the brick body. By making the pressing wheel group 406 contact the top of the brick, the stretched tension spring 405 will apply a continuous pressing force to the pressing wheel group 406. Thus, after the moving clamping plate frame 503 releases the clamping of the brick, the elastic force of the tension spring 405 can pull the lifting rods 403 and the pressing wheel group 406 to descend, press the brick for the second time, and at the same time, the pressing wheel group 406 rolls on the top of the brick body to increase the pressing range of the pressing wheel group 406 on the top of the brick body;

[0042] A clamping mechanism 5. The clamping mechanism 5 is arranged inside the brick-taking mechanism 2. The clamping mechanism 5 is used to cooperate with the brick-taking mechanism 2 to clamp the brick. The clamping mechanism 5 further includes a pneumatic cylinder 501. The pneumatic cylinder 501 is fixedly connected inside the brick-taking box 202. The pneumatic cylinder 501 is fixedly connected to the driving connection assembly 208. The output end of the pneumatic cylinder 501 is fixedly connected with a sliding frame 502. The sliding frame 502 is slidably connected inside the communicating strip hole 205. The bottom of the sliding frame 502 is fixedly connected with a moving clamping plate frame 503. The moving clamping plate frame 503 is slidably connected inside the sliding groove 204. On one side of the sliding frame 502 away from the moving clamping plate frame 503, there is a connecting rod 504 fixedly connected. On the outer wall of the connecting rod 504, there are two groups of movable push bars 505 hinged. And one end of the movable push bar 505 away from the connecting rod 504 is rotatably connected to the hinge joint 402. By controlling the pneumatic cylinder 501 to release the clamping of the brick by the moving clamping plate frame 503, thus during the process of the moving clamping plate frame 503 releasing the brick body, the pneumatic cylinder 501 will simultaneously drive the connecting rod 504 to reset. Through the rotational connection of the two ends of the two groups of movable push bars 505 with the connecting rod 504 and the hinge joint 402 respectively, two sliding connection frames 401 are pulled to slide on the inner wall of the bottom of the brick-taking box 202, so that the two sliding connection frames 401 approach each other, thereby driving the two groups of pressing wheel groups 406 to approach each other.

[0043] During use, after the bricks are laid on the wall, the pneumatic cylinder 501 is used to control the movable clamping plate frame 503 to release the clamping of the bricks. Thus, during the process of the movable clamping plate frame 503 releasing the brick body, the pneumatic cylinder 501 will drive the connecting rod 504 to reset at the same time. Through the rotational connection of the two ends of the two sets of movable push bars 505 with the connecting rod 504 and the hinge joint 402 respectively, the two sliding connection frames 401 are pulled to slide on the inner wall of the bottom of the brick taking box 202, so that the two sliding connection frames 401 approach each other, thereby driving the two sets of pressing wheel groups 406 to approach each other. When the movable clamping plate frame 503 releases the clamping of the bricks, the pressing wheel groups 406 abut against the top of the bricks, and the stretched tension spring 405 will apply a continuous pressing force to the pressing wheel groups 406. Thus, after the movable clamping plate frame 503 releases the clamping of the bricks, the lifting rod 403 and the pressing wheel groups 406 are pulled down by the elastic force of the tension spring 405 to press the bricks for the second time. At the same time, the pressing wheel groups 406 roll on the top of the brick body to increase the pressing range of the pressing wheel groups 406 on the top of the brick body. After the bricks are laid on the wall, during the process of the movable clamping plate frame 503 releasing the clamping of the bricks and before the brick taking mechanism 2 leaves the bricks, the action of the movable clamping plate frame 503 clamping and releasing the bricks is repeated twice to perform the secondary rolling and pressing of the bricks, which improves the evenness of the mortar spreading at the bottom of the bricks.

[0044] Embodiment 2, please refer to Figures 1-9 As shown, the gantry connects the base 1 and the robotic arm 101. The robotic arm 101 is rotatably connected to the top of the gantry connection base 1. One end of the robotic arm 101 away from the gantry connection base 1 is rotatably connected with a mounting member 102;

[0045] The robot also includes a brick taking mechanism 2, which is arranged on the mounting member 102. The brick taking mechanism 2 includes a mounting frame 201, which is detachably mounted on the mounting member 102. A brick taking box 202 is fixedly connected to the bottom of the mounting frame 201. The brick taking box 202 is mounted on the mounting member 102 through the mounting frame 201, and then the air pressure pipe or hydraulic pipeline on the robot arm 101 is connected to the drive connection component 208 to provide power for the clamping mechanism 5. Two sets of through holes are provided at the bottom of the brick taking box 202. The strip-shaped sliding hole 206 penetrates the brick box 202, and the end of the bottom of the limit block 203 away from the slide groove 204 is fixedly connected with a fixed clamping plate 207, and the side of the fixed clamping plate 207 close to the slide groove 204 is provided with a transverse pattern that rises upward, and the top of the brick box 202 is fixedly connected with a driving connection component 208. The brick taking mechanism 2 also includes a limit block 203, which is fixedly connected to the bottom of the brick box 202, and the bottom of the limit block 203 is against the top of the brick. After the bottom of the box 202 is parallel to the top of the brick, the robot arm 101 controls the brick box 202 to drop vertically as a whole, so that the bottom of the limit block 203 gradually approaches the top of the brick. During this process, the roller of the pressing wheel group 406 will contact the top of the brick. A slide groove 204 is provided at the end of the bottom of the limit block 203 away from the mounting frame 201. A connecting bar hole 205 is provided at the top of the slide groove 204, and an opening is provided at the bottom of the limit block 203. The lifting rod 403 slides through the connecting bar hole 205. The sliding hole 206 is connected to the sliding connecting frame 401. When the brick box 202 is lowered, the lifting rod 403 will remain stationary and the tension spring 405 will be stretched. When the bottom of the limit block 203 abuts against the top of the brick, the pneumatic cylinder 501 controls the sliding frame 502 to slide inside the connecting hole 205, thereby driving the movable clamping plate frame 503 to slide inside the sliding groove 204 toward one side of the fixed clamping plate 207, thereby clamping the brick between the fixed clamping plate 207 and the movable clamping plate frame 503;

[0046] A pressing mechanism 3 is provided at the bottom of the limiting block 203. The pressing mechanism 3 includes two groups of flexible strips 301. The two groups of flexible strips 301 are fixedly connected to the two opposite sides of the bottom of the limiting block 203 where the openings are located. The flexible strips 301 are elastic. A lower pressing plate 302 is fixedly connected between the two groups of flexible strips 301. A number of double-sided convex blocks 303 are fixedly connected to both the top and the bottom of the lower pressing plate 302. During the process of the air cylinder 501 controlling the movable clamping plate frame 503 to release the clamping of the rotating block, the pull rod 304 will be synchronously driven to slide through the outer wall of the limiting block 203, so as to pull the sliding plate 305 to slide inside the limiting block 203. During the sliding process of the sliding plate 305, the single-sided convex block 306 will abut against the double-sided convex block 303 on the top of the lower pressing plate 302. Due to the elasticity of the flexible strip 301, each single-sided convex block 306 will be quickly pressed against at least two double-sided convex blocks 303, so as to fully press the mortar and make the mortar evenly distributed under the brick body. One side of the movable clamping plate frame 503 away from the air cylinder 501 is fixedly connected with a pull rod 304. The pull rod 304 slides through to the inside of the limiting block 203. One side of the pull rod 304 away from the movable clamping plate frame 503 is fixedly connected with a sliding plate 305. The double-sided convex block 303 is slidably connected to the inside of the limiting block 203. A number of single-sided convex blocks 306 are fixedly connected to the bottom of the sliding plate 305. The single-sided convex block 306 abuts against the double-sided convex block 303 on the top of the lower pressing plate 302.

[0047] During use, during the process of the air cylinder 501 controlling the movable clamping plate frame 503 to release the clamping of the rotating block, the pull rod 304 will be synchronously driven to slide through the outer wall of the limiting block 203, so as to pull the sliding plate 305 to slide inside the limiting block 203. During the sliding process of the sliding plate 305, the single-sided convex block 306 will abut against the double-sided convex block 303 on the top of the lower pressing plate 302. Due to the elasticity of the flexible strip 301, each single-sided convex block 306 will be quickly pressed against at least two double-sided convex blocks 303, so as to fully press the mortar and make the mortar evenly distributed under the brick body, facilitating the filling or discharging of the residual bubbles or voids inside the mortar;

[0048] After the brick is transferred to the designated position, the connecting base 1 of the gantry moves on the gantry, and the robotic arm 101 controls the brick-taking mechanism 2 and the internal structure to move to the position of the brick. When the bottom of the brick-taking box 202 is parallel to the top of the brick, the robotic arm 101 then controls the overall vertical descent of the brick-taking box 202, so that the bottom of the limiting block 203 gradually approaches the top of the brick. During this process, the rollers of the pressing wheel group 406 will abut against the top of the brick. The lifting rod 403 slides through the through-strip-shaped sliding hole 206 and is slidably connected to the sliding frame 401. During the descent of the brick-taking box 202, the lifting rod 403 will remain stationary, and the tension spring 405 will be stretched. When the bottom of the limiting block 203 abuts against the top of the brick, the pneumatic cylinder 501 is used to control the sliding of the sliding frame 502 inside the communicating strip hole 205, thereby driving the movable clamping plate frame 503 to slide inside the chute 204 towards the side of the fixed clamping plate 207, so as to clamp the brick between the fixed clamping plate 207 and the movable clamping plate frame 503. During the movement of the sliding frame 502, the connecting rod 504 is synchronously driven to move. Through the rotational connection of the two ends of the two groups of movable push bars 505 with the connecting rod 504 and the hinge joint 402 respectively, the two sliding frames 401 are pushed away from each other, and at the same time, the two groups of pressing wheel groups 406 are pushed to roll on the top of the brick. In cooperation with the upwardly warped patterns on the fixed clamping plate 207 and the movable clamping plate frame 503, during the process of lifting the brick, by continuously applying a downward pressure on the brick, the brick is tightly clamped between the movable clamping plate frame 503 and the fixed clamping plate 207. Then, in cooperation with the robotic arm 101 and the connecting base 1 of the gantry, after applying mortar to the brick, the brick with mortar applied is laid on the wall. Thus, when moving the brick, the phenomenon of the brick moving between the movable clamping plate frame 503 and the fixed clamping plate 207 is reduced, and further, due to the unstable clamping of the brick during mortar application, the slight shaking of the brick during movement causes the mortar not to be fully applied to the brick surface.

[0049] A method for using a robotic arm for a gantry wall-building robot, comprising the following steps:

[0050] S1: After the brick is transferred to the designated position, the connecting base 1 of the gantry moves on the gantry, and the robotic arm 101 controls the brick-taking mechanism 2 and the internal structure to move to the position of the brick. When the bottom of the brick-taking box 202 is parallel to the top of the brick, the robotic arm 101 then controls the overall vertical descent of the brick-taking box 202, so that the bottom of the limiting block 203 gradually approaches the top of the brick;

[0051] S2: After the bottom of the limiting block 203 abuts against the top of the brick, the pneumatic cylinder 501 is used to control the sliding of the sliding frame 502 inside the communicating strip hole 205, thereby driving the movable clamping plate frame 503 to slide inside the chute 204 towards the side of the fixed clamping plate 207, so as to clamp the brick between the fixed clamping plate 207 and the movable clamping plate frame 503;

[0052] S3: During the movement of the sliding frame 502, the connecting rod 504 is synchronously driven to move. Through the rotational connections of the two ends of the two groups of movable push bars 505 with the connecting rod 504 and the hinge joints 402 respectively, the two sliding connection frames 401 are pushed away from each other. At the same time, the two groups of pressing wheel sets 406 are pushed to roll on the top of the bricks. Cooperating with the upwardly warped patterns on the fixed clamping plate 207 and the movable clamping plate frame 503, during the process of lifting the bricks, by continuously applying a downward pressure to the bricks, the bricks are tightly clamped between the movable clamping plate frame 503 and the fixed clamping plate 207;

[0053] S4: Through the cooperation of the robotic arm 101 and the gantry connection base 1, after applying mortar to the bricks, the bricks with mortar applied are laid on the wall.

[0054] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the art in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A gantry wall-building robot, comprising a gantry connecting base (1) and a robotic arm (101), wherein the robotic arm (101) is rotatably connected to the top of the gantry connecting base (1), and one end of the robotic arm (101) away from the gantry connecting base (1) is rotatably connected to a mounting member (102), characterized in that, Also includes: A brick taking mechanism (2), the brick taking mechanism (2) being arranged on the mounting member (102), the brick taking mechanism (2) comprising a mounting frame (201), the mounting frame (201) being detachably mounted on the mounting member (102), the bottom of the mounting frame (201) being fixedly connected to a brick taking box (202); A pressing mechanism (4), wherein the pressing mechanism (4) is arranged inside the brick taking box (202); A clamping mechanism (5), the clamping mechanism (5) being arranged inside the brick taking mechanism (2), and the clamping mechanism (5) being used to cooperate with the brick taking mechanism (2) to clamp bricks; The pressing mechanism (4) is used to roll and press the bricks after the bricks are laid on the wall; Two groups of through-bar sliding holes (206) are provided at the bottom of the brick taking box (202), and the through-bar sliding holes (206) penetrate the brick taking box (202); The clamping mechanism (4) further comprises two sliding connection frames (401), the two sliding connection frames (401) are both slidably connected to the inner wall of the bottom of the brick taking box (202), two hinge joints (402) are arranged on the sides of the two sliding connection frames (401) close to each other, two lifting rods (403) are slidably connected to the bottom of the sliding connection frames (401), and the lifting rods (403) slide through the sliding connection frames (401), and the tops of the two lifting rods (403) are fixedly connected to the 匚-shaped frames (404); Two tension springs (405) are fixedly connected between the bottom of the 匚-shaped frame (404) and the sliding connection frame (401); the 匚-shaped frame (404) slides through the top of the brick box (202); the lifting rod (403) is slidably connected to the inside of the through-bar sliding hole (206); the bottoms of the two lifting rods (403) are fixedly connected with a clamping wheel group (406); the roller inside the clamping wheel group (406) abuts against the top of the brick.

2. The gantry wall-building robot according to claim 1, wherein: The brick taking mechanism (2) further comprises a limit block (203), the limit block (203) being fixedly connected to the bottom of the brick taking box (202), the bottom of the limit block (203) being against the top of the brick, a slide groove (204) being provided at one end of the bottom of the limit block (203) away from the mounting frame (201), a connecting bar hole (205) being provided through the top of the slide groove (204), and an opening being provided at the bottom of the limit block (203).

3. The gantry wall-building robot according to claim 2, characterized in that: A fixed clamping plate (207) is fixedly connected to one end of the bottom of the limit block (203) away from the slide groove (204), and a side of the fixed clamping plate (207) close to the slide groove (204) is provided with a transverse pattern that rises upwards. A driving connection assembly (208) is fixedly connected to the top of the brick removal box (202).

4. The gantry wall-building robot according to claim 3, characterized in that: A pressing mechanism (3) is provided at the bottom of the limiting block (203). The pressing mechanism (3) includes two groups of flexible strips (301). The two groups of flexible strips (301) are both fixedly connected to the bottom of the limiting block (203) on both sides opposite to the opening. The flexible strips (301) are elastic. A lower pressing plate (302) is fixedly connected between the two groups of flexible strips (301). A number of double-sided convex blocks (303) are fixedly connected to both the top and the bottom of the lower pressing plate (302).

5. The gantry wall-building robot according to claim 4, characterized in that: The clamping mechanism (5) further includes a pneumatic cylinder (501). The pneumatic cylinder (501) is fixedly connected inside the brick-taking box (202). The pneumatic cylinder (501) is fixedly connected to the driving connection assembly (208). The output end of the pneumatic cylinder (501) is fixedly connected to a sliding frame (502). The sliding frame (502) is slidably connected inside the connecting strip hole (205). A movable clamping plate frame (503) is fixedly connected to the bottom of the sliding frame (502). The movable clamping plate frame (503) is slidably connected inside the sliding groove (204).

6. The gantry wall-building robot according to claim 5, wherein: A connecting rod (504) is fixedly connected to one side of the sliding frame (502) away from the movable clamping plate frame (503). Two groups of movable push strips (505) are hinged to the outer wall of the connecting rod (504). One end of the movable push strip (505) away from the connecting rod (504) is rotatably connected to the hinge joint (402).

7. The gantry wall-building robot according to claim 6, wherein: A pull rod (304) is fixedly connected to one side of the movable clamping plate frame (503) away from the pneumatic cylinder (501). The pull rod (304) slidably penetrates into the limiting block (203). A sliding plate (305) is fixedly connected to one side of the pull rod (304) away from the movable clamping plate frame (503). The double-sided convex blocks (303) are slidably connected inside the limiting block (203). A number of single-sided convex blocks (306) are fixedly connected to the bottom of the sliding plate (305). The single-sided convex blocks (306) abut against the double-sided convex blocks (303) on the top of the lower pressing plate (302).

8. A method for using a gantry wall-building robot, which uses the gantry wall-building robot as described in claim 7, and is characterized in that: Including the following steps: S1: After the brick is transported to the designated position, the gantry connects the base (1) and moves on the gantry. The robotic arm (101) controls the brick-taking mechanism (2) and the internal structure to move to the position of the brick. When the bottom of the brick-taking box (202) is parallel to the top of the brick, then the robotic arm (101) controls the whole brick-taking box (202) to vertically descend, so that the bottom of the limiting block (203) gradually approaches the top of the brick; S2: After the bottom of the limiting block (203) abuts against the top of the brick, the pneumatic cylinder (501) is used to control the sliding frame (502) to slide inside the connecting strip hole (205), so as to drive the movable clamping plate frame (503) to slide inside the sliding groove (204) towards the side of the fixed clamping plate (207), so as to clamp the brick between the fixed clamping plate (207) and the movable clamping plate frame (503); S3: During the movement of the sliding frame (502), the connecting rod (504) is synchronously driven to move. Through the rotational connections of the two ends of the two sets of movable push bars (505) with the connecting rod (504) and the hinge joint (402) respectively, the two sliding connection frames (401) are pushed to move away from each other. At the same time, the two sets of pressing wheel groups (406) are pushed to roll on the top of the brick. In cooperation with the upwardly warped patterns on the fixed clamping plate (207) and the movable clamping plate frame (503), during the process of lifting the brick, by continuously applying a downward pressure to the brick, the brick is tightly clamped between the movable clamping plate frame (503) and the fixed clamping plate (207); S4: Through the cooperation of the robotic arm (101) and the gantry connection base (1), after applying mortar to the brick, the brick with mortar applied is laid on the wall.

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