An automatic stone brick back-smearing and paving robot

Abstract

The application relates to an automatic back smearing and paving robot for stone bricks, and relates to the field of building equipment. A brick bin assembly is arranged on one side of a chassis assembly to place a brick pile, a mechanical arm assembly is arranged on the other side of the chassis assembly to pave the bricks, a material cylinder assembly is arranged in the middle of the chassis assembly to stabilize the gravity center, a unstacking assembly is arranged on the upper portion of the brick bin assembly to suck the bricks, a material distribution assembly is arranged above the material cylinder assembly to back smear and return the cement oil into the material cylinder assembly, and a transplanting assembly is arranged above the mechanical arm assembly to throw the back-smearing bricks into the mechanical arm assembly. The application has the advantages of realizing the automation, intelligent precision, safety and high efficiency of the back smearing and paving of the stone bricks.

Description

Technical Field

[0001] This invention relates to the field of building equipment technology, and in particular to an automatic back-applying and laying robot for stone bricks. Background Technology

[0002] Stone paving is a common construction activity in public buildings, and the traditional methods for paving it involve manual backing and carrying. Manual backing cannot guarantee the stability of the quality of the cement-based backing surface. Moreover, the stone pavers used in large-scale construction in public buildings are generally large and heavy (ranging from 30kg to 120kg per paver). Carrying, turning, and paving are labor-intensive and pose high safety risks, making the paving process time-consuming and labor-intensive.

[0003] Furthermore, the current dry-laying method for stone tiling relies heavily on the experience and skills of experienced workers. Workers manually assess and correct any issues to ensure the tiling is free of hollow spots and that the width and height difference between the grout lines are within acceptable limits. However, due to the varying experience and skill levels of different installers, it's impossible to guarantee standardized or consistent stone tiling installation.

[0004] Therefore, to address the above shortcomings, there is a need to provide an automated back-applying and laying robot for stone bricks. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] The technical problem to be solved by this invention is to address the issue that stone bricks used in large-area public buildings are large and heavy, and that manual installation is labor-intensive and inefficient.

[0007] (II) Technical Solution

[0008] To address the aforementioned technical problems, this invention provides an automatic back-applying and laying robot for stone bricks, comprising a chassis assembly with walking and lifting functions, a brick bin assembly for storing and transporting brick stacks, a robotic arm assembly for picking up bricks and laying them, a material cylinder assembly for storing and mixing cement oil, a brick stack dismantling assembly for splitting brick stacks, a material spreading assembly for back-applying bricks, and a transfer assembly for grabbing and moving back-applied bricks. The brick bin assembly is mounted on one side of the chassis assembly for placing brick stacks, the robotic arm assembly is mounted on the other side of the chassis assembly for laying bricks, the material cylinder assembly is mounted in the middle of the chassis assembly to stabilize the center of gravity, the brick stack dismantling assembly is mounted on top of the brick bin assembly to pick up bricks, the material spreading assembly is mounted above the material cylinder assembly for back-applying and returning cement oil to the material cylinder assembly, and the transfer assembly is mounted above the robotic arm assembly to deliver back-applied bricks to the robotic arm assembly.

[0009] As a further explanation 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 rear of the chassis frame, and the middle of the seesaw is hinged to the hinge seat so that the two ends of the seesaw in the length direction swing up and down on both sides of the chassis frame. The two steering wheels are fixedly connected to the front sides of the chassis frame and to both ends of the seesaw in the length direction.

[0010] As a further explanation of the present invention, preferably, a rear top cylinder is fixedly connected to the two rear corners of the chassis frame, and a front top cylinder is fixedly connected to the two front corners of the chassis frame. Both the rear top cylinder and the front top cylinder are electric telescopic cylinders and the telescopic direction is vertical. A gyroscope is fixedly connected to the middle of the chassis frame, and the gyroscope is electrically connected to the rear top cylinder and the front top cylinder through a controller.

[0011] As a further explanation of the present invention, preferably, the brick bin assembly includes an upper frame, main rollers, brick edge limiting stops, a middle limiting tongue, brick stack limiting components, auxiliary rollers, and side limiting tongues. The upper frame is fixedly connected to the front end of the chassis assembly. Several main rollers are rotatably connected to one side of the upper frame at intervals to support brick stacks. Two brick stack limiting components are inserted into both sides inside the upper frame. The auxiliary rollers are rotatably connected to the upper frame between the brick stack limiting components. The brick edge limiting stops are slidably connected to the upper frames on both sides of the main rollers and auxiliary rollers. The middle limiting tongue is hinged between the main rollers and auxiliary rollers. The side limiting tongues are fixedly connected to the upper frames on both sides of the main rollers to limit the size of the bricks to be accommodated, together with the brick edge limiting stops and the middle limiting tongues.

[0012] As a further explanation of the present invention, preferably, the brick bin assembly further includes a transverse moving assembly and a destacking slide rail assembly. The transverse moving assembly is fixedly connected to the upper frame above the auxiliary roller and is connected to the fabric assembly. The destacking slide rail assembly is mounted on the upper frame between the transverse moving assembly and the auxiliary roller, and the destacking assembly and the destacking slide rail assembly are slidably connected so that the destacking assembly is horizontally slidably connected on the upper frame.

[0013] As a further explanation of the present invention, preferably, the destacking assembly includes a destacking support frame, a destacking slider, a destacking elevator assembly, a support plate, and destacking suction cups. The destacking slider is fixedly connected to the bottom of the destacking support frame, and the destacking slider is slidably connected to the destacking slide rail assembly to allow the destacking assembly to reciprocate towards the brick bin assembly and the material distribution assembly. The destacking elevator assembly is fixedly connected to the top of the destacking support frame, and the output end of the destacking elevator assembly is fixedly connected to the support plate to allow the support plate to move up and down. A plurality of destacking suction cups are fixedly connected at intervals to the bottom of the support plate to pick up bricks.

[0014] As a further explanation of the present invention, preferably, an air tank and a booster pump are also fixedly connected to the destacking support frame. The air tank and the booster pump are connected through a pipe, and the booster pump is connected to the destacking suction cup through a pipe to provide suction to the destacking suction cup.

[0015] As a further explanation of the present invention, preferably, the fabric assembly includes a fabric support frame, a fabric traversing assembly, a linear guide rail, a fabric tube clamp, a scraper assembly, a sliding rod, and a waste material hopper. The fabric support frame is fixedly connected to the upper frame, the fabric traversing 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 tube clamp is fixedly connected to the fabric traversing assembly to drive the fabric tube clamp to move, and the other end of the fabric tube clamp is slidably connected to the linear guide rail to stabilize the sliding direction; the two ends of the scraper assembly are slidably connected to the fabric support frame through the sliding rod to scrape off the cement oil pumped out by the material cylinder assembly to the back of the brick, and the waste material hopper is fixedly connected to the traversing assembly to store the fallen cement oil and return it to the material cylinder assembly.

[0016] As a further explanation of the present invention, preferably, the material cylinder assembly includes a main material barrel, a power component, blades, a screw pump, and a discharge elbow. The main material barrel is fixedly connected to the middle of the chassis frame and contains cement oil. The power component is fixedly connected to the top of the main material barrel. The blades are inserted into the main material barrel and rotatably connected to the power component 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 through a pipe to the top of the scraper assembly. The screw pump is started to pump the cement oil through the discharge elbow and the pipe to the back of the brick.

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

[0018] (III) Beneficial Effects

[0019] The above-described technical solution of the present invention has the following advantages:

[0020] This invention automates the entire process of stone brick installation from storage to laying by integrating four core workstations: unpacking, back troweling, transfer, and laying. This breaks through the efficiency bottleneck of traditional manual segmented operations. In particular, the parallel operation of back troweling and fine spreading of dry mortar shortens the laying cycle of a single brick to less than 3 minutes, reducing cycle time by 40%, far exceeding the efficiency limit of manual labor. Attached Figure Description

[0021] Figure 1 This is an assembly rendering of the present invention;

[0022] Figure 2 This is a structural diagram of the chassis assembly of the present invention;

[0023] Figure 3 This is a structural diagram of the brick silo assembly of the present invention;

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

[0025] Figure 5 This is a structural diagram of the barrel assembly of the present invention;

[0026] Figure 6 This is a structural diagram of the destacking assembly of the present invention;

[0027] Figure 7 This is a structural diagram of the fabric assembly of the present invention;

[0028] Figure 8 This is a structural diagram of the transplanting component of the present invention;

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

[0030] Figure 10 This is a structural diagram of the transverse pallet of the present invention.

[0031] In the diagram: 1. Chassis assembly; 11. Chassis frame; 12. Seesaw; 13. Hinge seat; 14. Steering wheel; 15. Rear top cylinder; 16. Front top cylinder; 17. Gyroscope; 2. Brick bin assembly; 21. Upper frame; 22. Main roller support; 23. Brick edge limit stop; 24. Center limit tongue; 25. Brick stack limit assembly; 26. Secondary roller support; 27. Side limit tongue; 28. Lateral movement assembly; 29. ​​Destacking slide rail assembly; 3. Robotic arm assembly; 31. Sliding assembly; 32. Lifting assembly; 33. Support base; 34. Robotic arm; 35. End flange; 4. Cylinder assembly; 41. Main material bin; 42. Power assembly; 43. Blade; 44. Screw pump; 45. Discharge elbow; 46. Material presence / absence detection assembly; 47. 5. Destacking assembly; 51. Destacking support frame; 52. Destacking slider; 53. Destacking elevator assembly; 54. Support plate; 55. Destacking suction cup; 56. Air tank; 57. Booster pump; 58. Guide rod; 59. Distance sensor; 6. Fabric assembly; 61. Fabric support frame; 62. Fabric transverse movement assembly; 63. Linear guide rail; 64. Fabric tube clamp; 65. Scraper assembly; 66. Sliding rod; 67. Excess material hopper; 68. Pusher; 69. Vibrating motor; 7. Transplanting assembly; 71. Transplanting support frame; 72. Transplanting sliding assembly; 73. Transplanting elevator assembly; 74. Grab plate; 75. Cylinder; 76. Slide frame; 77. Claw hook; 78. Transplanting guide rod; 79. Transplanting distance meter; 8. Transverse movement tray. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] An automated back-applying and laying robot for stone bricks, such as Figure 1 As shown, the system includes a chassis assembly 1 with walking and lifting functions, a brick bin assembly 2 for storing and transporting brick stacks, a robotic arm assembly 3 for picking up bricks and laying them, a material cylinder assembly 4 for storing and mixing cement oil, a brick stack dismantling assembly 5 for splitting brick stacks, a material spreading assembly 6 for back-applying bricks, and a transfer assembly 7 for grabbing and moving back-applied bricks. The brick bin assembly 2 is mounted on one side of the chassis assembly 1 to facilitate placing brick stacks, the robotic arm assembly 3 is mounted on the other side of the chassis assembly 1 to facilitate laying bricks, the material cylinder assembly 4 is mounted in the middle of the chassis assembly 1 to stabilize the center of gravity, the brick stack dismantling assembly 5 is mounted on top of the brick bin assembly 2 to pick up bricks, the material spreading assembly 6 is mounted above the material cylinder assembly 4 to perform back-applying and return cement oil to the material cylinder assembly 4, and the transfer assembly 7 is mounted above the robotic arm assembly 3 to deliver back-applied bricks to the robotic arm assembly 3.

[0034] Combination Figure 1 , Figure 2 The chassis assembly 1 includes a chassis frame 11, a seesaw 12, a hinge seat 13, and a steering wheel 14. The chassis frame 11 is a square metal frame. Two hinge seats 13 are fixed to the front and rear sides of the rear of the chassis frame 11. The hinge seats 13 have built-in tilt sensors. The seesaw 12 is a long strip of metal plate structure. The middle of the seesaw 12 is hinged to the hinge seat 13 so that the two 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 fixed to the front sides of the chassis frame 11 and the two steering wheels 14 are fixed to the two ends in the length direction of the seesaw 12. Each of the four steering wheels 14 is equipped with a motor, so that the chassis assembly 1 can use the motor differential speed to achieve steering on the one hand, and use the seesaw 12 to improve the obstacle crossing ability on the other hand. When encountering uneven ground, the pressure can be transferred to the other side by the seesaw 12 to improve the grip of the steering wheel 14 on the other side. At the same time, the tilt sensor is triggered to determine the size of the obstacle based on the tilt angle and adjust the output torque of each motor, so as to better bring the chassis assembly 1 away from the obstacle area. In addition, when the overturning torque is detected to exceed the threshold, the system will activate the emergency procedure within 0.08 seconds. First, the four steering wheels will be braked in the opposite direction. If the tilt sensor does not return to the original set value, the robotic arm assembly 3 will be extended to lift the rear of the chassis frame 11 and separate it from the obstacle area to prevent overturning. At the same time, the robot will be taken away from the obstacle area by adjusting the motor speed.

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

[0036] Combination Figure 1 , Figure 3 The brick bin assembly 2 includes an upper frame 21, main rollers 22, brick edge limiting stops 23, center limiting tongue 24, brick stack limiting components 25, auxiliary rollers 26, and side limiting tongues 27. The upper frame 21 is fixed to the front end of the chassis assembly 1. Several main rollers 22 are rotatably connected to one side of the upper frame 21 at intervals to support brick stacks. Two brick stack limiting components 25 are inserted into the two sides inside the upper frame 21 through quick-release pins. The auxiliary rollers 26 are rotatably connected to the upper frame 21 between the brick stack limiting components 25. One end of the brick edge limiting stop 23 protrudes and the other end can be slidably connected to the upper frame 21 on both sides of the main rollers 22 and auxiliary rollers 26 through a slide rail, or it can be fixed to the upper frame 21 through a quick-release pin. The middle limiting tongue 24 is hinged between the main roller support 22 and the auxiliary roller support 26 to protrude from or be parallel to the main roller support 22 and the auxiliary roller support 26, and the side limiting tongue 27 is fixed to the upper frame 21 on both sides of the main roller support 22 by quick-release pins to limit the size of the brick material to be accommodated with the brick side limiting stop bar 23 and the middle limiting tongue 24.

[0037] Before moving chassis assembly 1, a small number of brick stacks are placed on the main roller support 22, and the positions of the side limiting tongue 27 and the brick side limiting stop 23 are adjusted so that the brick side limiting stop 23, the middle limiting tongue 24, and the side limiting tongue 27 clamp the brick stacks to prevent them from shifting. After the rear top cylinder 15 and the front top cylinder 16 lift chassis assembly 1, the locking of the middle limiting tongue 24 is released, causing the middle limiting tongue 24 to flip over and lie down. Then, a small number of brick stacks are pushed towards the auxiliary roller support 26 by the rolling of the main roller support 22, and are positioned by the brick stack limiting assembly 25 to prevent the stacked stone bricks from being horizontally misaligned. Subsequently, the stacking assembly 5 begins to work, clamping the stone bricks on the small number of brick stacks, and then a large number of brick stacks are manually placed on the main roller support 22. This reduces the load on the chassis, allows the robot to start working immediately after reaching the designated position, and provides sufficient time for subsequent material replenishment. This ensures that after the first batch of brick stacks is unstacked, the next batch of brick stacks can be directly added from the main roller 22 to the auxiliary roller 26, enabling the paving work to proceed continuously and efficiently.

[0038] Combination Figure 1 , Figure 3 The brick storage assembly 2 also includes a transverse movement assembly 28 and a destacking slide rail assembly 29. The transverse movement assembly 28 is fixedly connected to the upper frame 21 above the auxiliary roller support 26 and is connected to the material distribution assembly 6. The destacking slide rail assembly 29 is mounted on the upper frame 21 between the transverse movement assembly 28 and the auxiliary roller support 26. The destacking assembly 5 and the destacking slide rail assembly 29 are slidably connected so that the destacking assembly 5 is horizontally slidably connected on the upper frame 21, thereby realizing the function of transporting the stone bricks to the material distribution assembly 6.

[0039] Combination Figure 1 , Figure 6 The destacking assembly 5 includes a destacking support frame 51, a destacking slider 52, a destacking lifting assembly 53, a support plate 54, and a destacking suction cup 55. The destacking support frame 51 is a U-shaped frame. The destacking slider 52 is fixed to the bottom of both sides of the destacking support frame 51. The destacking slider 52 is slidably connected to the destacking slide rail assembly 29 to allow the destacking assembly 5 to reciprocate towards the brick bin assembly 2 and the material distribution assembly 6. The destacking lifting assembly 53 is fixed to the top of the middle part of the destacking support frame 51. The destacking lifting assembly 53 consists of a motor, gears, and a rack. The motor drives the gears to rotate, and the gears mesh 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 destacking elevator assembly 53 is fixedly connected to the support plate 54 to allow the support plate 54 to move up and down. Four destacking suction cups 55 are fixedly connected at intervals at the four corners of the bottom of the support plate 54. An air tank 56 and a booster pump 57 are also fixedly connected to the top of the middle part of the destacking support frame 51. The air tank 56 and the booster pump 57 are connected to each other through pipes. The booster pump 57 is connected to the destacking suction cups 55 through pipes to provide suction to the destacking suction cups 55 to pick up the bricks. Figure 10A transverse pallet 8 is slidably connected below the destacking assembly 5. The destacking suction cup 55 picks up the stone bricks and places them on the transverse pallet 8. The stone bricks are then transported to the bottom of the fabric assembly 6 via the transverse pallet 8.

[0040] Combination Figure 1 , Figure 7 The fabric assembly 6 includes a fabric support frame 61, a fabric traversing assembly 62, a linear guide rail 63, a fabric tube clamp 64, a scraper assembly 65, a sliding rod 66, a waste material hopper 67, a pusher 68, and a vibrating motor 69. The fabric support frame 61 is a U-shaped support with a frame at the top to support the pipe extending from the material cylinder assembly 4. The bottom sides of the fabric support frame 61 are fixed to the upper frame 21. The fabric traversing assembly 62 consists of a motor and a belt. The motor is fixed to one side of the fabric support frame 61, and the two ends of the belt are rotatably connected to the two ends along the length of the middle part of the fabric support frame 61. The linear guide rail 63 is fixed to the fabric support frame 61. One end of the fabric tube clamp 64 is fixed to the belt on the fabric traversing assembly 62 to drive the fabric tube clamp 64 to move, and the other end of the fabric tube clamp 64 is slidably connected to the linear guide rail 63 to stabilize the sliding direction. The cloth clamp 64 holds the protruding pipe head of the cloth cylinder assembly 4, and the cloth lateral movement assembly 62 evenly applies cement oil to the stone brick. The two sections of the scraper assembly 65 are slidably connected to the cloth support frame 61 through the sliding rod 66 with springs, so that it forms a scraper mechanism that can float up and down, so as to evenly and effectively scrape the cement oil onto the brick surface. At the same time, the fixed height can be infinitely adjusted up and down to adapt to bricks of different sizes and thicknesses for back grouting.

[0041] The waste material receiving hopper 67 is a long, tray-shaped structure with a recovery hole at the bottom. The waste material receiving hopper 67 is fixedly connected to the transverse moving assembly 28. The pusher 68 is slidably connected inside the waste material receiving hopper 67. The pusher 68 is an auxiliary tool that pushes the cement oil accumulated on the waste material receiving hopper 67 into the waste material recovery hole. The waste material then falls into the material cylinder assembly 4 for reuse, storing the fallen cement oil and returning it to the material cylinder assembly 4. The vibrating motor 69 is installed in the middle of the scraper tooth support rod of the scraper tooth assembly 65. After each scraping of cement oil, it vibrates the motor to remove residual cement oil from the scraper tooth surface, cleaning it and preventing the scraper teeth from being clogged by cement oil, thus affecting the scraping effect.

[0042] Combination Figure 1 , Figure 5The material cylinder assembly 4 includes a main material tank 41, a power assembly 42, blades 43, a screw pump 44, and a discharge elbow 45. The main material tank 41 is fixed to the middle of the chassis frame 11 and contains cement oil. The power assembly 42 consists of a motor, a reducer, and a stirring shaft. The motor and reducer are fixed to the top of the main material tank 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 blades 43 are inserted into the main material tank 41 and fixed to the rotating shaft in the power assembly 42. The blades 43 rotate to stir the cement oil. The screw pump 44 is fixed to the bottom of the main material tank 41. The discharge elbow 45 is fixed to the output end of the screw pump 44 and extends through a pipe to the top of the scraper assembly 65. Then, the pipe opening is connected to the material distribution clamp 64. The screw pump 44 is started to pump the cement oil through the discharge elbow 45 and the pipe to the back of the brick. The main material tank 41 is open on one side directly below the waste material receiving hopper 67 to receive the falling cement oil. A material presence / absence detection component 46 is installed on the top of the main material hopper 41. A distance sensor is typically used to measure the distance between the cement oil level and the detection component 46, determining whether the cement oil is depleted and reminding staff to add more in time. The top of the main material hopper 41 is also covered with a cover 47 to prevent external debris from falling into the hopper.

[0043] Combination Figure 1 , Figure 8 The transplanting assembly 7 includes a transplanting support frame 71, a transplanting sliding assembly 72, a transplanting lifting assembly 73, a gripping plate 74, a cylinder 75, a slide 76, and a claw hook 77. The transplanting support frame 71 is a U-shaped frame. The transplanting sliding assembly 72 is fixedly connected to the bottom of both sides of the transplanting support frame 71 and slidably connected to the bracket between the robotic arm assembly 3 and the cloth-laying assembly 6. The transplanting lifting assembly 73 consists of a motor, gears, and a rack. The motor drives the gears to rotate, and the gears mesh with the rack to drive the rack to move up and down. The gripping plate 74 is a square plate structure and is fixedly connected to the rack so that the transplanting sliding assembly 72 can drive the gripping plate 74 to move up and down. Figure 9 Two cylinders 75 are fixedly connected to the middle of the bottom end of the gripper plate 74, and the two cylinders 75 extend and retract in opposite directions. The slide 76 is a square frame, and the two slides 76 have different widths, with the outer diameter of one slide 76 being smaller than the inner diameter of the other slide 76. The two slides 76 are slidably connected to both sides of the bottom end face of the gripper plate 74. The extended ends of the two cylinders 75 are fixedly connected to the two slides 76 respectively, so that the two slides 76 can move in opposite directions. The claw hook 77 has a U-shaped structure. One side of the claw hook 77 is fixedly connected to one end of the slide 76 exposed on the gripper plate 74. The cylinder 75 retracts so that the other side of the claw hook 77 hooks onto the stone brick.

[0044] The transplanting assembly 7 also includes transplanting guide rods 78 and a transplanting rangefinder 79. The bottoms of the four cylindrical transplanting guide rods 78 are fixedly connected to the gripping plate 74, and the tops of the transplanting guide rods 78 are slidably connected to the transplanting support frame 71 to guide the lifting and lowering of the gripping plate 74. The transplanting rangefinder 79 is fixedly connected above the gripping plate 74. The transplanting rangefinder 79 is a distance sensor that scans the space below the gripping plate 74 to identify whether there are bricks when picking them up and to measure the distance to pick up the bricks.

[0045] Combination Figure 1 , Figure 4 The robotic arm assembly 3 includes a sliding assembly 31, a lifting assembly 32, a support base 33, a robotic arm 34, and an end flange 35. The sliding assembly 31 is a slide rail structure and is fixedly connected to the chassis frame 11. The lifting assembly 32 is a slide rail screw assembly. The bottom of the frame of the lifting assembly 32 is slidably connected to the sliding assembly 31 to slide left and right. The support base 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 base 33. The end of the robotic arm 34 is fixedly connected to the end flange 35 with a suction cup to adsorb the back-applied bricks and lay the bricks.

[0046] The present invention also provides an automatic backing and laying method, comprising the following steps:

[0047] I. Place a small amount of the stone bricks to be laid onto the main roller support 22, with the back of the stone bricks facing upwards. The total height of the brick stack should not exceed 300mm, and the upper and lower edges of the bricks should be aligned. Pour the mixed cement oil of suitable consistency into the main material bucket 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 bucket 41 through the large leakage hole of the residual material hopper 67 for further mixing. This prevents the cement oil from hardening and clogging the pipe due to prolonged standing in the material pipe (intermittent circulation pumping is maintained throughout the entire construction process, especially during a full day of work, including breaks for personnel, equipment malfunctions, and other situations that may delay continuous laying, thus reducing the risk of pipe blockage). Manually mark out the areas to be laid, and manually coarsely level the mixed dry mortar.

[0048] II. The robot starts in automatic mode, and the central processing unit allocates control signals for the entire machine. In automatic mode, the four steering wheels 14 are moved to the construction site, and the two rear top cylinders 15 and two front top cylinders 16 lift the entire machine at the same height to stabilize it. The robotic arm 34 is swung to the area where the dry mortar is to be finely spread. At this time, the camera at the end flange 35 identifies the laser line and the laser identifies the height. The robotic arm, along with the end flange 35, performs fine spreading (scraping dry sand) of the dry mortar at a certain height and level until it is qualified (generally one to two passes).

[0049] III. While the robotic arm 34 is spreading the dry mortar, the stone brick backing process is carried out simultaneously: the transverse pallet 8 receives a signal and automatically moves to below the claw hook 77, making room for the upcoming destacking process. The destacking station receives a signal, and after the distance sensor 59 detects the distance of the stone bricks in the brick bin, the destacking elevator assembly 53, carrying the support plate 54 and the destacking suction cup 55, descends to the brick surface to vertically pick up the stone bricks. After lifting the stone bricks until the bottom of the stone bricks is more than 50mm above the transverse pallet 8, it waits for the transverse pallet 8 to receive the bricks. At this time, the transverse pallet 8 receives a signal and moves to below the destacking assembly 5. The destacking elevator assembly 53, carrying the support plate 54 and the destacking suction cup 55, lowers the bricks to the upper surface of the transverse pallet 8 and breaks the vacuum to release the stone bricks. The support plate 54 and the destacking suction cup 55 detach from the brick surface and rise to a certain height to avoid air gaps.

[0050] IV. The transverse pallet 8 carries the stone bricks towards the material distribution assembly 6. It pauses when the edge of the stone brick is 200mm away from the scraper assembly 65 in the direction of the stone brick's movement. At this time, the screw pump 44 of the pumping station starts and pumps for 10 seconds before stopping. This is to ensure that the material pipe is full of material. After the screw pump 44 stops pumping, the transverse pallet 8 carries the stone bricks and continues to move towards the material distribution assembly 6. When the edge of the stone bricks in the direction of movement of the stone bricks comes into contact with the scraper teeth of the scraper assembly 65, the transverse pallet 8 stops. At this time, the screw pump 44 restarts, and the material distribution transverse pallet 62, with the material distribution pipe clamp 64 and the end of the material pipe, moves back and forth in the transverse direction to distribute the material. The movement is intermittent, and a certain amount of cement oil is piled horizontally on the surface of the stone bricks. At the same time, the transverse pallet 8 carries the stone bricks and moves forward according to the planned walking speed and rhythm, forming a relative movement with the scraper tooth assembly 65. The scraper tooth assembly 65 evenly scrapes and back-coats the cement oil that is stationary on the surface of the stone bricks until the stone brick surface leaves the scraper teeth, and the back coating of the stone bricks is completed. Excess cement and oil fall into the waste material hopper 67. When a certain amount of material accumulates in the waste material hopper 67, the waste material is manually pushed into the discharge port by the pusher 68 and falls into the main material bucket 41 for re-mixing and pumping, thus recycling and reducing waste. At the same time, the stacking station repeats the stacking and brick suction process again. The suctioned stone bricks are suspended in the air, waiting for the horizontal pallet 8 to be transferred.

[0051] V. The transverse pallet 8, carrying the back-applied stone bricks, continues forward and pauses directly below the gripper plate 74. At this point, the cylinder 75 receives a signal and extends, pushing the claw hooks 77 to their maximum distance. The transplanting elevator assembly 73, with the claw hooks 77, descends to a point 10mm from the bottom of the stone brick, retracting the claw hooks 77 to their minimum size, thus securing the bottom sides of the stone brick. The transplanting elevator assembly 73, with the claw hooks 77, then rises to a certain height. The back-applied stone bricks, held by the claw hooks 77, are raised accordingly, detaching from the transverse pallet 8. The back-applied stone bricks are now ready for pickup. The transverse pallet 8 then returns to the destacking assembly 5 for receiving and proceeding to the next cycle of back-applied stone brick processing. During the process, the back-applied stone bricks are not removed by the robotic arm 34 until the back-applied stone bricks are removed. The edge of the stone bricks on the transverse pallet 8 is in contact with the scraper teeth of the scraper assembly 65. The transverse pallet 8 is paused, and the screw pump 44 is also paused.

[0052] VI. After the robotic arm 34 has finished spreading the mortar, it is retracted. The robotic arm 34, with its end flange 35, moves to the underside of the transplanting component 7 and uses a vacuum suction cup to catch the back-applied stone brick. At this time, the claw hook 77 releases and rises, completely detaching from the back-applied stone brick. The robotic arm 34, with its end flange 35, flips the back-applied stone brick and, based on visual and laser sensors, automatically and accurately positions and lays the stone brick, ensuring that the brick joints and height differences meet the requirements, ultimately achieving a hollow effect. This completes the laying of a single stone brick in one process. After the robotic arm 34, with its end flange 35, removes the back-applied stone brick from the transplanting component 7, the horizontal pallet 8, waiting in the back-applied station, starts up with the stone brick and sequentially performs the back-applied mortar spreading, transplanting, and laying processes according to the above-described process until the stone brick laying is complete. When moving the site, the top cylinder operates in reverse. The top cylinder retracts, and after the equipment has traveled a certain distance, the top cylinder extends again to lift and stabilize the entire equipment.

[0053] The cycles of destacking, spreading, transplanting, and paving can be relatively parallel, as long as there is no interference in the spatial layers, forming a flow-line operation according to the above work process. Cement and oil replenishment can be achieved by detecting the material level in the bucket using the material detection component 46 in the pumping system, setting a threshold to trigger a voice alarm prompting manual replenishment. The stone brick bin is manually replenished after bricks are removed. Paving is done on a stationary, mobile basis, with work time measured in days. After construction, the material cylinder component 4, material pipe, spreading component 6, and other areas with cement and oil should be cleaned promptly, and any cement and oil splashed on the equipment surface should be cleaned immediately to keep the equipment clean. When the robot is moved, the robotic arm 34 retracts into the frame to prevent exposure, the destacking component 5 is moved to the inner position, the support plate 54 and destacking suction cup 55 are fully lowered, the transplanting component 7 is moved to the inner position, and the claw hook 77 is fully lowered.

[0054] In summary, the robot designed in this invention can back-moisten and lay stone bricks of various sizes, including 600×600×(25-50), 800×800×(25-50), 900×900×(25-50), 1000×1000×(25-50), and 600×900×(25-50), with a single brick weight ranging from 30kg to 120kg. Furthermore, when the lifting system detects a ground settlement of ±2mm, the robotic arm 34 automatically switches to a safe retraction mode, and with the help of an emergency braking device, the risk of collision is reduced to 1 / 10 of that of traditional equipment. Furthermore, the 12-second grasping cycle of the destacking component 5 and the 15-second cycle of the transfer component 7 are matched with the production capacity through a queue scheduling algorithm. The overall cycle time of the system is improved by 18% compared with synchronous control, reaching the efficiency of industrial assembly line. This shortens the single brick laying cycle to 2 minutes and 15 seconds. In addition, back smearing is carried out simultaneously during laying. The central pivot of the robotic arm 34 swings back and forth slightly. The algorithm controls the end pivot to stabilize the position of the end flange 35, which can stabilize the laying and provide a small amount of vibration energy to the robot as a whole. At this time, the scraper component 65 vibrates up and down under the action of the spring of the sliding rod 66 to improve the uniformity of back smearing, thereby improving the efficiency of back smearing and laying 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 not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions 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-applying and laying robot for stone bricks, characterized in that: The system includes a chassis assembly (1) with walking and lifting functions, a brick bin assembly (2) for storing and transporting brick stacks, a robotic arm assembly (3) for picking up bricks and laying them, a hopper assembly (4) for storing and mixing cement oil, a brick stack dismantling assembly (5) for splitting brick stacks, a material spreading assembly (6) for backing the bricks, and a transplanting assembly (7) for grabbing and moving backed bricks. The brick bin assembly (2) is mounted on one side of the chassis assembly (1) to facilitate the placement of brick stacks, and the robotic arm assembly (3) is mounted on the other side of the chassis assembly (1) to facilitate the laying of bricks. For laying bricks, the material cylinder assembly (4) is mounted in the middle of the chassis assembly (1) to stabilize the center of gravity, the stacking assembly (5) is mounted on the top of the brick bin assembly (2) to pick up the bricks, and the material distribution assembly (6) is mounted above the material cylinder assembly (4); the material distribution assembly (6) includes a material distribution support frame (61), a material distribution transverse movement assembly (62), a linear guide rail (63), a material distribution tube clamp (64), a scraper assembly (65), a sliding rod (66), and a waste material receiving hopper (67). The material distribution support frame (61) is mounted on the brick bin assembly (2), and the material distribution transverse movement assembly (65) is mounted on the brick bin assembly (2). The component (62) is rotatably connected to the fabric support frame (61), the linear guide rail (63) is fixedly connected to the fabric support frame (61), one end of the fabric tube clamp (64) is fixedly connected to the fabric transverse component (62) to drive the fabric tube clamp (64) to move, and the other end of the fabric tube clamp (64) is slidably connected to the linear guide rail (63) to stabilize the sliding direction; the two sections of the scraper assembly (65) are slidably connected to the fabric support frame (61) through the sliding rod (66) to scrape off the cement oil pumped out by the material cylinder assembly (4) to the back of the brick, and the remaining material is collected. The bucket (67) is a long strip-shaped structure with a recycling hole at the bottom. The waste material receiving bucket (67) is mounted on the brick bin assembly (2). A pusher (68) is slidably connected inside the waste material receiving bucket (67). The pusher (68) pushes the cement oil accumulated on the waste material receiving bucket (67) into the waste material recycling hole. The waste material then falls into the material cylinder assembly for reuse to store the fallen cement oil and return it to the material cylinder assembly (4). The transfer assembly (7) is mounted above the robotic arm assembly (3) to deliver the back-applied brick material to the robotic arm assembly (3).

2. The automatic back-applying and laying robot for stone bricks according to claim 1, characterized in that: The chassis assembly (1) includes a chassis frame (11), a seesaw (12), a hinge seat (13), and steering wheels (14). The hinge seat (13) is fixed to the rear of the chassis frame (11). The middle part of the seesaw (12) is hinged to the hinge seat (13) so that the two ends of the seesaw (12) in the length direction swing up and down on both sides of the chassis frame (11). The two steering wheels (14) are fixed to the front sides of the chassis frame (11) and the two steering wheels (14) are fixed to the two ends of the seesaw (12) in the length direction.

3. The automatic back-applying and laying robot for stone bricks according to claim 2, characterized in that: A rear top cylinder (15) is fixed at the two rear corners of the chassis frame (11), and a front top cylinder (16) is fixed at the two front corners of the chassis frame (11). Both the rear top cylinder (15) and the front top cylinder (16) are electric telescopic cylinders and their telescopic direction is vertical. A gyroscope (17) is fixed in the middle of the chassis frame (11). The gyroscope (17) is electrically connected to the rear top cylinder (15) and the front top cylinder (16) through a controller.

4. The automatic back-applying and laying robot for stone bricks according to claim 3, characterized in that: The brick bin assembly (2) includes an upper frame (21), main rollers (22), brick edge limiting stops (23), center limiting tongue (24), brick stack limiting components (25), auxiliary rollers (26), and side limiting tongues (27). The upper frame (21) is fixed to the front end of the chassis assembly (1). Several main rollers (22) are rotatably connected to one side of the upper frame (21) at intervals to support the brick stacks. Two brick stack limiting components (25) are inserted into the inside of the upper frame (21) on both sides. The auxiliary rollers (26) are... 6) Rotatably connected to the upper frame (21) between the brick stack limiting components (25); the brick edge limiting stop (23) is slidably connected to the upper frame (21) on both sides of the main roller (22) and the auxiliary roller (26); the middle limiting tongue (24) is hinged between the main roller (22) and the auxiliary roller (26); and the side limiting tongue (27) is fixedly connected to the upper frame (21) on both sides of the main roller (22) to limit the size of the brick material to be accommodated with the brick edge limiting stop (23) and the middle limiting tongue (24).

5. The automatic back-applying and laying robot for stone bricks according to claim 4, characterized in that: The brick bin assembly (2) also includes a transverse component (28) and a destacking slide rail assembly (29). The transverse component (28) is fixedly connected to the upper frame (21) above the auxiliary roller (26) and is connected to the fabric assembly (6). The destacking slide rail assembly (29) is mounted on the upper frame (21) between the transverse component (28) and the auxiliary roller (26). The destacking component (5) is slidably connected to the destacking slide rail assembly (29) so that the destacking component (5) is horizontally slidably connected on the upper frame (21).

6. The automatic back-applying and laying robot for stone bricks according to claim 5, characterized in that: The destacking assembly (5) includes a destacking support frame (51), a destacking slider (52), a destacking elevator assembly (53), a support plate (54), and destacking suction cups (55). The destacking slider (52) is fixed to the bottom of the destacking support frame (51). The destacking slider (52) is slidably connected to the destacking slide rail assembly (29) so that the destacking assembly (5) moves back and forth to the brick bin assembly (2) and the material distribution assembly (6). The destacking elevator assembly (53) is fixed to the top of the destacking support frame (51). The output end of the destacking elevator assembly (53) is fixed to the support plate (54) so ​​that the support plate (54) moves up and down. Several destacking suction cups (55) are fixed at intervals to the bottom of the support plate (54) to pick up bricks.

7. The automatic back-applying and laying 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 destacking support frame (51). The air tank (56) and the booster pump (57) are connected by a pipe. The booster pump (57) is connected to the destacking suction cup (55) through a pipe to provide suction to the destacking suction cup (55).

8. The automatic back-applying and laying robot for stone bricks according to claim 7, characterized in that: The material cylinder assembly (4) includes a main material barrel (41), a power assembly (42), blades (43), a screw pump (44), and a discharge elbow (45). The main material barrel (41) is fixed to the middle of the chassis frame (11) and contains cement oil. The power assembly (42) is fixed to the top of the main material barrel (41). The blades (43) are inserted into the main material barrel (41) and rotatedly connected to the power assembly (42) to stir the cement oil. The screw pump (44) is fixed to the bottom of the main material barrel (41). The discharge elbow (45) is fixed to the output end of the screw pump (44) and extends through a pipe to the top of the scraper assembly (65). The screw pump (44) is started to pump the cement oil through the discharge elbow (45) and the pipe to the back of the brick.

9. The automatic back-applying and laying robot for stone bricks according to claim 8, characterized in that: The robotic arm assembly (3) includes a sliding assembly (31), a lifting assembly (32), a support base (33), a robotic arm (34), and an end flange (35). The sliding assembly (31) is fixed 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 base (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 base (33). The end of the robotic arm (34) is fixed to the end flange (35) with a suction cup to adsorb the back-applied bricks and lay the bricks.

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