Automatic back plastering and paving robot for stone bricks

Abstract

The invention relates to the field of building equipment, in particular to an automatic back plastering and paving robot for stone bricks, which is characterized in that a brick bin assembly is erected on one side of a chassis assembly so as to place piled bricks, a mechanical arm assembly is erected on the other side of the chassis assembly so as to lay bricks, and a charging barrel assembly is erected in the middle of the chassis assembly so as to stabilize the center of gravity; the unstacking assembly is erected on the upper portion of the brick bin assembly to suck bricks, the distributing assembly is erected above the charging barrel assembly to conduct back plastering and return cement oil into the charging barrel assembly, and the transplanting assembly is erected above the mechanical arm assembly to put the bricks subjected to back plastering into the mechanical arm assembly. The device has the advantages of achieving automation of back plastering and paving of the stone bricks, and being intelligent, accurate, safe and efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of construction equipment, and particularly to a robot for automatically back plastering and laying stone bricks. Background Art

[0002] As a large-area construction scenario for public buildings, the traditional method of laying stone bricks is manual back plastering and lifting for laying. Manual back plastering cannot guarantee the stability of the quality of the cement oil back plastered surface. Moreover, the stone bricks used in large-area construction scenarios for public buildings are generally large in size and heavy (ranging from 30 kg to 120 kg per single stone brick). The labor intensity of construction processes such as lifting, flipping, and laying is high, and the safety risks are also high. Laying is very time-consuming and laborious.

[0003] Moreover, currently, the laying of stone bricks using the dry-laying process relies more on the experience and techniques of skilled workers. Through manual judgment and correction to be qualified, finally, the stone bricks are non-hollow, and the brick joint width and height difference are within the qualified range. For different laying workers and experiences, it is impossible to guarantee the standardization or consistency of stone brick laying.

[0004] Therefore, in view of the above deficiencies, it is necessary to provide a robot for automatically back plastering and laying stone bricks. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] The technical problem to be solved by the present invention is to solve the problems that the stone bricks in large-area scenarios of public buildings are large in size and heavy, and manual laying has high labor intensity and low efficiency.

[0007] (2) Technical Solutions

[0008] To solve the above technical problems, the present invention provides a robot for automatically back plastering and laying stone bricks, including a chassis assembly with walking and jacking functions, a brick bin assembly for storing and transporting brick stacks, a robotic arm assembly for sucking bricks and laying them, a barrel assembly for storing and stirring cement oil, a stack-unloading assembly for splitting brick stacks, a cloth-laying assembly for back plastering bricks, and a transplanting assembly for grasping and moving the back-plastered bricks. The brick bin assembly is erected on one side of the chassis assembly for easy placement of brick stacks, the robotic arm assembly is erected on the other side of the chassis assembly for easy laying of bricks, the barrel assembly is erected in the middle of the chassis assembly to stabilize the center of gravity, the stack-unloading assembly is erected above the brick bin assembly to suck bricks, the cloth-laying assembly is erected above the barrel assembly for back plastering and refluxing cement oil into the barrel assembly, and the transplanting assembly is erected above the robotic arm assembly to deliver the back-plastered bricks to the robotic arm assembly.

[0009] As a further description of the present invention, preferably, the chassis assembly includes a chassis frame, a seesaw, a hinge seat, and steering wheels. The hinge seat is fixedly connected to the tail of the chassis frame. The middle of the seesaw is hinged to the hinge seat so that both ends in the length direction of the seesaw swing up and down on both sides of the chassis frame. Two steering wheels are fixedly connected to both sides of the front end of the chassis frame, and two steering wheels are fixedly connected to both ends in the length direction of the seesaw.

[0010] As a further description of the present invention, preferably, rear jack cylinders are fixedly connected to the two corners at the rear end of the chassis frame, and front jack cylinders are fixedly connected to the two corners at the front end of the chassis frame. Both the rear jack cylinders and the front jack cylinders are electric telescopic cylinders and their telescopic directions are both in the vertical direction; a gyroscope is fixedly connected to the middle of the chassis frame, and the gyroscope is electrically connected to the rear jack cylinders and the front jack cylinders through a controller.

[0011] As a further description of the present invention, preferably, the brick silo assembly includes an upper mounting frame, main rolling supports, brick edge limiting bars, middle limiting tongues, brick stack limiting components, auxiliary rolling supports, and edge limiting tongues. The upper mounting frame is fixedly connected to the front end of the chassis assembly. A number of main rolling supports are rotatably connected at intervals on one side of the upper mounting frame to support the brick stack. Two brick stack limiting components are inserted into both sides inside the upper mounting frame. The auxiliary rolling support is rotatably connected to the upper mounting frame between the brick stack limiting components; the brick edge limiting bars are slidably connected to the upper mounting frame on both sides of the main rolling supports and the auxiliary rolling supports. The middle limiting tongue is hinged between the main rolling supports and the auxiliary rolling supports. The edge limiting tongues are fixedly connected to the upper mounting frame on both sides of the main rolling supports to limit the size of the bricks accommodated together with the brick edge limiting bars and the middle limiting tongues.

[0012] As a further description of the present invention, preferably, the brick silo assembly further includes a transverse movement component and a palletizing removal slide rail component. The transverse movement component is fixedly connected to the upper mounting frame above the auxiliary rolling support, and the transverse movement component is connected to the cloth feeding component; the palletizing removal slide rail component is erected on the upper mounting frame between the transverse movement component and the auxiliary rolling support, and the palletizing removal component is slidably connected to the palletizing removal slide rail component so that the palletizing removal component slides horizontally on the upper mounting frame.

[0013] As a further description of the present invention, preferably, the palletizing removal component includes a palletizing removal support frame, a palletizing removal slider, a palletizing removal elevator component, a support plate, and palletizing removal suction cups. The palletizing removal slider is fixedly connected to the bottom of the palletizing removal support frame. The palletizing removal slider is slidably connected to the palletizing removal slide rail component so that the palletizing removal component reciprocates towards the brick silo assembly and the cloth feeding component; the palletizing removal elevator component is fixedly connected to the top of the palletizing removal support frame. The output end of the palletizing removal elevator component is fixedly connected to the support plate to move the support plate up and down. A number of palletizing removal suction cups are fixedly connected at intervals to the bottom of the support plate to suck the bricks.

[0014] As a further description of the present invention, preferably, an air tank and a booster pump are also fixedly connected to the palletizing removal support frame. The air tank is connected to the booster pump through a pipeline, and the booster pump is connected to the palletizing removal suction cups through a pipeline to provide suction force to the palletizing removal suction cups.

[0015] As a further description of the present invention, preferably, the fabric assembly includes a fabric support frame, a fabric transverse movement assembly, a linear guide rail, a fabric pipe clamp, a scraping tooth assembly, a sliding rod, and a waste material receiving hopper. The fabric support frame is fixedly connected to the upper mounting frame. The fabric transverse movement assembly is rotatably connected to the fabric support frame. The linear guide rail is fixedly connected to the fabric support frame. One end of the fabric pipe clamp is fixedly connected to the fabric transverse movement assembly to drive the movement of the fabric pipe clamp, and the other end of the fabric pipe clamp is slidably connected to the linear guide rail to stabilize the sliding direction. The two sections of the scraping tooth assembly are slidably connected to the fabric support frame through the sliding rod to scrape off the cement oil pumped out by the barrel assembly onto the back of the brick. The waste material receiving hopper is fixedly connected to the transverse movement assembly to store the dropped cement oil and return it to the barrel assembly.

[0016] As a further description of the present invention, preferably, the barrel assembly includes a main material barrel, a power assembly, a blade, a screw pump, and a discharge elbow. The main material barrel is fixedly connected to the middle of the chassis frame and stores cement oil. The power assembly is fixedly connected to the top of the main material barrel. The blade is inserted into the main material barrel and rotatably connected to the power assembly to stir the cement oil. The screw pump is fixedly connected to the bottom of the main material barrel. The discharge elbow is fixedly connected to the output end of the screw pump and extends above the scraping tooth assembly through a pipeline. The screw pump is started to pump the cement oil through the discharge elbow and the pipeline to the back of the brick.

[0017] As a further description of the present invention, preferably, the robotic arm assembly includes a sliding component, a lifting component, a support seat, a robotic arm, and a terminal flange. The sliding component is fixedly connected to the chassis frame. The bottom of the lifting component is slidably connected to the sliding component to slide left and right. The support seat is slidably connected to the lifting component to slide up and down. The robotic arm is a three-axis robotic arm and its tail end is rotatably connected to the support seat. The end of the robotic arm is fixedly connected to the terminal flange with a suction cup to adsorb the bricks that have been back-plastered and lay the bricks.

[0018] (III) Beneficial effects

[0019] The above technical solutions of the present invention have the following advantages:

[0020] By integrating the four core workstations of palletizing, back-plastering, transportation, and paving, the present invention realizes the full-process automation of stone bricks from storage to paving, breaking through the efficiency bottleneck of traditional manual segmented operation. Especially the parallel operation of back-plastering and precise spreading of dry mortar shortens the paving cycle of a single brick to within 3 minutes, and the tact time is compressed by 40%, far exceeding the manual efficiency limit. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the overall assembly effect diagram of the present invention;

[0022] Figure 2 is the structure diagram of the chassis assembly of the present invention;

[0023] Figure 3 is the structure diagram of the brick silo assembly of the present invention;

[0024] Figure 4 is the structural diagram of the robotic arm assembly of the present invention;

[0025] Figure 5 is the structural diagram of the cartridge assembly of the present invention;

[0026] Figure 6 is the structural diagram of the palletizing and depalletizing assembly of the present invention;

[0027] Figure 7 is the structural diagram of the cloth feeding assembly of the present invention;

[0028] Figure 8 is the structural diagram of the transplanting assembly of the present invention;

[0029] Figure 9 is the structural diagram of the gripper plate flipped upwards of the present invention;

[0030] Figure 10 is the structural diagram of the transverse moving tray of the present invention.

[0031] In the figure: 1. Chassis assembly; 11. Chassis frame; 12. Seesaw; 13. Hinge seat; 14. Steering wheel; 15. Rear jack cylinder; 16. Front jack cylinder; 17. Gyroscope; 2. Brick silo assembly; 21. Upper mounting frame; 22. Main roller support; 23. Brick edge limiting bar; 24. Middle limiting tongue; 25. Brick stack limiting assembly; 26. Sub-roller support; 27. Edge limiting tongue; 28. Transverse moving assembly; 29. Palletizing and depalletizing slide rail assembly; 3. Robotic arm assembly; 31. Sliding assembly; 32. Lifting assembly; 33. Support seat; 34. Robotic arm; 35. End flange; 4. Cartridge assembly; 41. Main material barrel; 42. Power assembly; 43. Blade; 44. Screw pump; 45. Discharge elbow; 46. Detecting presence or absence of material assembly; 47. Temporary cover; 5. Palletizing and depalletizing assembly; 51. Palletizing and depalletizing support frame; 52. Palletizing and depalletizing slider; 53. Palletizing and depalletizing elevator assembly; 54. Support plate; 55. Palletizing and depalletizing suction cup; 56. Gas tank; 57. Booster pump; 58. Guide rod; 59. Distance measuring sensor; 6. Cloth feeding assembly; 61. Cloth feeding support frame; 62. Cloth feeding transverse moving assembly; 63. Linear guide rail; 64. Cloth pipe clamp; 65. Scraper tooth assembly; 66. Sliding rod; 67. Remaining material receiving hopper; 68. Pusher; 69. Vibrating motor; 7. Transplanting assembly; 71. Transplanting support frame; 72. Transplanting sliding assembly; 73. Transplanting elevator assembly; 74. Gripper plate; 75. Cylinder; 76. Slide carriage; 77. Claw hook; 78. Transplanting guide rod; 79. Transplanting distance measurer; 8. Transverse moving tray. Detailed implementation manners

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0033] An automatic back plastering and paving robot for stone bricks, as Figure 1 shown, includes a chassis assembly 1 with walking and lifting functions, a brick silo assembly 2 for storing and transporting brick stacks, a robotic arm assembly 3 for sucking bricks and paving them, a barrel assembly 4 for storing and stirring cement mortar, a stack-unloading assembly 5 for disassembling brick stacks, a plastering assembly 6 for back plastering bricks, and a transplanting assembly 7 for grasping and moving the back-plastered bricks. The brick silo assembly 2 is erected on one side of the chassis assembly 1 for easy placement of brick stacks. The robotic arm assembly 3 is erected on the other side of the chassis assembly 1 for easy paving of bricks. The barrel assembly 4 is erected in the middle of the chassis assembly 1 to stabilize the center of gravity. The stack-unloading assembly 5 is erected above the brick silo assembly 2 to suck bricks. The plastering assembly 6 is erected above the barrel assembly 4 for back plastering and refluxing cement mortar into the barrel assembly 4. The transplanting assembly 7 is erected above the robotic arm assembly 3 to deliver the back-plastered bricks to the robotic arm assembly 3.

[0034] Combined with Figure 1 、 Figure 2 As shown in FIGS. 1 and 2, the chassis assembly 1 includes a chassis frame 11, a seesaw 12, hinge seats 13, and steering wheels 14. The chassis frame 11 is a square metal frame. Two hinge seats 13 are fixedly connected to the front and rear sides of the tail of the chassis frame 11, and inclination sensors are built into the hinge seats 13. The seesaw 12 is a long strip-shaped metal plate structure. The middle of the seesaw 12 is hinged to the hinge seats 13 so that both ends in the length direction of the seesaw 12 swing up and down on both sides of the chassis frame 11. Two steering wheels 14 are fixedly connected to both sides of the front end of the chassis frame 11, and two steering wheels 14 are fixedly connected to both ends in the length direction of the seesaw 12. Motors are provided on all four steering wheels 14, so that the chassis assembly 1 can achieve steering by using motor differential on the one hand, and improve the obstacle-crossing ability by using the seesaw 12 on the other hand. When encountering an uneven area on the ground, the pressure can be transferred to the other side through the seesaw 12, improving the grip of the steering wheel 14 on the other side. At the same time, the inclination sensor is triggered, and the size of the obstacle is judged according to the inclination angle, and the output torque of each motor is adjusted, so that the chassis assembly 1 can be better taken out of the obstacle area. In addition, when it is detected that the tipping moment exceeds the threshold, the emergency program is started within 0.08 seconds. First, the four steering wheels are braked in reverse. If the inclination sensor does not return to the original set value, the robotic arm assembly 3 is controlled to extend to lift the tail of the chassis frame 11 away from the obstacle area to avoid tipping, and at the same time, the robot is taken out of the obstacle area by adjusting the motor speed.

[0035] Combined with Figure 1 and Figure 2 , at the two corners at the rear end of the chassis frame 11, a rear jack cylinder 15 is fixedly connected, and at the two corners at the front end of the chassis frame, a front jack cylinder 16 is fixedly connected. Both the rear jack cylinder 15 and the front jack cylinder 16 are electric telescopic cylinders, and their telescopic directions are both in the vertical direction; a gyroscope 17 is fixedly connected to the middle of the chassis frame 11, and the gyroscope 17 is electrically connected to the rear jack cylinder 15 and the front jack cylinder 16 through a controller. By setting the rear jack cylinder 15 and the front jack cylinder 16, the steering wheel 14 can be lifted when storing and laying stone bricks, so as to prevent the steering wheel 14 from being damaged by the overweight of the stone bricks. At the same time, in cooperation with the gyroscope 17, the extension amount of the rear jack cylinder 15 or the front jack cylinder 16 can be flexibly adjusted to compensate for the ground inclination, so that the chassis frame 11 remains horizontal, and the flatness error of the laying plane at the end of the robotic arm is ≤ 0.5 mm, which is 60% higher than that of the traditional fixed chassis.

[0036] Combined with Figure 1 and Figure 3 , the brick silo assembly 2 includes an upper mounting frame 21, a main roller support 22, a brick edge limiting bar 23, a middle limiting tongue 24, a brick stack limiting assembly 25, a secondary roller support 26 and a side limiting tongue 27. The upper mounting frame 21 is fixedly connected to the front end of the chassis assembly 1. A plurality of main roller supports 22 are rotatably connected at intervals on one side of the upper mounting frame 21 to carry the brick stack. Two brick stack limiting assemblies 25 are inserted into both sides inside the upper mounting frame 21 through quick-release pins. The secondary roller support 26 is rotatably connected to the upper mounting frame 21 between the brick stack limiting assemblies 25; one end of the brick edge limiting bar 23 protrudes, and the other end can be slidably connected to the upper mounting frame 21 on both sides of the main roller support 22 and the secondary roller support 26 through a slide rail, or can be fixedly connected to the upper mounting frame 21 through a quick-release pin. The middle limiting tongue 24 is hinged between the main roller support 22 and the secondary roller support 26 to protrude from or be parallel to the main roller support 22 and the secondary roller support 26. The side limiting tongue 27 is fixedly connected to the upper mounting frame 21 on both sides of the main roller support 22 through quick-release pins to limit the size of the brick material accommodated together with the brick edge limiting bar 23 and the middle limiting tongue 24.

[0037] Before the chassis assembly 1 moves, place a small number of brick stacks on the main roller support 22, and adjust the positions of the side limit tongues 27 and the brick edge limit rod 23 so that the brick edge limit rod 23, the middle limit tongue 24, and the side limit tongues 27 clamp the brick stack to prevent the brick stack from shifting. After the rear lifting cylinder 15 and the front lifting cylinder 16 lift the chassis assembly 1, first release the locking of the middle limit tongue 24 to make the middle limit tongue 24 flip and lie down, and then push a small number of brick stacks through the rolling of the main roller support 22 to the auxiliary roller support 26, and use the brick stack limiting assembly 25 for positioning to avoid horizontal misalignment of the stone bricks stacked up and down. Subsequently, the unstacking assembly 5 starts to work to clamp the stone bricks on a small number of brick stacks, and then manually place a large number of brick stacks on the main roller support 22. This can not only reduce the chassis load, but also enable the robot to start working immediately after reaching the designated position, and can also provide sufficient time for subsequent feeding, ensuring that after the previous part of the brick stack is unstacked, the next batch of brick stacks can be directly replenished from the main roller support 22 to the auxiliary roller support 26, so that the paving work can be carried out continuously and efficiently.

[0038] Combined with Figure 1 、 Figure 3 , the brick silo assembly 2 further includes a transverse movement assembly 28 and an unstacking slide rail assembly 29. The transverse movement assembly 28 is fixedly connected to the upper mounting frame 21 above the auxiliary roller support 26, and the transverse movement assembly 28 is connected to the feeding assembly 6; the unstacking slide rail assembly 29 is erected on the upper mounting frame 21 between the transverse movement assembly 28 and the auxiliary roller support 26, and the unstacking assembly 5 is slidably connected to the unstacking slide rail assembly 29 so that the unstacking assembly 5 is horizontally slidably connected on the upper mounting frame 21 to realize the function of transporting the stone bricks to the feeding assembly 6.

[0039] Combined with Figure 1 、 Figure 6 , the unstacking assembly 5 includes an unstacking support frame 51, unstacking sliders 52, an unstacking elevator assembly 53, a support plate 54, and unstacking suction cups 55. The unstacking support frame 51 is a portal frame. The unstacking sliders 52 are fixedly connected to the bottom of both sides of the unstacking support frame 51. The unstacking sliders 52 are slidably connected to the unstacking slide rail assembly 29 so that the unstacking assembly 5 reciprocates between the brick silo assembly 2 and the feeding assembly 6. The unstacking elevator assembly 53 is fixedly connected to the top of the middle of the unstacking support frame 51. The unstacking elevator assembly 53 is composed of a motor, a gear, and a rack. The motor drives the gear to rotate, and the gear meshes with the rack to drive the rack to move up and down. The support plate 54 is a square plate. The rack output end of the unstacking elevator assembly 53 is fixedly connected to the support plate 54 to make the support plate 54 move up and down. Four unstacking suction cups 55 are fixedly connected to the four corners of the bottom of the support plate 54 at intervals. An air tank 56 and a booster pump 57 are also fixedly connected to the top of the middle of the unstacking support frame 51. The air tank 56 is connected to the booster pump 57 through a pipeline, and the booster pump 57 is connected to the unstacking suction cups 55 through a pipeline to provide suction force to the unstacking suction cups 55 to suck the bricks. Combined with Figure 10, a transverse transfer tray 8 is slidably connected below the palletizing and depalletizing assembly 5. The depalletizing suction cups 55 place the sucked stone bricks on the transverse transfer tray 8, and the stone bricks are transported to below the cloth laying assembly 6 via the transverse transfer tray 8.

[0040] Combined with Figure 1 , Figure 7 , the cloth laying assembly 6 includes a cloth laying support frame 61, a cloth laying transverse movement assembly 62, a linear guide rail 63, a cloth pipe clamp 64, a scraping tooth assembly 65, a sliding rod 66, a waste material receiving hopper 67, a pusher 68 and a vibrating motor 69. The cloth laying support frame 61 is a portal frame, and a frame is provided at the top to support the pipeline extended by the material cylinder assembly 4. The bottoms of both sides of the cloth laying support frame 61 are fixedly connected to the upper mounting frame 21. The cloth laying transverse movement assembly 62 is composed of a motor and a belt. The motor is fixedly connected to one side of the cloth laying support frame 61, and both ends of the belt are rotatably connected to both ends in the middle of the cloth laying support frame 61 in the length direction. The linear guide rail 63 is fixedly connected to the cloth laying support frame 61. One end of the cloth pipe clamp 64 is fixedly connected to the belt on the cloth laying transverse movement assembly 62 to drive the cloth pipe clamp 64 to move, and the other end of the cloth pipe clamp 64 is slidably connected to the linear guide rail 63 to stabilize the sliding direction. The cloth pipe clamp 64 clamps the pipeline head extended by the material cylinder assembly 4, and evenly applies cement oil to the stone bricks through the cloth laying transverse movement assembly 62. Both sections of the scraping tooth assembly 65 are slidably connected to the cloth laying support frame 61 through a sliding rod 66 with a spring, so as to form a scraping tooth mechanism that can float up and down, uniformly and effectively scrape the cement oil on the brick surface, and at the same time, the fixed height can be adjusted steplessly up and down to adapt to different brick thicknesses for back plastering.

[0041] The waste material receiving hopper 67 is of a long strip plate structure and a recovery hole is provided at the bottom. The waste material receiving hopper 67 is fixedly connected to the transverse movement assembly 28. The pusher 68 is slidably connected in the waste material receiving hopper 67. The pusher 68 is an auxiliary tool, which pushes the cement oil accumulated on the waste material receiving hopper 67 into the waste material recovery hole, and the waste material then falls into the material cylinder assembly for reuse to store the dropped cement oil and flow back into the material cylinder assembly 4. The vibrating motor 69 is installed in the middle of the scraping tooth support rod of the scraping tooth assembly 65. Each time the scraping tooth finishes scraping the cement oil, it vibrates to shake off the residual cement oil on the surface of the scraping tooth for cleaning, so as to avoid the scraping tooth being blocked by the cement oil and affecting the scraping effect.

[0042] Combined with Figure 1 , Figure 5, the barrel assembly 4 includes a main material barrel 41, a power assembly 42, a blade 43, a screw pump 44, and a discharge elbow 45. The main material barrel 41 is fixedly connected to the middle of the chassis frame 11 and stores cement oil. The power assembly 42 consists of a motor, a reducer, and a stirring shaft. The motor and the reducer are fixedly connected to the top of the main material barrel 41. The reducer is connected to the output end of the motor, and the stirring shaft is connected to the output end of the reducer to output torque outward. The blade 43 is inserted into the main material barrel 41 and fixedly connected to the rotating shaft in the power assembly 42. The blade 43 rotates to stir the cement oil. The screw pump 44 is fixedly connected to the bottom of the main material barrel 41. The discharge elbow 45 is fixedly connected to the output end of the screw pump 44 and extends above the scraping tooth assembly 65 through a pipeline, and then the pipe orifice is connected to the cloth pipe clamp 64. The screw pump 44 is started to pump the cement oil to the back of the brick through the discharge elbow 45 and the pipeline. One side of the main material barrel 41 located directly below the waste material receiving hopper 67 is open to receive the falling cement oil. A component 46 for detecting the presence or absence of material is installed on the top of the main material barrel 41. Generally, a ranging sensor is selected. By measuring the distance from the liquid level of the cement oil to the component 46 for detecting the presence or absence of material, it is judged whether the cement oil is exhausted, so as to remind the staff to add it in time. A temporary cover 47 is also covered on the top of the main material barrel 41 to prevent foreign objects from falling into the main material barrel 41.

[0043] Combined with Figure 1 , Figure 8 , the transplanting assembly 7 includes a transplanting support frame 71, a transplanting sliding assembly 72, a transplanting elevator assembly 73, a grasping plate 74, a cylinder 75, a sliding frame 76, and a claw hook 77. The transplanting support frame 71 is a portal frame. The transplanting sliding assembly 72 is fixedly connected to the bottoms on both sides of the transplanting support frame 71. The transplanting sliding assembly 72 is slidably connected to the support between the robotic arm assembly 3 and the cloth assembly 6. The transplanting elevator assembly 73 consists of a motor, a gear, and a rack. By driving the gear to rotate with the motor, the gear meshes with the rack to drive the rack to move up and down. The grasping plate 74 is a square plate-like structure. The grasping plate 74 is fixedly connected to the rack so that the transplanting sliding assembly 72 can drive the grasping plate 74 to move up and down. Combined with Figure 9 , two cylinders 75 are fixedly connected to the middle of the bottom end of the grasping plate 74, and the telescopic directions of the two cylinders 75 are opposite. The sliding frame 76 is a square frame. The widths of the two sliding frames 76 are different. The outer diameter of one sliding frame 76 is smaller than the inner diameter of the other sliding frame 76. The two sliding frames 76 are slidably connected to both sides of the bottom end face of the grasping plate 74. The extending ends of the two cylinders 75 are respectively fixedly connected to the two sliding frames 76 to make the two sliding frames 76 move towards each other. The claw hook 77 is a portal structure. One side of the claw hook 77 is fixedly connected to the end of the sliding frame 76 exposed outside the grasping plate 74. The cylinder 75 contracts to make the other side of the claw hook 77 hook on the stone brick.

[0044] The transplanting assembly 7 further includes a transplanting guide rod 78 and a transplanting distance meter 79. The bottom of the four cylindrical transplanting guide rods 78 is fixedly connected to the gripping plate 74, and the top of the transplanting guide rod 78 is slidably connected to the transplanting support frame 71 to guide the lifting and lowering of the gripping plate 74. The transplanting distance meter 79 is fixedly connected above the gripping plate 74. The transplanting distance meter 79 is a distance measuring sensor. By scanning the space below the gripping plate 74, it can identify whether there are bricks when taking bricks and measure the distance to take bricks.

[0045] Combination Figure 1 , Figure 4 The robot arm assembly 3 includes a sliding assembly 31, a lifting assembly 32, a support seat 33, a robot arm 34 and an end flange 35. The sliding assembly 31 is a slide rail structure, and the sliding assembly 31 is fixedly connected to the chassis frame 11. The lifting assembly 32 is a slide rail screw kit. The bottom of the lifting assembly 32 frame is slidably connected to the sliding assembly 31 to slide left and right, and the support seat 33 is slidably connected to the lifting assembly 32 to slide up and down. The robot arm 34 is a three-axis robot arm and the tail end is rotatably connected to the support seat 33. The end of the robot arm 34 is fixedly connected to the end flange 35 with a suction cup to absorb the back-pasted bricks and lay the bricks.

[0046] The present invention also provides an automatic back-smearing and paving method, comprising the following steps:

[0047] Ⅰ. Place a small amount of stone bricks to be laid on the main roller 22, with the back of the stone bricks facing upward. The total height of the brick stack should not exceed 300mm and the upper and lower brick edges should be aligned. Pour the mixed cement oil with appropriate viscosity into the main material barrel 41, cover it with the temporary cover 47 and start the screw pump 44 to intermittently circulate the material. The pumped material falls into the main material barrel 41 through the large leakage hole of the residual material receiving bucket 67 and then stirred to prevent the cement oil from standing in the material pipe for a long time and hardening and clogging the pipe (intermittent circulation pumping of materials exists throughout the construction process, especially during a full day of operation. The mid-stop time includes the rest time of personnel, equipment failure and other situations that delay continuous paving, etc., to reduce the risk of pipe clogging). Manually lay out the lines in the area to be paved, and manually roughly level the mixed dry mortar.

[0048] Ⅱ. The robot starts the automatic mode, and the central processor coordinates the control signals of the whole machine. In the automatic mode, the equipment controls the four steering wheels 14 to move to the construction site, and the two rear jacking cylinders 15 and the two front jacking cylinders 16 lift the whole machine to the same height to stabilize it. The mechanical arm 34 swings to the place where the dry mortar is to be spread. At this time, the camera at the end flange 35 recognizes the laser line, and the laser recognizes the height. The mechanical arm carries the end flange 35 to spread the dry mortar (scrape the dry sand) at a certain height and level until it is qualified (usually one or two trips).

[0049] Ⅲ. When the robotic arm 34 precisely spreads dry mortar, the back plastering process of the stone bricks is carried out simultaneously: The transverse transfer tray 8 receives a signal and automatically moves under the claw hook 77 to vacate space for the upcoming unstacking process. After the unstacking station receives the signal and the distance measuring sensor 59 detects the distance of the stone bricks in the brick silo, the unstacking elevator assembly 53 drives the support plate 54 and the unstacking suction cup 55 to descend to vertically suck the stone bricks on the brick surface. After lifting until the bottom of the stone brick is more than 50 mm above the surface of the transverse transfer tray 8, it waits statically for the transverse transfer tray 8 to receive the brick. At this time, the transverse transfer tray 8 receives the signal and moves to under the unstacking assembly 5. The unstacking elevator assembly 53 drives the support plate 54 and the unstacking suction cup 55 to suck the brick and descend to the upper surface of the transverse transfer tray 8 and break the vacuum to put down the stone brick. The support plate 54 and the unstacking suction cup 55 are separated from the brick surface and lifted to a certain height to avoid interference.

[0050] Ⅳ. The transverse transfer tray 8 carries the stone bricks and moves forward towards the feeding assembly 6. It pauses when the edge of the brick in the forward direction of the stone brick is 200 mm away from the scraping teeth assembly 65. At this time, the screw pump 44 at the pumping station starts. After the screw pump 44 pumps for 10 seconds, it stops. This is to ensure that the material pipe is filled with material. After the pumping of the screw pump 44 pauses, the transverse transfer tray 8 carries the stone bricks and continues to move forward towards the feeding assembly 6. When the edge of the brick in the forward direction of the stone brick is in contact with the scraping teeth of the scraping teeth assembly 65, the transverse transfer tray 8 pauses. At this time, the screw pump 44 starts again. The feeding transverse movement assembly 62 drives the feeding pipe clamp 64 and the end of the material pipe to move back and forth in the transverse direction for feeding. The movement mode is intermittent. A certain amount of cement oil is horizontally stacked on the surface of the stone brick. At the same time, the transverse transfer tray 8 carries the stone bricks and moves forward at the planned walking speed and rhythm, forming a relative movement with the scraping teeth assembly 65. The scraping teeth assembly 65 evenly scrapes and plasteres the cement oil statically stacked on the surface of the stone brick until the stone brick surface leaves the scraping teeth, and the back plastering of the stone brick is completed. The excess cement oil then falls into the waste material receiving hopper 67. When the waste material receiving hopper 67 accumulates a certain amount of material, an operator uses a pusher 68 to push the waste material into the blanking port and drop it into the main material barrel 41 for re-stirring and pumping, recycling and reducing waste. At the same time, the unstacking station repeats the unstacking and brick sucking process again. The sucked stone bricks are suspended and waiting for the transverse transfer tray 8 to transfer them.

[0051] Ⅴ. The transverse transfer tray 8 carrying the stone bricks with the back plastered continues to move forward and pauses directly below the gripper plate 74. At this time, the cylinder 75 is in the extended state upon receiving the signal, pushing the claw hooks 77 to the farthest distance apart. The transplant elevator assembly 73 drives the claw hooks 77 down to a position 10 mm away from the bottom of the stone brick, contracts the two end claw hooks 77 to the minimum, and the claw hooks 77 hold the bottom edges of both sides of the stone brick. At this time, the transplant elevator assembly 73 drives the claw hooks 77 up to a certain height, and the stone bricks with the back plastered are lifted to the corresponding height while being held by the claw hooks 77. The stone bricks are separated from the transfer transverse transfer tray 8. At this time, the stone bricks with the back plastered are in a state of waiting to be picked up. The transverse transfer tray 8 then returns to the unstacking assembly 5 to receive materials and perform the back plastering process for the next cycle. Among them, before the stone bricks with the back plastered are taken away by the robotic arm 34, the back plastering process is in a paused state. The transverse transfer tray 8 carrying the stone bricks is in contact with the scraping teeth of the scraping tooth assembly 65, the transverse transfer tray 8 pauses, and the screw pump 44 is in a paused state.

[0052] Ⅵ. After the robotic arm 34 finishes spreading the dry mortar evenly and retracts, the robotic arm 34 drives the end flange 35 under the transplant assembly 7 and catches the stone bricks with the back plastered using the vacuum suction cup. At this time, the claw hooks 77 loosen and rise, completely separating from the stone bricks with the back plastered. At this time, the robotic arm 34 drives the end flange 35 and the stone bricks with the back plastered to be flipped. Then, based on the recognition of the environment by sensors such as vision and point laser, the stone bricks are automatically and accurately positioned and laid, meeting the requirements of qualified brick joints and height differences, and finally achieving the effect of no hollowing. Thus, the laying of a single stone brick for one process is completed. When the robotic arm 34 drives the end flange 35 to take away the stone bricks with the back plastered on the transplant assembly 7, the transverse transfer tray 8 carrying the stone bricks waiting at the back plastering station starts, and successively performs the processes of cloth laying, back plastering, transplanting, and laying according to the above-described process until the laying of the stone bricks is completed. When moving the station, the top cylinder operates in reverse. The top cylinder retracts, and after the equipment moves a fixed distance, the top cylinder extends to lift the entire equipment and stabilize it.

[0053] The beats of unstacking, cloth laying, transplanting, and laying can be relatively parallel as long as there is no interference in the spatial layer. A flow operation is formed according to the above operation process. For the replenishment of cement oil, the detection of the material quantity in the barrel can be carried out by the component 46 for detecting the presence or absence of material in the pumping system, and a threshold is set for voice alarm to prompt manual feeding and replenishment. After the bricks in the stone brick warehouse are taken out, they are replenished manually. The laying method is site-based mobile laying, with a day as the operation time unit. After the construction is completed, the material cylinder assembly 4, the material pipe, the cloth laying assembly 6, etc. where there is cement oil should be cleaned in time, and the cement oil splashed on the surface of the equipment should be cleaned in time to keep the equipment clean. When the robot transfers the site, the robotic arm 34 retracts and hides inside the frame without being exposed outside. The entire unstacking assembly 5 is moved to the inner gear position, the support plate 54 and the unstacking suction cup 55 are completely lowered, the entire transplant assembly 7 is moved to the inner gear position, and the claw hooks 77 are completely lowered.

[0054] In summary, the robot designed by the present invention can achieve back plastering and paving of stone bricks with sizes of 600×600×(25—50), 800×800×(25—50), 900×900×(25—50), 1000×1000×(25—50), 600×900×(25—50), etc., and the weight of a single brick ranges from 30 kg to 120 kg. Moreover, when the jacking system detects a ground settlement of ±2 mm, the robotic arm 34 automatically switches to the safe retraction mode and, in cooperation with the emergency braking device, reduces the collision risk to 1 / 10 of that of traditional equipment. Additionally, the 12-second grasping cycle of the unstacking component 5 and the 15-second cycle of the transplanting component 7 achieve production capacity matching through the queue scheduling algorithm. The overall system beat is improved by 18% compared to synchronous control, reaching the efficiency level of an industrial assembly line, shortening the paving cycle of a single brick to 2 minutes and 15 seconds. Furthermore, during paving, back plastering is carried out simultaneously. The middle rotating shaft of the robotic arm 34 reciprocates slightly, and the position of the end flange 35 at the end is stabilized by controlling the end rotating shaft through an algorithm, which can not only stably pave but also provide a small amount of vibration energy for the entire robot. At this time, the scraping tooth component 65 vibrates up and down under the action of the spring of the sliding rod 66 to improve the uniformity of back plastering, thereby increasing the efficiency of back plastering and paving by 25%.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic back plastering and paving robot for stone bricks, characterized in that: It includes a chassis assembly (1) with walking and lifting functions, a brick silo assembly (2) for storing and transporting brick stacks, a robotic arm assembly (3) for sucking and laying bricks, a barrel assembly (4) for storing and mixing cement oil, a stack dismantling assembly (5) for dismantling brick stacks, a plastering assembly (6) for back-plastering bricks, and a transplanting assembly (7) for grasping and moving the back-plastered bricks. The brick silo assembly (2) is erected on one side of the chassis assembly (1) to facilitate the placement of brick stacks. The robotic arm assembly (3) is erected on the other side of the chassis assembly (1) to facilitate the laying of bricks. The barrel assembly (4) is erected in the middle of the chassis assembly (1) to stabilize the center of gravity. The stack dismantling assembly (5) is erected above the brick silo assembly (2) to suck bricks. The plastering assembly (6) is erected above the barrel assembly (4) to perform back-plastering and reflux the cement oil into the barrel assembly (4). The transplanting assembly (7) is erected above the robotic arm assembly (3) to deliver the back-plastered bricks to the robotic arm assembly (3).

2. The automatic back plastering and paving robot for stone bricks according to claim 1, wherein: The chassis assembly (1) includes a chassis frame (11), a seesaw (12), a hinge seat (13), and a steering wheel (14). The hinge seat (13) is fixedly connected to the tail of the chassis frame (11). The middle of the seesaw (12) is hinged to the hinge seat (13) so that both ends of the seesaw (12) in the length direction swing up and down on both sides of the chassis frame (11). Two steering wheels (14) are fixedly connected to both sides of the front end of the chassis frame (11). Two steering wheels (14) are also fixedly connected to both ends of the seesaw (12) in the length direction.

3. The automatic back plastering and paving robot for stone bricks according to claim 2, characterized in that: Rear jack cylinders (15) are fixedly connected to the two corners at the rear end of the chassis frame (11), and front jack cylinders (16) are fixedly connected to the two corners at the front end of the chassis frame (11). Both the rear jack cylinders (15) and the front jack cylinders (16) are electric telescopic cylinders and their telescopic directions are both in the vertical direction. A gyroscope (17) is fixedly connected to the middle of the chassis frame (11). The gyroscope (17) is electrically connected to the rear jack cylinders (15) and the front jack cylinders (16) through a controller.

4. The automatic back plastering and paving robot for stone bricks according to claim 3, wherein: The brick silo assembly (2) includes an upper mounting frame (21), main roller supports (22), brick edge limiting bars (23), middle limiting tongues (24), a brick stack limiting assembly (25), auxiliary roller supports (26), and edge limiting tongues (27). The upper mounting frame (21) is fixedly connected to the front end of the chassis assembly (1). A number of main roller supports (22) are rotatably connected at intervals on one side of the upper mounting frame (21) to support the brick stack. Two brick stack limiting assemblies (25) are inserted into both sides inside the upper mounting frame (21). The auxiliary roller supports (26) are rotatably connected to the upper mounting frame (21) between the brick stack limiting assemblies (25). The brick edge limiting bars (23) are slidably connected to the upper mounting frame (21) on both sides of the main roller supports (22) and the auxiliary roller supports (26). The middle limiting tongues (24) are hinged between the main roller supports (22) and the auxiliary roller supports (26). The edge limiting tongues (27) are fixedly connected to the upper mounting frame (21) on both sides of the main roller supports (22) to limit the size of the bricks accommodated together with the brick edge limiting bars (23) and the middle limiting tongues (24).

5. The automatic back plastering and paving robot for stone bricks according to claim 4, characterized in that: The brick silo assembly (2) further includes a transverse movement assembly (28) and a palletizing removal slide rail assembly (29). The transverse movement assembly (28) is fixedly connected to the upper mounting frame (21) above the secondary roller support (26), and the transverse movement assembly (28) is connected to the cloth feeding assembly (6); the palletizing removal slide rail assembly (29) is mounted on the upper mounting frame (21) between the transverse movement assembly (28) and the secondary roller support (26), and the palletizing removal assembly (5) is slidably connected to the palletizing removal slide rail assembly (29) so that the palletizing removal assembly (5) is horizontally slidably connected on the upper mounting frame (21).

6. The automatic back plastering and paving robot for stone bricks according to claim 5, characterized in that: The palletizing removal assembly (5) includes a palletizing removal support frame (51), a palletizing removal slide block (52), a palletizing removal elevator assembly (53), a support plate (54), and a palletizing removal suction cup (55). The palletizing removal slide block (52) is fixedly connected to the bottom of the palletizing removal support frame (51), and the palletizing removal slide block (52) is slidably connected to the palletizing removal slide rail assembly (29) so that the palletizing removal assembly (5) reciprocates towards the brick silo assembly (2) and the cloth feeding assembly (6); the palletizing removal elevator assembly (53) is fixedly connected to the top of the palletizing removal support frame (51), and the output end of the palletizing removal elevator assembly (53) is fixedly connected to the support plate (54) to move the support plate (54) up and down. A plurality of palletizing removal suction cups (55) are fixedly connected to the bottom of the support plate (54) at intervals to suck bricks.

7. The automatic back plastering and paving robot for stone bricks according to claim 6, characterized in that: An air tank (56) and a booster pump (57) are also fixedly connected to the palletizing removal support frame (51). The air tank (56) is connected to the booster pump (57) through a pipeline, and the booster pump (57) is connected to the palletizing removal suction cup (55) through a pipeline to provide suction force to the palletizing removal suction cup (55).

8. The automatic back plastering and paving robot for stone bricks according to claim 7, characterized in that: The cloth feeding assembly (6) includes a cloth feeding support frame (61), a cloth feeding transverse movement assembly (62), a linear guide rail (63), a cloth feeding pipe clamp (64), a scraping tooth assembly (65), a sliding rod (66), and a waste material receiving hopper (67). The cloth feeding support frame (61) is fixedly connected to the upper mounting frame (21), the cloth feeding transverse movement assembly (62) is rotatably connected to the cloth feeding support frame (61), the linear guide rail (63) is fixedly connected to the cloth feeding support frame (61), one end of the cloth feeding pipe clamp (64) is fixedly connected to the cloth feeding transverse movement assembly (62) to drive the cloth feeding pipe clamp (64) to move, and the other end of the cloth feeding pipe clamp (64) is slidably connected to the linear guide rail (63) to stabilize the sliding direction; both ends of the scraping tooth assembly (65) are slidably connected to the cloth feeding support frame (61) through the sliding rod (66) to scrape off the cement oil pumped to the back of the bricks by the cartridge assembly (4), and the waste material receiving hopper (67) is fixedly connected to the transverse movement assembly (28) to store the dropped cement oil and return it to the cartridge assembly (4).

9. The automatic back plastering and paving robot for stone bricks according to claim 8, characterized in that: The barrel assembly (4) includes a main barrel (41), a power assembly (42), a blade (43), a screw pump (44) and a discharge elbow (45). The main barrel (41) is fixedly connected to the middle of the chassis frame (11) and stores cement oil. The power assembly (42) is fixedly connected to the top of the main barrel (41). The blade (43) is inserted into the main barrel (41) and is rotatably connected to the power assembly (42) to stir the cement oil. The screw pump (44) is fixedly connected to the bottom of the main barrel (41). The discharge elbow (45) is fixedly connected to the output end of the screw pump (44) and extends above the scraping tooth assembly (65) through a pipeline. The screw pump (44) is started to pump the cement oil through the discharge elbow (45) and the pipeline to the back of the brick.

10. The automatic back plastering and paving robot for stone bricks according to claim 9, characterized in that: The robotic arm assembly (3) includes a sliding assembly (31), a lifting assembly (32), a support seat (33), a robotic arm (34) and a terminal flange (35). The sliding assembly (31) is fixedly connected to the chassis frame (11). The bottom of the lifting assembly (32) is slidably connected to the sliding assembly (31) to slide left and right. The support seat (33) is slidably connected to the lifting assembly (32) to slide up and down. The robotic arm (34) is a three-axis robotic arm and its tail end is rotatably connected to the support seat (33). The end of the robotic arm (34) is fixedly connected to the terminal flange (35) with a suction cup to adsorb the bricks with back plastering and lay the bricks.

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