Automatic brick laying equipment and method for stable brick placement

Abstract

The present invention relates to the technical field of brick-laying equipment, and specifically to an automatic brick-laying equipment and method that facilitates stable brick placement, comprising a robotic arm disposed on a mobile control vehicle, and further comprising a brick-pressing portion, a brick-supporting portion, and a brick-pressing mechanism. The brick-pressing mechanism is disposed inside the brick-pressing portion, and the brick-pressing mechanism is slidably disposed inside the brick-pressing portion along the length direction of the brick-pressing portion, and when the brick-pressing mechanism slides along the length direction of the brick-pressing portion, the brick-pressing mechanism can perform a lifting motion along the thickness direction of the brick-pressing portion. The present invention provides a brick-pressing portion and a brick-supporting portion that are controlled to rise and fall by a cylinder inside the clamping jaws, so that after the clamping jaws have delivered the bricks to a certain depth in the paving area, they can release the clamping jaws, and then control the brick-pressing portion and the brick-supporting portion to slowly descend by the cylinder, so that the bricks can enter the paving area to a height closer to the ground, and then use a linear slide to control the brick-supporting portion to slowly withdraw, so that a number of bricks can finally be stably dropped from a height closer to the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of brick laying equipment, and in particular to an automatic brick laying equipment and method for facilitating stable brick placement. Background Art

[0002] Brick laying machines are mechanical equipment used in the modern construction industry to automatically lay ceramic tiles, floor tiles and other materials. They are widely used in construction projects, municipal engineering and home decoration.

[0003] In traditional technology, workers need to lay bricks on the ground one by one. This method is not only labor-intensive but also extremely inefficient, which is not conducive to the advancement of the project progress. In the existing technology, automatic brick laying operations can be performed through automatic brick laying equipment. Most brick laying equipment is composed of structures such as a robotic arm, a gripper, and a controller. When in use, the device will be controlled by the controller to move the entire device to the side of the pre-stacked brick pile, and then the robotic arm will be used to control the gripper to approach the brick pile; then, the gripper will pick up multiple bricks that are tightly fitted together, and then through the movement of the entire device and the control of the robotic arm, the gripper will be able to deliver the bricks to the area where they need to be laid; finally, multiple bricks are slowly lowered at the same time to complete the brick laying operation in the paving area.

[0004] However, during the aforementioned process, when the clamps or suction cups deliver bricks to the paving area, they first deliver the bricks directly above the paving area, then transport the bricks vertically downward until the bottom surfaces of multiple bricks align with the paving area. The clamps are then released, allowing the multiple bricks to fall together. However, when the clamped brick pile falls into the paving area, the adjacent sides of the brick pile need to align with the sides of the already laid brick pile. Therefore, as the clamps move downward, they can only reach a point where they align with the top surfaces of the already laid bricks. The clamps are then released, allowing the bricks to fall freely into the paving area. During the falling process, without the clamps' protective grip, the bricks on the sides of the pile easily become separated from the other bricks. Ultimately, the bricks in the paving area become uneven. After the brick paving machine completes its operation, manual brick pressing is often required to align the bricks. To this end, we have proposed an automatic brick-laying device and method that is convenient for placing bricks stably to effectively solve the above-mentioned drawbacks. Summary of the Invention

[0005] The object of the present invention is to provide an automatic brick-laying device and method that facilitates stable brick placement, so as to solve the problems raised in the above-mentioned background technology.

[0006] The present invention is achieved through the following technical solutions: An automatic brick-laying device facilitating stable brick placement, including a robotic arm disposed on a mobile control vehicle. An installation plate is provided at the movable end of the robotic arm, and clamping jaws are provided on both the front and rear sides of the bottom surface of the installation plate. It further includes:

[0007] A brick pressing part, which is disposed below the installation plate through a first cylinder. The brick pressing part can perform a lifting movement along the thickness direction of the installation plate. The brick pressing part has an internally hollow structure without left and right side walls;

[0008] A brick supporting part, which is in a U-shaped form. The top wall of the brick supporting part is located between the top surface of the brick pressing part and the robotic arm, and the bottom wall of the brick supporting part is located below the brick pressing part. A linear slide is further provided on the top surface of the brick pressing part for driving the brick supporting part to slide in the left-right direction. The bottom wall of the brick supporting part is used for supporting bricks to cooperate with the brick pressing part to drive the bricks to move downward;

[0009] A brick pressing mechanism, which is slidably disposed inside the brick pressing part in the left-right direction. When the brick pressing mechanism slides in the left-right direction, the brick pressing mechanism can reciprocally lift along the thickness direction of the brick pressing part for continuously pressing the bricks on the bottom surface of the brick pressing part.

[0010] Optionally, a connection component is fixedly provided on the top surface of the brick pressing mechanism. The connection component is used for movably connecting with the top wall of the brick supporting part so that the brick supporting part drives the brick pressing mechanism to move in the left-right direction.

[0011] Optionally, first chutes are respectively opened on the front and rear side walls of the brick pressing part along their own lengths. Second chutes are respectively opened at positions near the front and rear end faces of the inner bottom surface of the brick pressing part along their own lengths. Both the first chutes and the second chutes are used for slidably connecting with the brick pressing mechanism; both the first chutes and the second chutes are in a toothed structure. The first chutes are used for driving the brick pressing mechanism to move along the thickness direction of the brick pressing part, and the second chutes are used for driving the brick pressing mechanism to move in the left-right direction.

[0012] Optionally, the brick pressing mechanism includes an integrated rod disposed in the front-rear direction. Elastic connections are respectively provided at the front and rear ends of the integrated rod with first sliding rods along the front-rear direction. The opposite ends of the two first sliding rods are respectively slidably connected in the two first chutes; when the first sliding rods slide in the first chutes, the brick pressing mechanism moves along the thickness direction of the brick pressing part.

[0013] Optionally, two second sliding rods are fixedly provided on the bottom surface of the integrated rod. The bottom ends of the two second sliding rods are respectively slidably connected in the two second chutes; when the second sliding rods slide in the second chutes, the brick pressing mechanism moves along the width direction of the brick pressing part.

[0014] Optionally, the bottom wall of the brick pressing part is provided with a plurality of brick pressing openings, and the plurality of brick pressing openings correspond one-to-one to the plurality of bricks at the bottom of the brick pressing part. The bottom of the integrated rod is provided with a plurality of brick pressing rods equidistantly arranged along the width direction of the brick pressing part, and the bottom ends of the plurality of brick pressing rods can pass through the brick pressing openings and extend to the bottom of the brick pressing part, and the brick pressing rods are used to press the bricks so that the upper surfaces of the plurality of bricks are flush.

[0015] Optionally, the connecting assembly includes a fixing part arranged vertically, a vertical groove is provided on the top surface of the fixing part, a movable part is elastically connected in the vertical groove along the thickness direction of the brick pressing part, a limiting groove is provided on the inner top surface of the brick supporting part for inserting the top end of the movable part, an electromagnet is fixed at the bottom of the vertical groove, and the electromagnet is electrically connected to the mobile control vehicle; when the electromagnet is energized, the electromagnet is used to drive the movable part to move toward the bottom of the vertical groove to disengage from the limiting groove.

[0016] Optionally, a sliding opening is provided on the top wall of the brick pressing part along its own length direction, the fixing part vertically passes through the sliding opening, and the fixing part slides in the sliding opening, rollers are rotatably provided on the front and rear side walls of the fixing part, the two rollers are respectively connected to the front and rear side walls of the sliding opening, and a compression spring is provided in the sliding opening along the length direction of the brick pressing part, and the two ends of the compression spring respectively abut against the side walls of the sliding opening and the side walls of the fixing part; in a natural state, the compression spring is in a compressed state.

[0017] Optionally, a second cylinder is provided on the side wall of the brick supporting part along the thickness direction of the brick pressing part, and the second cylinder is used to drive the bottom wall of the brick supporting part away from or close to the top wall of the brick supporting part. A baffle is fixedly provided at the bottom of the brick pressing part, and the baffle is located between the bottom wall of the brick supporting part and the bottom of the brick pressing part on the side close to the second cylinder.

[0018] The present invention also provides an automatic brick laying method, which is applicable to the above-mentioned brick laying equipment and comprises the following steps:

[0019] First, the mobile control vehicle and the robotic arm are used to control the mounting plate to move to the pre-stacked brick pile. The bricks to be laid are clamped by the grippers and moved to the area where they need to be laid.

[0020] Then control the bricks to slowly descend to the paving area until the bottom surface of the clamp is flush with the upper surface of the bricks already laid on the ground;

[0021] Then, the linear slide is used to drive the brick supporting part to move, so that the top wall of the brick supporting part moves to between the brick pressing part and the mounting plate, and the bottom wall of the brick supporting part moves to below the bottom brick of the brick pressing part until the bottom wall of the brick supporting part fits with the bottom of the brick;

[0022] Then, the clamping jaws are released, so that the upper and lower sides of the brick are respectively abutted by the brick pressing part and the brick supporting part, and the brick pressing part and the brick supporting part are driven by the first cylinder to slowly move downward to shorten the distance between the brick and the ground;

[0023] Finally, the linear slide is used to drive the brick supporting part to move outward, so that the brick supporting part is pulled out from the bottom of the brick, and the brick pressing mechanism is used to flatten and align the bricks to complete the automatic brick laying.

[0024] Compared with the prior art, the present invention provides an automatic brick-laying device and method that facilitates stable brick placement, and has the following beneficial effects:

[0025] 1. The present invention provides a brick pressing part and a brick supporting part on the inner side of the clamping jaws, which are controlled by a cylinder to rise and fall. After the clamping jaws have delivered bricks to a certain depth in the paving area, they can release the clamping jaws, allowing the bricks to be clamped from both the upper and lower sides by the brick pressing and brick supporting parts. The brick pressing and brick supporting parts are then slowly lowered by the cylinders, allowing the bricks to enter the paving area closer to the ground. The linear slide is then used to control the brick supporting part to slowly withdraw, ultimately allowing several bricks to fall stably from a height closer to the ground, reducing the risk of bricks scattering and reducing the burden on subsequent work.

[0026] 2. The present invention provides a brick pressing mechanism on the brick pressing part that can move up and down and forward and backward. The connecting assembly is used to enable the brick holding part to drive the brick pressing mechanism to move synchronously when it is pulled out, and to move up and down and forward and backward during the movement. The up and down movement can enable the brick pressing rod to press the bricks at the bottom from top to bottom, so that the upper surfaces of several bricks can be leveled; the forward and backward movement can adapt to the existing staggered placement of bricks, so that the brick pressing rod can press the bricks more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the clamping jaws, brick pressing part and brick supporting part of the present invention;

[0029] Figure 3 It is a side view of the clamping jaws, brick pressing part and brick supporting part of the present invention;

[0030] Figure 4 This is a schematic structural diagram of the brick pressing part, brick supporting part and brick pressing assembly of the present invention;

[0031] Figure 5 It is a side cross-sectional view of the brick pressing part, brick supporting part and brick pressing assembly of the present invention;

[0032] Figure 6 This is a schematic diagram of the brick pressing part and the linear slide structure of the present invention;

[0033] Figure 7 This is a schematic structural diagram of the brick pressing part and brick pressing assembly of the present invention;

[0034] Figure 8 For the present invention Figure 5 A in the middle is an enlarged structural diagram;

[0035] Figure 9 For the present invention Figure 7 The enlarged structural diagram at B in the middle;

[0036] Figure 10 This is a diagram of the brick laying position of the present invention;

[0037] Figure 11 This is a schematic diagram of the brick falling state during the removal process of the brick supporting part of the present invention.

[0038] In the figure: 1. Mobile control vehicle; 2. Robotic arm; 201. Mounting plate; 202. Clamp; 3. Brick pressing part; 301. First slide; 302. Second slide; 303. Brick pressing opening; 304. Sliding opening; 305. Baffle; 4. First cylinder; 5. Brick supporting part; 501. Limiting groove; 502. Second cylinder; 6. Linear slide; 7. Brick pressing mechanism; 701. Integrated rod; 702. First slide; 703. Second slide; 704. Brick pressing rod; 8. Connecting assembly; 801. Fixed part; 802. Vertical slot; 803. Movable part; 804. Electromagnet; 805. Roller; 9. Compression spring. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] Example 1: Please refer to Figure 1 - Figure 11 An automatic brick-laying device that is convenient for placing bricks stably includes a robotic arm 2 arranged on a mobile control vehicle 1. The movable end of the robotic arm 2 is provided with a mounting plate 201, and clamping claws 202 are provided on both the front and rear sides of the bottom of the mounting plate 201, so that all operations of the brick-laying device can be completed automatically instead of manually, making the brick-laying operation more efficient.

[0041] The brick laying device further includes a brick pressing part 3, a brick supporting part 5 and a brick pressing mechanism 7. Among them, the brick pressing part 3 is arranged below the mounting plate 201 through a first cylinder 4. The brick pressing part 3 can move up and down along the thickness direction of the mounting plate 201. The brick pressing part 3 has an internally hollow structure without left and right side walls. The bottom surface of the brick pressing part 3 is used to abut against the top surface of the brick, so that when the clamp 202 holds the brick, the brick pressing part 3 can be controlled to move up and down by the first cylinder 4, so that the bottom surface of the brick pressing part 3 can fit the upper surface of the brick, so as to prevent the brick from loosening during the process of being held by the clamp 202, which affects the brick laying efficiency.

[0042] The brick supporting part 5 is in a U shape. The top wall of the brick supporting part 5 is located between the top surface of the brick pressing part 3 and the mounting plate 201. The bottom wall of the brick supporting part 5 is located below the brick pressing part 3. A linear slide 6 for driving the brick supporting part 5 to slide in the left and right directions is further provided on the top surface of the brick pressing part 3. Specifically, the linear slide 6 is fixedly installed on the upper surface of the brick pressing part 3. One side of the top wall of the brick supporting part 5 facing the brick pressing part 3 is fixedly connected to the slide block of the linear slide 6, so that the linear slide 6 can drive the brick supporting part 5 to move in the left and right directions, so that after the clamp 202 picks up the brick, the bottom wall of the brick supporting part � can move to the bottom of the brick to lift the brick.

[0043] In order to prevent the brick supporting part 5 from taking out the brick during the extraction process, a second cylinder 502 is provided on the side wall of the brick supporting part 5 along the thickness direction of the brick pressing part 3. The second cylinder 502 is used to drive the bottom wall of the brick supporting part 5 to move away from or close to the top wall of the brick supporting part 5, so that the brick supporting part 5 can adjust the distance from the brick pressing part 3 according to the different thicknesses of the bricks, so as to be able to hold more specifications of bricks. A baffle 305 is fixedly provided at the bottom of the brick pressing part 3. The baffle 305 is located between the bottom wall of the brick supporting part 5 and the bottom of the brick pressing part 3 and on the side close to the second cylinder 502, so that when the brick supporting part 5 is extracted, the baffle 305 can abut against the side surface of the brick to block the brick from moving outward and prevent the brick from being taken out.

[0044] Further, the brick pressing mechanism 7 is arranged inside the brick pressing part 3. The brick pressing mechanism 7 is slidably arranged in the inner side of the brick pressing part 3 in the left and right directions. When the brick pressing mechanism 7 slides in the left and right directions, the brick pressing mechanism 7 can reciprocate up and down along the thickness direction of the brick pressing part 3, and is used to continuously press the brick on the bottom surface of the brick pressing part 3.

[0045] As Figure 11 shown, during the process of the brick falling onto the mortar ground, due to the different frictions on both sides, it may present a situation where one side falls first and the other side falls later. At this time, after the brick falls onto the mortar ground, it may present an inclined state with one side high and the other side low. At this time, along with the movement of the brick pressing mechanism 7, the brick can be pressed.

[0046] Furthermore, the front and rear side walls of the brick pressing part 3 are provided with first sliding grooves 301 along their own length direction, and the inner bottom surface of the brick pressing part 3 near the front and rear end surfaces is provided with second sliding grooves 302 along its own length direction. The first sliding grooves 301 and the second sliding grooves 302 are both used for sliding connection of the brick pressing mechanism 7. Figure 7 As shown, the first slide groove 301 and the second slide groove 302 are both tooth-shaped structures. The first slide groove 301 is used to drive the brick pressing mechanism 7 to move along the thickness direction of the brick pressing part 3, and the second slide groove 302 is used to drive the brick pressing mechanism 7 to move along the left and right directions, so that when the brick pressing mechanism 7 moves along the length direction of the brick pressing part 3, the brick pressing mechanism 7 will move up and down and forward and backward on the brick pressing part 3, so that the brick pressing mechanism 7 can perform a more precise brick pressing operation on the bricks at the bottom of the brick pressing part 3.

[0047] Specifically, if Figure 7 As shown, the brick pressing mechanism 7 includes an integrated rod 701 arranged along the front-to-back direction, and the front and rear ends of the integrated rod 701 are elastically connected to the first sliding rod 702 along the front-to-back direction, and the opposite ends of the two first sliding rods 702 are respectively slidably connected in the two first sliding grooves 301; when the first sliding rod 702 slides in the first sliding groove 301, the brick pressing mechanism 7 moves along the thickness direction of the brick pressing part 3, so that when the first sliding rod 702 moves along the trajectory of the first sliding groove 301, it will drive the brick pressing mechanism 7 as a whole to perform synchronous lifting and lowering movements.

[0048] Two second sliding rods 703 are fixedly provided on the bottom surface of the integrated rod 701, and the bottom ends of the two second sliding rods 703 are respectively slidably connected in the two second sliding grooves 302; when the second sliding rods 703 slide in the second sliding grooves 302, the brick pressing mechanism 7 moves in the left and right directions, so that when the second sliding rods 703 move along the trajectory of the second sliding grooves 302, it will drive the brick pressing mechanism 7 to move forward and backward as a whole.

[0049] It should be noted that both the first chute 301 and the second chute 302 are composed of a plurality of oblique grooves and a plurality of horizontal grooves, and when the first slide bar 702 moves within the oblique groove of the first chute 301, the second slide bar 703 moves within the oblique groove of the second chute 302; and when the first slide bar 702 moves within the horizontal groove of the first chute 301, the second slide bar 703 moves within the horizontal groove of the second chute 302. Therefore, when the first slide bar 702 is moved up and down to adjust the overall height of the brick pressing mechanism 7, the second slide bar 703 moves forward and backward, thereby adjusting the overall position of the brick pressing mechanism 7 on the brick pressing portion 3, so that the brick pressing mechanism 7 can more accurately align with the bricks to be flattened. When the first slide bar 702 moves to the horizontal groove at a lower position in the first slide groove 301, the bottom of the first slide bar 702 will press against the brick. At this time, the second slide bar 703 will also move in the horizontal groove of the second slide groove 302. Therefore, the brick pressing mechanism 7 as a whole will only move along the length direction of the brick pressing part 3 on the brick pressing part 3, thereby performing a brick pressing operation on the brick for a distance, so that the brick can be flattened from one side to the other by the brick pressing mechanism 7, and finally the upper surfaces of several bricks can be kept flat.

[0050] Furthermore, a plurality of brick pressing openings 303 are provided on the bottom wall of the brick pressing part 3, and the plurality of brick pressing openings 303 correspond one to one to the plurality of bricks at the bottom of the brick pressing part 3. A plurality of brick pressing rods 704 are arranged equidistantly along the width direction of the brick pressing part 3 at the bottom of the integrated rod 701, and the bottom ends of the plurality of brick pressing rods 704 can pass through the brick pressing openings 303 and extend to the bottom of the brick pressing part 3. The brick pressing rods 704 are used to press the bricks to make the upper surfaces of the plurality of bricks flush, so that when the first sliding rod 702 moves to the horizontal groove at a lower position in the first sliding groove 301, the brick pressing rods 704 will pass through the brick pressing openings 303 and extend to the bottom of the brick pressing part 3 to abut against the bricks at the bottom. Finally, the brick pressing rods 704 move a certain distance in the brick pressing openings 303 along the length direction of the brick pressing part 3, thereby performing a precise brick pressing operation on the bricks.

[0051] In order to better control the movement of the brick pressing mechanism 7, a connecting component 8 is fixed on the top surface of the brick pressing mechanism 7 in the present application. The connecting component 8 is used to movably connect with the top wall of the brick supporting part 5 so that the brick supporting part 5 drives the brick pressing mechanism 7 to move along the length direction of the brick pressing part 3, so that when it is necessary to drive the brick pressing mechanism 7 to move, the connecting component 8 can be used to connect the brick pressing mechanism 7 and the brick supporting part 5 together, so that the linear slide 6 can drive the brick pressing mechanism 7 to move synchronously when driving the brick supporting part 5 to move.

[0052] Specifically, such as Figure 6 - Figure 9As shown, the connecting assembly 8 includes a vertically arranged fixing member 801, the top surface of which is provided with a vertical slot 802. A movable member 803 is elastically connected to the vertical slot 802 along the thickness direction of the brick pressing portion 3. The inner top surface of the brick supporting portion 5 is provided with a limiting slot 501 for the top end of the movable member 803 to be inserted. In a natural state, the movable member 803 can be pushed into the limiting slot 501 by elastic force, so that when the brick supporting portion 5 moves along the length direction of the brick pressing portion 3, it can drive the connecting assembly 8 to move synchronously, thereby driving the brick pressing mechanism 7 to move synchronously. An electromagnet 804 is fixed to the bottom of the vertical slot 802. The electromagnet 804 is electrically connected to the mobile control vehicle 1. When the electromagnet 804 is energized, the electromagnet 804 is used to drive the movable member 803 to move toward the bottom of the vertical slot 802 to disengage the limiting slot 501, so that when the brick pressing mechanism 7 completes the brick pressing operation, it can be separated from the brick supporting portion 5.

[0053] A sliding opening 304 is defined along the length of the top wall of the brick-pressing portion 3. A fixing member 801 vertically extends through the sliding opening 304 and slides within the sliding opening 304. Rollers 805 are rotatably mounted on the front and rear walls of the fixing member 801. The two rollers 805 are respectively connected to the front and rear side walls of the sliding opening 304 to reduce friction when the fixing member 801 moves within the sliding opening 304, facilitating subsequent reset operations. A compression spring 9 is disposed within the sliding opening 304 along the length of the brick-pressing portion 3. The two ends of the compression spring 9 abut against the side walls of the sliding opening 304 and the side walls of the fixing member 801, respectively. In its natural state, the compression spring 9 is compressed, so that when the movable member 803 separates from the limiting groove 501, the compression spring 9 can reset the connecting assembly 8 to its initial position, thereby driving the brick-pressing mechanism 7 to move to its initial position.

[0054] During the specific implementation of this embodiment, the bottom wall of the brick supporting part 5 is used to support the bricks to cooperate with the brick pressing part 3 to drive the bricks downward, so that when the clamping claws 202 are released, the bricks can be clamped from the upper and lower sides by the brick pressing part 3 and the brick supporting part 5. Finally, the first cylinder 4 is used to control the brick pressing part 3 and the brick supporting part 5 to drive the bricks to slowly descend, so that the bricks reach a height closer to the ground. At this time, the bricks can be more stable in the process of falling into the paving area, reducing the occurrence of loose bricks.

[0055] On the other hand, when the brick pressing mechanism 7 slides along the length direction of the brick pressing part 3, the brick pressing mechanism 7 can contact the bricks at the bottom of the brick pressing part 3 through the lifting movement. And as the brick pressing mechanism 7 slides along the length direction of the brick pressing part 3, the brick pressing mechanism 7 can press the bricks from one side to the other, realizing the brick pressing operation, and finally making the upper surfaces of all bricks in a flush state, further reducing the burden of subsequent work.

[0056] Example 2: Please refer to Figure 1 - Figure 11 An automatic brick laying method, applicable to the brick laying device in embodiment 1, comprises the following steps:

[0057] First, use the mobile control vehicle 1 and the robotic arm 2 to control the installation plate 201 to move to the pre-stacked brick pile, and use the clamp 202 to clamp the bricks to be laid. During the clamping process, the first cylinder 4 needs to be used to control the brick pressing part 3 to rise and fall, so that the bottom surface of the brick pressing part 3 can fit with the top surface of the brick, and the side of the brick that is not clamped by the clamp 202 needs to abut the side of the baffle 305. At this time, only one side of the brick is in an unprotected state. Then move the clamped brick to directly above the area where it needs to be laid.

[0058] Then, the linear slide 6 is used to drive the brick supporting part 5 to move from the side of the brick pressing part 3 to the position opposite to the brick pressing part 3, so that the top wall of the brick supporting part 5 moves between the brick pressing part 3 and the mounting plate 201, and the bottom wall of the brick supporting part 5 moves to below the brick at the bottom of the brick pressing part 3. Then, the second cylinder 502 can be used to control the bottom wall of the brick supporting part 5 to rise and fall until the bottom wall of the brick supporting part 5 and the bottom of the brick are in contact. At this time, the brick pressing part 3 and the brick supporting part 5 can clamp and fix the upper and lower surfaces of the brick. During this process, the limit groove 501 on the brick supporting part 5 will move to a position aligned with the movable part 803. At this time, the mobile control vehicle 1 can be used to control the electromagnet 804 to cut off the power, so that the movable part 803 is no longer adsorbed, and the movable part 803 can be inserted into the limit groove 501 to limit the connecting component 8, so that the brick pressing mechanism 7 and the brick supporting part 5 are connected together through the connecting component 8.

[0059] Then use the robot 2 to control the bricks to slowly descend to the laying area until the bottom surface of the gripper 202 is flush with the upper surface of the bricks already laid on the ground, and the unprotected side of the bricks needs to be docked with the bricks already laid, such as Figure 10 As shown, at this time, the bottom surface of the clamped brick is lower than the top surface of the laid brick, that is, a part of the brick has entered the laying area.

[0060] The clamping jaws 202 are then released. The sides of the brick are no longer clamped by the clamping jaws 202, but the clamping jaws 202 can still limit the sides of the brick. The upper and lower sides of the brick are now respectively abutted by the brick pressing portion 3 and the brick supporting portion 5. The first cylinder 4 can then be used to drive the brick pressing portion 3 and the brick supporting portion 5 to slowly move downward, thereby shortening the distance between the brick and the ground, until the brick supporting portion 5 is very close to the ground.

[0061] Finally, the linear slide 6 can be used to drive the brick supporting part 5 to move outward, so that the brick supporting part 5 is pulled out from the bottom of the brick. At this time, the brick state will be as follows: Figure 11As shown. At the same time, the brick-holding portion 5 drives the brick-pressing mechanism 7 to move outward synchronously. During this movement, the first slide bar 702 moves within the first chute 301, and the second slide bar 703 moves within the second chute 302, thereby enabling the brick-pressing mechanism 7 to move up and down and forward and backward as a whole. When the first slide bar 702 moves within the oblique groove of the first chute 301, the second slide bar 703 moves within the oblique groove of the second chute 302; when the first slide bar 702 moves within the horizontal groove of the first chute 301, the second slide bar 703 moves within the horizontal groove of the second chute 302. That is, when the first slide bar 702 is raised or lowered to adjust the overall height of the brick-pressing mechanism 7, the second slide bar 703 moves forward and backward, thereby adjusting the overall position of the brick-pressing mechanism 7 on the brick-pressing portion 3, allowing the brick-pressing mechanism 7 to more accurately align with the bricks that need to be flattened. When the first slide bar 702 moves to the lower horizontal groove of the first chute 301, the bottom of the first slide bar 702 will press against the brick. At this time, the second slide bar 703 will also move in the horizontal groove of the second chute 302. Therefore, the brick pressing mechanism 7 as a whole will only move along the length of the brick pressing part 3 on the brick pressing part 3, thereby pressing the bricks for a certain distance. Ultimately, all bricks can be flattened from side to side by the brick pressing mechanism 7, thereby achieving the flattening and alignment of the bricks, completing the automatic brick laying operation, and eliminating the need for subsequent manual alignment and brick pressing operations.

[0062] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0063] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An automatic brick-laying device for facilitating stable brick placement, comprising a mechanical arm mounted on a mobile control vehicle, a mounting plate being provided at the movable end of the mechanical arm, and claws being provided on both the front and rear sides of the bottom surface of the mounting plate, characterized in that: It further includes: A brick pressing part, which is arranged below the mounting plate through a first cylinder. The brick pressing part can move up and down along the thickness direction of the mounting plate, and the brick pressing part has an internally hollow structure without left and right side walls; A brick supporting part, which is in a U-shaped form. The top wall of the brick supporting part is located between the top surface of the brick pressing part and the mounting plate, and the bottom wall of the brick supporting part is located below the brick pressing part. A linear slide is further provided on the top surface of the brick pressing part for driving the brick supporting part to slide in the left and right directions. The bottom wall of the brick supporting part is used for supporting bricks to cooperate with the brick pressing part to drive the bricks to move downward; A brick pressing mechanism, which is slidably arranged in the brick pressing part in the left and right directions. When the brick pressing mechanism slides in the left and right directions, the brick pressing mechanism can reciprocally move up and down along the thickness direction of the brick pressing part for continuously pressing the bricks on the bottom surface of the brick pressing part; A second cylinder is provided on the side wall of the brick supporting part along the thickness direction of the brick pressing part. The second cylinder is used for driving the bottom wall of the brick supporting part to move away from or close to the top wall of the brick supporting part. A baffle is fixedly provided at the bottom of the brick pressing part, and the baffle is located on one side close to the second cylinder between the bottom wall of the brick supporting part and the bottom of the brick pressing part.

2. The automatic brick-laying device for facilitating stable brick placement according to claim 1, characterized in that: A connecting component is fixedly provided on the top surface of the brick pressing mechanism. The connecting component is used for movably connecting with the top wall of the brick supporting part so that the brick supporting part can drive the brick pressing mechanism to move in the left and right directions.

3. The automatic brick-laying device for facilitating stable brick placement according to claim 1, characterized in that: First chutes are respectively opened on the front and rear side walls of the brick pressing part along the length direction of the brick pressing part. Second chutes are respectively opened at positions close to the front and rear ends of the inner bottom surface of the brick pressing part along the length direction of the brick pressing part. Both the first chutes and the second chutes are used for the brick pressing mechanism to be slidably connected; both the first chutes and the second chutes are in a toothed structure. The first chutes are used for driving the brick pressing mechanism to move in the thickness direction of the brick pressing part, and the second chutes are used for driving the brick pressing mechanism to move in the left and right directions.

4. The automatic brick-laying device for facilitating stable brick placement according to claim 3, characterized in that: The brick pressing mechanism includes an integrated rod arranged in the front and rear directions. The front and rear ends of the integrated rod are elastically connected with first sliding rods in the front and rear directions respectively. The opposite ends of the two first sliding rods are respectively slidably connected in the two first chutes; when the first sliding rods slide in the first chutes, the brick pressing mechanism moves in the thickness direction of the brick pressing part.

5. The automatic brick-laying device for facilitating stable brick placement according to claim 4, characterized in that: Two second sliding rods are fixedly provided on the bottom surface of the integrated rod. The bottom ends of the two second sliding rods are respectively slidably connected in the two second chutes; when the second sliding rods slide in the second chutes, the brick pressing mechanism moves in the left and right directions.

6. The automatic brick-laying device for facilitating stable brick placement according to claim 5, characterized in that: A plurality of brick pressing openings are formed in the bottom wall of the brick pressing part. The plurality of brick pressing openings correspond to a plurality of bricks at the bottom of the brick pressing part respectively. A plurality of brick pressing rods are arranged at equal intervals along the width direction of the brick pressing part at the bottom of the integrated rod. The bottom ends of the plurality of brick pressing rods can pass through the brick pressing openings and extend to the bottom of the brick pressing part. The brick pressing rods are used for pressing the bricks so that the upper surfaces of the plurality of bricks are flush.

7. The automatic brick-laying device for facilitating stable brick placement according to claim 2, characterized in that: The connecting assembly includes a fixing part arranged vertically, a vertical groove is provided on the top surface of the fixing part, a movable part is elastically connected to the vertical groove along the thickness direction of the brick pressing part, and a limiting groove is provided on the inner top surface of the brick supporting part for inserting the top end of the movable part. An electromagnet is fixed to the bottom of the vertical groove, and the electromagnet is electrically connected to the mobile control vehicle; when the electromagnet is energized, the electromagnet is used to drive the movable part to move to the bottom of the vertical groove to disengage from the limiting groove.

8. The automatic brick-laying device for facilitating stable brick placement according to claim 7, characterized in that: A sliding opening is provided on the top wall of the brick pressing part along its length direction, the fixing part vertically passes through the sliding opening, and the fixing part slides in the sliding opening, rollers are rotatably provided on the front and rear side walls of the fixing part, and the two rollers are respectively connected to the front and rear side walls of the sliding opening, and a compression spring is provided in the sliding opening along the length direction of the brick pressing part, and the two ends of the compression spring respectively abut against the side walls of the sliding opening and the side walls of the fixing part; in a natural state, the compression spring is in a compressed state.

9. An automatic brick laying method, applicable to the brick laying equipment according to any one of claims 1 to 8, characterized in that: The following steps are involved: First, the mobile control vehicle and the robotic arm are used to control the mounting plate to move to the pre-stacked brick pile. The bricks to be laid are clamped by the grippers and moved to the area where they need to be laid. Then control the bricks to slowly descend to the paving area until the bottom surface of the clamp is flush with the upper surface of the bricks already laid on the ground; Then, the linear slide is used to drive the brick supporting part to move, so that the top wall of the brick supporting part moves to between the brick pressing part and the mounting plate, and the bottom wall of the brick supporting part moves to below the bottom brick of the brick pressing part until the bottom wall of the brick supporting part fits with the bottom of the brick; Then, the clamping jaws are released, so that the upper and lower sides of the brick are respectively abutted by the brick pressing part and the brick supporting part, and the brick pressing part and the brick supporting part are driven by the first cylinder to slowly move downward to shorten the distance between the brick and the ground; Finally, the linear slide is used to drive the brick supporting part to move outward, so that the brick supporting part is pulled out from the bottom of the brick, and the brick pressing mechanism is used to flatten and align the bricks to complete the automatic brick laying.

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