Visual identification and propagation device for mechanical arm masonry and use method

Abstract

The invention discloses a visual identification and propagation device for mechanical arm masonry and a use method, and relates to the technical field of building construction. Comprising a foundation, a grating assembly is fixedly mounted at the top of the foundation, a conveying assembly is fixedly mounted at the top of the foundation, and a storage assembly is slidably connected to the inner wall of the foundation; the bottom of the integration mechanism is slidably connected with the top of the conveying assembly, the integration mechanism comprises a positioning assembly, the bottom of the positioning assembly is slidably connected with the top of the conveying assembly, the bottom of the positioning assembly is fixedly connected with a bricklaying assembly, and a fixing assembly is arranged outside the positioning assembly. According to the building device, negative pressure is used for generating strong adsorption force to grab materials, in the grabbing process, the camera monitors the state of the materials in real time, it is ensured that the materials are grabbed stably, deviation or falling is avoided, and the material grabbing reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and specifically to a visual recognition and transmission device for robotic arm masonry and its usage method. Background Art

[0002] In the field of building construction and related fields, traditional masonry work mainly relies on manual operation, which not only has a high labor intensity and low efficiency, but also the masonry quality is greatly affected by the technical level and working state of workers, making it difficult to ensure consistency and high precision. With the development of technology, automated masonry equipment has gradually become a hot topic in research and application, aiming to improve work efficiency, reduce labor intensity and enhance masonry quality.

[0003] However, there are many problems in the actual application of some existing automated masonry equipment. For example, in the material grasping link, many devices cannot control the fitting angle of the grasped material, resulting in unstable grasping, and the material is prone to offset or fall during the handling process, seriously affecting work efficiency and the integrity of the material. Summary of the Invention

[0004] (I) Technical Problems to be Solved Aiming at the deficiencies of the prior art, the present invention provides a visual recognition and transmission device for robotic arm masonry and its usage method, which solves the problem of using negative pressure to generate a strong adsorption force to grasp materials. During the grasping process, the camera monitors the state of the material in real time to ensure stable grasping of the material, avoid offset or fall, and improve the reliability of material grasping.

[0005] (II) Technical Solutions To achieve the above objectives, the present invention is realized through the following technical solutions: A visual recognition and transmission device for robotic arm masonry and its usage method, including: a foundation, on the top of which a grille assembly is fixedly installed, on the top of which a conveying assembly is fixedly installed, and the inner wall of which is slidably connected with a storage assembly; an integration mechanism, the bottom of which is slidably connected with the top of the conveying assembly, and the integration mechanism is used to plan and drive the position movement of the robotic arm. The integration mechanism includes a positioning component, the bottom of which is slidably connected with the top of the conveying assembly, and the positioning component is used to change the position of the robotic arm. The bottom of the positioning component is fixedly connected with a bricklaying component, and the bricklaying component is used to grasp and lay materials by suction. An external fixing component is arranged on the positioning component, and the bottom of the fixing component is fixedly installed with the top of the storage component, and the fixing component is used to limit the position of the storage component by sliding; the bricklaying component includes a robotic arm body, the bottom of which is rotatably connected with a rotary joint, the bottom of which is fixedly connected with a vacuum suction cup, and the top of which is fixedly connected with a camera. The brand of the camera is Shanghai Jingheng, and the model is ed-aic2000. It adopts a quad-core Cortex-A72 (ARMv8) 64-bit SoC, is equipped with a high-resolution 2.0MP monochrome image sensor with a global shutter, can be upgraded to 2.3 million pixels, has a sampling rate of up to 70fps, and is pre-installed with software such as OpenCV, Qt, and Python. It is suitable for various machine vision tasks such as industrial barcode scanning and object positioning, and can meet the positioning and recognition requirements of the robotic arm for materials.

[0006] Preferably, the positioning component includes two vertical positioning columns, and the bottom of each group of vertical positioning columns is fixedly connected with a positioning frame base. The top of the vertical positioning columns is fixedly connected with a horizontal positioning slide rail, and the outer wall of the horizontal positioning slide rail is slidably connected with a sliding rail, and the outer wall of the sliding rail is slidably connected with a vertical rail. The bottom of the vertical rail is fixedly installed with the top of the robotic arm body, and the vertical rail and the robotic arm are fixedly connected by bolts.

[0007] Preferably, the fixing component includes a transverse fixing beam, and the outer walls on both sides of the transverse fixing beam are fixedly connected with fixing columns. The outer wall of the transverse fixing beam is slidably connected with a pressing rod through a sliding connection frame, and the inner wall of the sliding connection frame is slidably connected with the outer wall of the transverse fixing beam, and the inner wall of the sliding connection frame is slidably connected with the outer wall of the pressing rod. There are two groups of pressing rods, and the bottom of each group of pressing rods is fixedly connected with a pressing plate.

[0008] Preferably, the conveying assembly includes a conveying track. There are two groups of the conveying tracks. And a mounting plate is fixedly connected to the bottom of each group of the conveying tracks. The inner wall of the mounting plate is fixedly installed with a conveying base through a positioning bolt. And the bottom of the positioning bolt is fixedly connected to the top of the conveying base. A fixing bolt is fixedly installed on the inner wall of the conveying base.

[0009] Preferably, the bottom of the fixing bolt is fixedly connected to the top of the foundation. The fixing bolt is slidably connected to the inner wall of the mounting plate. The top of the conveying track is slidably connected to the bottom of the positioning frame base. The top of the conveying track is slidably connected to the bottom of the fixed column. The conveying track is used for conveying the fixed column.

[0010] Preferably, the storage assembly includes a storage platform main body. Refractory bricks are placed inside the storage platform main body. A partition is fixedly connected to the inner wall of the storage platform main body. The top of the storage platform main body is fixedly installed with the bottom of the pressing plate.

[0011] Preferably, the grid assembly includes a connecting grid. Fixed frames are fixedly connected to the outer walls on both sides of the connecting grid. The fixed frames are arranged in a linear array along the outer wall of the foundation. Grid columns are fixedly connected to the outer walls on both sides of the fixed frames. A grid mesh plate is fixedly connected to the inner wall of the fixed frame.

[0012] The visual recognition and usage method of the spreading device for robotic arm masonry includes the following steps: Step 1: Start the integration mechanism to perform self-check and initialization settings on each component of the device to ensure that each component is in a normal working state. Classify and place the materials to be masoned in the storage platform main body of the storage assembly and separate them using partitions to facilitate subsequent grasping operations by the robotic arm. By operating the integration mechanism, control the positioning component to move along the conveying track of the conveying assembly to the initial working position. At the same time, adjust the pressing rod and the pressing plate of the fixing component to make them closely fit the storage platform main body to limit the position of the storage assembly and ensure the stability of material storage.

[0013] Step 2: Turn on the camera on the bricklaying component to collect images of the materials in the storage assembly. The camera transmits the collected image information to the integration mechanism. The integration mechanism processes and analyzes the images to identify the characteristic information such as the position, shape, and size of the materials. At the same time, according to the preset masonry task and target position, the integration mechanism plans the movement path and grasping points of the robotic arm body. Through the coordinated movement of the vertical positioning column, horizontal positioning slide rail, sliding rail, and vertical rail of the positioning component, move the robotic arm body above the target material.

[0014] Step 3: After the robotic arm body moves above the target material, adjust the angle of the vacuum suction cup through the rotating joint to make it closely fit the surface of the material. Start the vacuum system of the vacuum suction cup to generate an adsorption force, firmly grasp the target material. During the grasping process, the camera monitors the state of the material in real time to ensure that the material is stably grasped without the risk of deviation or dropping.

[0015] Step 4: The integration mechanism controls the positioning component to drive the robotic arm body to move along the conveying track to the masonry position according to the previously planned path. During the movement, the camera continuously collects the surrounding environment information. The integration mechanism dynamically adjusts the movement path of the robotic arm according to the real-time feedback to avoid obstacles and other interference factors. After reaching the masonry position, use the camera for visual positioning again to adjust the placement position and angle of the material. Then, release the adsorption force of the vacuum suction cup and place the material at the specified masonry position.

[0016] Step 5: Repeat the above steps of visual recognition and positioning, material grasping, material conveying and masonry to complete the masonry tasks of all materials in sequence. After completing all masonry work, turn off devices such as the integration mechanism, camera and vacuum system. Operate the pressure rod and pressure plate of the fixing component to separate them from the main body of the storage platform, release the restriction on the storage component, slide the storage component out of the inner wall of the foundation, clean the remaining materials and sundries in the main body of the storage platform, and conduct an overall inspection and maintenance of the device to prepare for the next use.

[0017] (III) Beneficial Effects The present invention provides a visual recognition and spreading device and a using method for robotic arm masonry, having the following beneficial effects: (I). For the visual recognition and spreading device and the using method for robotic arm masonry, by setting the bricklaying component fixed at the bottom of the positioning component, after the robotic arm body moves above the target material driven by the positioning component, the angle of the vacuum suction cup can be flexibly adjusted through the rotating joint to make it closely fit the surface of the material. Start the vacuum system of the vacuum suction cup to generate a strong adsorption force using negative pressure to grasp the material. During the grasping process, the camera monitors the state of the material in real time to ensure stable grasping of the material, avoid deviation or dropping, and improve the reliability of material grasping.

[0018] (II). For the visual recognition and spreading device and the using method for robotic arm masonry, by setting the fixing component, through the fixing column, horizontal fixing beam, sliding connection frame, pressure rod and pressure plate, the pressure plate is closely attached to the main body of the storage platform to limit the position of the storage component and prevent the material from shifting during storage and operation. This not only ensures the stability of material storage, avoids material damage, but also provides a stable basis for the robotic arm to accurately grasp the material.

[0019] (III). The visual recognition and transmission device and its usage method for robotic arm masonry, by setting up a conveying component, which consists of a conveying track, a conveying base, fixing bolts, a mounting plate and positioning bolts. The conveying base is firmly fixed to the foundation by the fixing bolts, providing reliable support for the conveying track. The mounting plate is connected to the conveying base by the positioning bolts to ensure the precise installation of the conveying track, enabling the positioning component and the fixing component to slide smoothly on the conveying track, achieving position movement, and ensuring the high efficiency of material conveying and the coordinated operation of each component.

[0020] (IV). The visual recognition and transmission device and its usage method for robotic arm masonry, by setting up a grille component, installed outside the two conveying components, which consists of grille columns, grille mesh panels, fixing frames and connecting grilles, forming an effective protective barrier to prevent non-staff from being accidentally injured when the conveying components move, significantly enhancing the safety of the work site. Brief Description of the Drawings

[0021] Figure 1 is the structural schematic diagram of the whole invention; Figure 2 is the plan view of the invention; Figure 3 is the structural schematic diagram of the positioning component of the invention; Figure 4 is the structural schematic diagram of the bricklaying component of the invention; Figure 5 is the structural schematic diagram of the storage component of the invention; Figure 6 is the structural schematic diagram of part A of the invention; Figure 7 is the structural schematic diagram of the grille component of the invention.

[0022] In the figure: 1, foundation; 2, grille component; 3, conveying component; 4, positioning component; 5, storage component; 6, integrated mechanism; 7, bricklaying component; 8, fixing component; 81, fixing column; 82, horizontal fixing beam; 83, sliding connection frame; 84, pressing rod; 85, pressing plate; 21, grille column; 22, grille mesh panel; 23, fixing frame; 24, connecting grille; 31, conveying track; 32, conveying base; 33, fixing bolt; 34, mounting plate; 35, positioning bolt; 41, positioning frame base; 42, vertical positioning column; 43, horizontal positioning slide rail; 44, sliding rail; 45, vertical rail; 51, storage platform main body; 52, partition; 71, robotic arm body; 72, rotating joint; 73, vacuum suction cup; 74, camera. Detailed Embodiments

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. 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 protection scope of the present invention.

[0024] Please refer to Figure 1-7 , the present invention provides a technical solution: a visual recognition and transmission device for robotic arm masonry and its use method, including: a foundation 1, on the top of the foundation 1, a grille assembly 2 is fixedly installed, on the top of the foundation 1, a conveying assembly 3 is fixedly installed, and inside the wall of the foundation 1, a storage assembly 5 is slidably connected; an integration mechanism 6, the bottom of the integration mechanism 6 is slidably connected to the top of the conveying assembly 3, the integration mechanism 6 is used to plan and drive the position movement of the robotic arm, the integration mechanism 6 includes a positioning assembly 4, the bottom of the positioning assembly 4 is slidably connected to the top of the conveying assembly 3, the positioning assembly 4 is used to change the position of the robotic arm, the bottom of the positioning assembly 4 is fixedly connected to a bricklaying assembly 7, the bricklaying assembly 7 is used to perform the grasping and masonry operations of materials by suction, and outside the positioning assembly 4, a fixing assembly 8 is arranged, the bottom of the fixing assembly 8 is fixedly installed on the top of the storage assembly 5, and the fixing assembly 8 is used to limit the position of the storage assembly 5 by sliding; the bricklaying assembly 7 includes a robotic arm body 71, at the bottom of the robotic arm body 71, a rotary joint 72 is rotatably connected, at the bottom of the rotary joint 72, a vacuum suction cup 73 is fixedly connected, on the top of the vacuum suction cup 73, a camera 74 is fixedly connected, and the angle of the vacuum suction cup 73 is adjusted through the rotary joint 72 to make it closely fit the surface of the material, and the vacuum system of the vacuum suction cup 73 is started to generate negative pressure inside the vacuum suction cup 73, thereby generating a strong adsorption force to firmly grasp the target material.

[0025] The positioning assembly 4 includes two vertical positioning columns 42, and at the bottom of each group of vertical positioning columns 42, a positioning frame base 41 is fixedly connected. At the top of the vertical positioning columns 42, a horizontal positioning slide rail 43 is fixedly connected. On the outer wall of the horizontal positioning slide rail 43, a sliding rail 44 is slidably connected. On the outer wall of the sliding rail 44, a vertical rail 45 is slidably connected. The bottom of the vertical rail 45 is fixedly installed on the top of the robotic arm body 71.

[0026] The fixing component 8 includes a transverse fixing beam 82. Fixed columns 81 are fixedly connected to the outer walls on both sides of the transverse fixing beam 82. A pressure rod 84 is slidably connected to the outer wall of the transverse fixing beam 82 through a sliding connection frame 83, and the inner wall of the sliding connection frame 83 is slidably connected to the outer wall of the transverse fixing beam 82. Two groups of pressure rods 84 are provided, and a pressing plate 85 is fixedly connected to the bottom of each group of pressure rods 84. Through the movement of the sliding connection frame 83 and the telescoping of the pressure rods 84, the pressing plate 85 is closely attached to the storage platform main body 51, restricting the position of the storage component 5 and preventing the materials from shifting during storage and operation.

[0027] The conveying component 3 includes conveying tracks 31. Two groups of conveying tracks 31 are provided, and mounting plates 34 are fixedly connected to the bottoms of each group of conveying tracks 31. A conveying base 32 is fixedly installed inside the mounting plate 34 through positioning bolts 35, and the bottoms of the positioning bolts 35 are fixedly connected to the tops of the conveying base 32. A fixing bolt 33 is fixedly installed inside the conveying base 32, and the bottom of the fixing bolt 33 is fixedly connected to the top of the foundation 1. The fixing bolt 33 is slidably connected to the inner wall of the mounting plate 34. The top of the conveying track 31 is slidably connected to the bottom of the positioning frame base 41, and the top of the conveying track 31 is slidably connected to the bottom of the fixed column 81.

[0028] The storage component 5 includes a storage platform main body 51. A partition 52 is fixedly connected to the inner wall of the storage platform main body 51. The top of the storage platform main body 51 is fixedly installed with the bottom of the pressing plate 85. The materials to be masoned are classified and placed in the storage platform main body 51 of the storage component 5 and separated by the partition 52, which facilitates the subsequent accurate grasping of the materials by the robotic arm.

[0029] The grille component 2 includes a connecting grille 24. Fixed frames 23 are fixedly connected to the outer walls on both sides of the connecting grille 24. The fixed frames 23 are linearly arranged along the outer wall of the foundation 1. Grille columns 21 are fixedly connected to the outer walls on both sides of the fixed frames 23. A grille mesh plate 22 is fixedly connected to the inner wall of the fixed frames 23. The grille component 2 is installed outside the two groups of conveying components 3 to prevent the conveying components 3 from accidentally injuring non-staff members during movement.

[0030] The visual recognition and usage method of the robotic arm masonry propagation device includes the following steps: Step 1: Start the integration mechanism 6 to perform self-check and initialization settings on each component of the device, ensuring that each component is in a normal working state. Classify the materials to be laid and place them in the storage platform main body 51 of the storage component 5, separated by the partition 52 to facilitate the subsequent grasping operation of the robotic arm. By operating the integration mechanism 6, control the positioning component 4 to move along the conveying track 31 of the conveying component 3 to the initial working position. At the same time, adjust the pressure rod 84 and the pressure plate 85 of the fixing component 8 to make them closely fit the storage platform main body 51, restricting the position of the storage component 5 and ensuring the stability of material storage.

[0031] Step 2: Turn on the camera 74 on the bricklaying component 7 to collect images of the materials in the storage component 5. The camera 74 transmits the collected image information to the integration mechanism 6, which processes and analyzes the images to identify characteristic information such as the position, shape, and size of the materials. At the same time, according to the preset bricklaying task and target position, the integration mechanism 6 plans the movement path and grasping points of the robotic arm body 71. Through the coordinated movement of the vertical positioning column 42, horizontal positioning slide rail 43, sliding rail 44, and vertical rail 45 of the positioning component 4, move the robotic arm body 71 above the target material.

[0032] Step 3: After the robotic arm body 71 moves above the target material, adjust the angle of the vacuum suction cup 73 through the rotary joint 72 to make it closely fit the material surface. Start the vacuum system of the vacuum suction cup 73 to generate an adsorption force, firmly grasping the target material. During the grasping process, the camera 74 monitors the state of the material in real time to ensure that the material is stably grasped without the risk of deviation or dropping.

[0033] Step 4: The integration mechanism 6 controls the positioning component 4 to drive the robotic arm body 71 to move along the conveying track 31 to the bricklaying position according to the previously planned path. During the movement, the camera 74 continuously collects the surrounding environment information, and the integration mechanism 6 dynamically adjusts the movement path of the robotic arm according to the real-time feedback to avoid obstacles and other interference factors. After reaching the bricklaying position, use the camera 74 for visual positioning again to adjust the placement position and angle of the material. Then, release the adsorption force of the vacuum suction cup 73 and place the material at the designated bricklaying position.

[0034] Step 5: Repeat the above steps of visual recognition and positioning, material grasping, material conveying and bricklaying to complete the bricklaying tasks of all materials in sequence. After completing all bricklaying work, turn off devices such as the integration mechanism 6, camera 74, and vacuum system. Operate the pressure rod 84 and the pressure plate 85 of the fixing component 8 to separate them from the storage platform main body 51, release the restriction on the storage component 5, slide the storage component 5 out of the inner wall of the foundation 1, clean the remaining materials and debris in the storage platform main body 51, and conduct an overall inspection and maintenance of the device to prepare for the next use.

[0035] The spreading device built by the robotic arm mainly consists of a foundation 1, a grid component 2, a conveying component 3, a storage component 5, an integrated mechanism 6, a positioning component 4, a bricklaying component 7, and a fixing component 8. The foundation 1 provides a stable support base for the entire device. The grid component 2 is installed on top of the foundation 1, playing a certain load-bearing and auxiliary role. The conveying component 3 is also fixed on top of the foundation 1 and is used to convey materials. The storage component 5 is slidably connected to the inner wall of the foundation 1, enabling flexible position adjustment and is used to store the materials to be laid. The bottom of the integrated mechanism 6 is slidably connected to the top of the conveying component 3, responsible for planning and driving the position movement of the robotic arm. The integrated mechanism 6 includes a positioning component 4, and the bottom of the positioning component 4 is also slidably connected to the top of the conveying component 3, used to change the position of the robotic arm. The bricklaying component 7 is fixed to the bottom of the positioning component 4 and performs the operations of grasping and laying materials by suction. The bottom of the fixing component 8 is fixedly installed on the top of the storage component 5 and is used to limit the position of the storage component 5.

[0036] The grid component 2 is installed on top of the foundation 1 and consists of grid columns 21, grid plates 22, a fixing frame 23, and connecting grids 24. The grid columns 21 are distributed at intervals to support the grid plates 22. The fixing frame 23 surrounds the grid plates 22, playing a reinforcement role. The connecting grids 24 are used to connect the fixing frame 23. The grid component 2 is installed outside the two conveying components 3, thus preventing the conveying components 3 from accidentally injuring non-staff members during movement.

[0037] The bottom of the fixing component 8 is fixedly installed on the top of the storage component 5 and consists of fixing columns 81, a horizontal fixing beam 82, a sliding connection frame 83, two pressure bars 84, and a pressing plate 85. The fixing columns 81 are perpendicular to both sides of the horizontal fixing beam 82, forming a stable framework. The sliding connection frame 83 can slide on the horizontal fixing beam 82 to adjust the position. One end of the pressure bar 84 is connected to the sliding connection frame 83, and the other end is connected to the pressing plate 85. Through the movement of the sliding connection frame 83 and the telescoping of the pressure bar 84, the pressing plate 85 closely fits the storage platform main body 51, restricting the position of the storage component 5 and preventing the materials from shifting during storage and operation.

[0038] The staff classifies and places the materials to be laid in the storage platform main body 51 of the storage component 5 and uses partitions 52 for separation, which facilitates the subsequent accurate grasping of materials by the robotic arm. Then, by operating the integrated mechanism 6, the positioning component 4 is controlled to move along the conveying track 31 of the conveying component 3 to the initial working position. At the same time, the pressure bars 84 and the pressing plate 85 of the fixing component 8 are adjusted to closely fit the storage platform main body 51, restricting the position of the storage component 5, ensuring the stability of material storage, and avoiding the materials from shaking or shifting during subsequent operations.

[0039] Turn on the camera 74 on the bricklaying component 7. The camera 74 has the ability to collect high-definition images, can clearly collect images of the materials in the storage component 5, process and analyze the collected image information, identify the characteristic information such as the position, shape, and size of the materials. At the same time, according to the preset bricklaying tasks and target positions, through the coordinated movement of the positioning frame base 41, vertical positioning column 42, horizontal positioning slide rail 43, sliding rail 44, and vertical rail 45, the robotic arm body 71 is moved above the target material. In this process, the visual recognition technology plays a key role, providing the necessary information basis for the accurate operation of the robotic arm.

[0040] The conveying component 3 is located on the top of the foundation 1 and is composed of a conveying track 31, a conveying base 32, fixing bolts 33, a mounting plate 34, and positioning bolts 35. The conveying track 31 is the path for the positioning component 4 and the fixing component 8 to move, and the positioning component 4 and the fixing component 8 can slide on its surface. The conveying base 32 is firmly fixed on the foundation 1 through the fixing bolts 33, providing stable support for the conveying track 31. The mounting plate 34 is connected to the conveying base 32 by means of the positioning bolts 35 and is used to install the conveying track 31 to ensure the precise installation and efficient operation of the conveying component 3.

[0041] After the robotic arm body 71 moves above the target material, the angle of the vacuum suction cup 73 is adjusted through the rotary joint 72 to make it closely fit the surface of the material. The vacuum system of the vacuum suction cup 73 is started to generate negative pressure inside the vacuum suction cup 73, thereby generating a strong adsorption force to firmly grasp the target material. During the grasping process, the camera 74 continuously monitors the state of the material in real time. Once it is found that the material has the risk of deviation or dropping, the integrated mechanism 6 will immediately respond, adjust the posture or adsorption force of the robotic arm to ensure that the material is stably grasped.

[0042] The integrated mechanism 6 controls the positioning component 4 to drive the robotic arm body 71 to move along the conveying track 31 to the bricklaying position according to the previously planned path. After reaching the bricklaying position, the camera 74 is used again for visual positioning to accurately adjust the placement position and angle of the material. Then, the adsorption force of the vacuum suction cup 73 is released, and the material is accurately placed at the specified bricklaying position.

[0043] Repeat the above steps of visual recognition and positioning, material grasping, material conveying and bricklaying to complete all the bricklaying tasks of the materials in sequence. After completing all the bricklaying work, turn off the equipment such as the integrated mechanism 6, the camera 74, and the vacuum system. Operate the pressure rod 84 and the pressing plate 85 of the fixing component 8 to separate them from the storage platform main body 51, release the restriction on the storage component 5, slide the storage component 5 out of the inner wall of the foundation 1, clean the remaining materials and sundries in the storage platform main body 51, and conduct an overall inspection and maintenance of the device to prepare for the next use.

[0044] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising said element.

[0045] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A spreading device for robotic arm masonry, characterized in that, Including: A foundation (1), on the top of the foundation (1), a grille assembly (2) is fixedly installed, on the top of the foundation (1), a conveying assembly (3) is fixedly installed, and a storage assembly (5) is slidably connected to the inner wall of the foundation (1); An integration mechanism (6), the bottom of the integration mechanism (6) is slidably connected to the top of the conveying assembly (3), the integration mechanism (6) is used to plan and drive the position movement of the robotic arm, the integration mechanism (6) includes a positioning assembly (4), the bottom of the positioning assembly (4) is slidably connected to the top of the conveying assembly (3), the positioning assembly (4) is used to change the position of the robotic arm, the bottom of the positioning assembly (4) is fixedly connected to a bricklaying assembly (7), the bricklaying assembly (7) is used to perform the grasping and masonry operations of materials by suction, and an immobilization assembly (8) is arranged outside the positioning assembly (4), the bottom of the immobilization assembly (8) is fixedly installed on the top of the storage assembly (5), and the immobilization assembly (8) is used to limit the position of the storage assembly (5) by sliding; The bricklaying assembly (7) includes a robotic arm body (71), the bottom of the robotic arm body (71) is rotatably connected to a rotary joint (72), the bottom of the rotary joint (72) is fixedly connected to a vacuum suction cup (73), and a camera (74) is fixedly connected to the top of the vacuum suction cup (73).

2. The propagation device for robotic arm masonry according to claim 1, wherein: The positioning assembly (4) includes vertical positioning columns (42), there are two groups of the vertical positioning columns (42), and the bottom of each group of the vertical positioning columns (42) is fixedly connected to a positioning frame base (41), the top of the vertical positioning columns (42) is fixedly connected to a horizontal positioning slide rail (43), a sliding rail (44) is slidably connected to the outer wall of the horizontal positioning slide rail (43), and a vertical rail (45) is slidably connected to the outer wall of the sliding rail (44).

3. The propagation device for robotic arm masonry according to claim 2, wherein: The bottom of the vertical rail (45) is fixedly installed on the top of the robotic arm body (71).

4. The spreading device for robotic arm masonry according to claim 1, characterized in that: The immobilization assembly (8) includes a transverse immobilization beam (82), fixed columns (81) are fixedly connected to the outer walls on both sides of the transverse immobilization beam (82), a pressure bar (84) is slidably connected to the outer wall of the transverse immobilization beam (82) through a sliding connection frame (83), and the inner wall of the sliding connection frame (83) is slidably connected to the outer wall of the transverse immobilization beam (82), there are two groups of the pressure bars (84), and a pressing plate (85) is fixedly connected to the bottom of each group of the pressure bars (84).

5. The propagation device for robotic arm masonry according to claim 1, wherein: The conveying assembly (3) includes conveying tracks (31), there are two groups of the conveying tracks (31), and the bottom of each group of the conveying tracks (31) is fixedly connected to a mounting plate (34), a conveying base (32) is fixedly installed in the inner wall of the mounting plate (34) through a positioning bolt (35), and the bottom of the positioning bolt (35) is fixedly connected to the top of the conveying base (32), and a fixing bolt (33) is fixedly installed in the inner wall of the conveying base (32).

6. The spreading device for robotic arm masonry according to claim 5, characterized in that: The bottom of the fixing bolt (33) is fixedly connected to the top of the foundation (1), and is slidably connected to the inner wall of the mounting plate (34) of the fixing bolt (33). The top of the conveying track (31) is slidably connected to the bottom of the positioning frame base (41), and the top of the conveying track (31) is slidably connected to the bottom of the fixed column (81).

7. The spreading device for robotic arm masonry according to claim 1, characterized in that: The storage assembly (5) includes a storage platform main body (51), a partition (52) is fixedly connected to the inner wall of the storage platform main body (51), and the top of the storage platform main body (51) is fixedly installed with the bottom of the pressing plate (85).

8. The spreading device for robotic arm masonry according to claim 1, characterized in that: The grille assembly (2) includes a connecting grille (24), fixing frames (23) are fixedly connected to the outer walls on both sides of the connecting grille (24), the fixing frames (23) are arranged in a linear array along the outer wall of the foundation (1), grille columns (21) are fixedly connected to the outer walls on both sides of the fixing frames (23), and a grille mesh plate (22) is fixedly connected to the inner wall of the fixing frames (23).

9. Visual recognition and usage method of the spreading device for robotic arm masonry, based on the visual recognition and spreading device for robotic arm masonry and the usage method described in any one of claims 1-8, characterized in that, Including the following steps: Step 1: Start the integrated mechanism (6) to perform self-check and initialization settings on each component of the device to ensure that each component is in a normal working state. Classify and place the materials to be laid in the storage platform main body (51) of the storage assembly (5), and use the partition (52) for separation to facilitate the subsequent grasping operation of the robotic arm. By operating the integrated mechanism (6), control the positioning assembly (4) to move along the conveying track (31) of the conveying assembly (3) to the initial working position. At the same time, adjust the pressure rod (84) and the pressing plate (85) of the fixing assembly (8) to make them closely fit the storage platform main body (51) to limit the position of the storage assembly (5) and ensure the stability of material storage; Step 2: Turn on the camera (74) on the bricklaying assembly (7) to collect images of the materials in the storage assembly (5). The camera (74) transmits the collected image information to the integrated mechanism (6). The integrated mechanism (6) processes and analyzes the images to identify the characteristic information such as the position, shape, and size of the materials. At the same time, according to the preset bricklaying task and target position, the integrated mechanism (6) plans the movement path and grasping points of the robotic arm body (71). Through the coordinated movement of the vertical positioning column (42), horizontal positioning slide rail (43), sliding rail (44), and vertical rail (45) of the positioning assembly (4), move the robotic arm body (71) above the target material; Step 3: After the robotic arm body (71) moves above the target material, adjust the angle of the vacuum suction cup (73) through the rotary joint (72) to make it closely fit the material surface. Start the vacuum system of the vacuum suction cup (73) to make the vacuum suction cup (73) generate an adsorption force to firmly grasp the target material. During the grasping process, the camera (74) monitors the state of the material in real time to ensure that the material is stably grasped without the risk of deviation or dropping; Step Four: The integration mechanism (6) controls the positioning component (4) to drive the robotic arm body (71) to move along the conveying track (31) to the masonry position according to the previously planned path. During the movement, the camera (74) continuously collects the surrounding environment information, and the integration mechanism (6) dynamically adjusts the movement path of the robotic arm according to the real-time feedback to avoid obstacles and other interference factors. After reaching the masonry position, the camera (74) is used again for visual positioning to adjust the placement position and angle of the material. Then, the adsorption force of the vacuum suction cup (73) is released, and the material is placed at the designated masonry position; Step Five: Repeat the above steps of visual recognition and positioning, material grasping, material conveying and masonry, and complete the masonry tasks of all materials in sequence. After completing all the masonry work, turn off the equipment such as the integration mechanism (6), the camera (74) and the vacuum system. Operate the pressure rod (84) and the pressing plate (85) of the fixing component (8) to separate them from the storage platform main body (51), release the restriction on the storage component (5), slide the storage component (5) out of the inner wall of the foundation (1), clean the remaining materials and sundries in the storage platform main body (51), conduct an overall inspection and maintenance of the device, and make preparations for the next use.

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