Automatic wall building equipment

Abstract

The invention discloses wall building equipment, and particularly relates to automatic wall building equipment which comprises a walking device, a lifting platform device, a rotating platform device, a mortar coating device, a brick clamping manipulator device, a mortar scraping manipulator device, a single-axis motion platform and an aluminum profile rack. All the clamping jigs are uniformly distributed on the concentric circle track of the rotating platform; a discharge port of the stirring barrel is positioned right above the bricks clamped by the clamping jigs which stop in the pasting station; the brick clamping manipulator device drives the pair of mechanical fingers to be correspondingly inserted into the pair of inserting holes in the clamping jig located in the clamping station one by one, and then drives the pair of mechanical fingers to move oppositely to drive the clamping jig to clamp the brick. The technical purposes of improving the construction efficiency and recycling mortar are achieved. The construction efficiency is improved by 3-5 times compared with that of traditional manual work, and can also be improved by 1-3 times compared with that of existing semi-automatic / automatic wall building equipment; and the mortar recovery rate is up to 90%.

Description

Technical Field

[0001] The present invention relates to a wall - building device, especially an automated wall - building device. Background Art

[0002] Currently, the global construction industry is facing an increasingly severe labor shortage problem. The shortage of brick - laying workers and social demands have gradually given rise to the birth of semi - automated / automated wall - building equipment, highlighting the urgent need for automated solutions in the industry. To address these challenges, the development of semi - automated / automated wall - building equipment has become a key direction for construction technology innovation, aiming to relieve labor pressure through technological means and effectively control costs.

[0003] For example, a Chinese invention patent document with the patent number CN202011187512.5 records an automatic wall - building machine and its wall - building method; a Chinese invention patent application document with the patent application number CN202211741077.5 records an integrated automatic wall - building robot wall - building process.

[0004] Currently, the existing semi - automated / automated wall - building equipment in the prior art can perform operations such as mortar coating, stacking, and sorting of bricks, but it still has the following deficiencies: Firstly, the structure of the brick - clamping manipulator device is relatively complex and the manufacturing cost is relatively high; at the same time, the operations of clamping, coating, and stacking bricks cannot be completed during a single clamping process of the manipulator, and the construction efficiency is relatively low. Secondly, the cement mortar overflowing after the bricks are compacted cannot be scraped off in a timely manner and still needs to be removed manually, which is not only rather troublesome to operate but also likely to cause waste of cement mortar.

[0005] Therefore, the present invention is proposed. Summary of the Invention

[0006] The purpose of the present invention is to provide an automated wall - building device to solve the above - mentioned deficiencies of the prior art. The operations of clamping, coating, and stacking bricks can be completed during a single clamping process of the manipulator, thereby improving the construction efficiency. At the same time, it can press the just - stacked mortar - coated bricks and recover the excess mortar overflowing between the bricks for reuse in subsequent masonry.

[0007] To achieve the above purpose, an automated wall - building device designed by the present invention includes: A traveling device; A lifting platform device; A rotating platform device includes a stepper motor or servo motor, a sheave mechanism, and a rotating platform; a positioning structure for a clamping fixture is formed on the table of the rotating platform; a dial of the sheave mechanism is connected to the output end of the stepper motor or servo motor via a coupling; the rotating platform is fixed to the sheave of the sheave mechanism and is a coaxial structure; The slurry coating device includes a stepper motor or a second servo motor, a variable pitch helical blade, and a mixing drum; the mixing drum is provided with a discharge port whose on / off state can be switched; the variable pitch helical blade is connected to the output end of the stepper motor or the second servo motor via a second coupling, and is placed in the mixing drum and constantly rotates; A brick-holding robot device comprises a three-axis cylinder, a stepper motor or a servo motor, a rack and pinion mechanism, a pair of mechanical fingers and one or more holding fixtures; The stepper motor or servo motor 3 is fixed to the baffle of the three-axis cylinder 1 through a bracket 1, and the three-axis cylinder 1 drives the stepper motor or servo motor 3 to perform longitudinal reciprocating linear motion along the stroke of its piston rod; A guide frame 1 is fixed on the bracket 1 to support and guide the pair of racks of the gear rack mechanism 1; The motor shaft of the stepper motor or servo motor 3 is connected to a gear of the rack and pinion mechanism 1 to drive a pair of racks of the rack and pinion mechanism 1 to always perform reciprocating linear motion; A pair of mechanical fingers correspond to a pair of racks one by one and are respectively fixed to their corresponding racks; A mortar scraping robot device comprises a three-axis cylinder 2, a stepping motor or a servo motor 4, a gear rack mechanism 2, a pair of mechanical scrapers and a pair of pressure rod mechanisms; The stepper motor or servo motor 4 is fixed to the baffle of the three-axis cylinder 2 through a bracket 2, and the three-axis cylinder 2 drives the stepper motor or servo motor 4 to perform longitudinal reciprocating linear motion along the stroke of its piston rod; a guide frame 2 is fixed on the bracket 2 to support and guide the pair of racks of the gear rack mechanism 2, and a support plate is fixed on the guide frame 2; The motor shaft of the stepper motor or servo motor 4 is connected to a gear of the gear rack mechanism 2 to drive a pair of racks of the gear rack mechanism 2 to always perform horizontal reciprocating linear motion; A pair of mechanical scrapers corresponds to a pair of racks one by one and is fixed to the corresponding racks respectively; Each of the pair of compression rod mechanisms includes a guide rod sleeve, a helical spring, and a compression rod. The three are coaxially distributed parallel to the piston rod of the three-axis cylinder two. The helical spring is sleeved on the compression rod, and one end of the helical spring abuts against one shoulder of the stepped portion formed on the surface of the compression rod. One side of the compression rod passes through the guide rod sleeve, and both the helical spring and the stepped portion of the compression rod are inserted into the guide rod sleeve. At the same time, the other end of the helical spring abuts against the shoulder of the stepped hole portion formed at one end of the guide rod sleeve. The other side of the compression rod extends between a pair of mechanical scrapers through a through hole preset on the support plate, and the other shoulder of its stepped portion abuts against the support plate. At the same time, the other end of the guide rod sleeve is fixed to the support plate; A single-axis motion platform, and the stroke of the slide of the single-axis motion platform extends outside the device; And, an aluminum profile frame; Among them, the lifting platform device is installed on the traveling device, and the lifting platform of the lifting platform device always makes longitudinal reciprocating linear motion; The stepping motor or servo motor one of the rotary platform device is installed on the lifting platform of the lifting platform device. The Geneva mechanism and the rotary platform of the rotary platform device are both located above the lifting platform, and the Geneva wheel of the Geneva mechanism is pivotally connected to the tabletop of the lifting platform; All the clamping fixtures of the brick clamping manipulator device are independently positioned on the tabletop of the rotary platform. All the clamping fixtures are evenly distributed on the concentric circle track of the rotary platform, and within one rotation period of the rotary platform driven by the stepping motor or servo motor one through the Geneva mechanism, at least one clamping fixture is displaced to the preset clamping station and stops, and at least one clamping fixture is also displaced to the preset grouting station and stops; The aluminum profile frame is installed on the lifting platform of the lifting platform device. The grouting device and the single-axis motion platform are both installed on the aluminum profile frame; the discharge port of the mixing drum is located directly above the brick clamped by the clamping fixture that stops at the grouting station; The three-axis cylinder one of the brick clamping manipulator device and the three-axis cylinder two of the mortar scraping manipulator device are both installed on the slide of the single-axis motion platform through a support arm. During the stroke of the slide of the single-axis motion platform, the brick clamping manipulator device drives a pair of mechanical fingers to be inserted into a pair of jacks on the clamping fixture located at the clamping station one by one through the three-axis cylinder one, and then drives the pair of mechanical fingers to move towards each other through the stepping motor or servo motor three to drive the clamping fixture to clamp the brick.

[0008] In the present invention, the Geneva mechanism precisely controls the rotation and positioning of bricks through intermittent motion. In cooperation with the mortar coating device and the brick clamping manipulator device, the clamping, coating, and stacking operations of bricks can be completed during a single clamping process of the manipulator. The construction efficiency is increased by 3 - 5 times compared with traditional manual work, and also increased by 1 - 3 times compared with existing semi - automated / automated wall - building equipment, significantly shortening the project cycle.

[0009] In addition, during the wall - building process, the present invention can press the mortar - coated bricks that have just been stacked and recover the excess mortar overflowing between the bricks, and then reuse it for subsequent masonry.

[0010] In addition, for the brick clamping manipulator device of the automated wall - building equipment with the structural design in the present invention, through the combined use of mechanical fingers and clamping fixtures, it integrates the advantages of generality and specificity. Its structure is relatively simpler and the manufacturing cost is relatively lower.

[0011] Furthermore, for the above - mentioned automated wall - building equipment, preferably, a rod cap capable of increasing the contact area between the pressure rod and the brick is provided at the end of the pressure rod extending between a pair of mechanical scrapers in its structure. Thereby, the pressure exerted by the pressure rod mechanism on the brick can be reduced, making the pressure exerted by the pressure rod mechanism on the brick more balanced, and then improving the brick masonry effect.

[0012] Furthermore, for the above - mentioned automated wall - building equipment, preferably, the specific structure of the clamping fixture includes: A rectangular frame body, with a notch on its contour, and a pair of insertion parts extending outward from the two ends where the notch is located to the outside of the rectangular frame body. Each insertion part is provided with a jack. A pair of mechanical fingers are inserted into the corresponding jacks one by one, and the rectangular frame body is deformed by the opposite movement of the pair of mechanical fingers to clamp the brick.

[0013] Even further, the specific structure of the clamping fixture preferably further includes: A pair of rib plate parts extending from the opposite side wall of the notch to the notch and protruding from the notch, and the pair of rib plate parts are located between the pair of insertion parts. One or more abutting parts are provided on the opposite surfaces of the pair of rib plate parts.

[0014] In the above - mentioned preferred technical solution, when the brick is placed in the rectangular frame body of the clamping fixture, only the opposite movement of a pair of mechanical fingers is needed to drive the rectangular frame body to deform and clamp the brick. The brick clamping method of the clamping fixture is simple, and at the same time, it can ensure firm and stable clamping.

[0015] Furthermore, in the structure of the above-mentioned automatic wall-building equipment, the positioning structure for the clamping fixture formed on the tabletop of the rotating platform is preferably: a convex portion extending outward from the tabletop of the rotating platform, which matches the contour of the clamping fixture and semi-surrounds the clamping fixture.

[0016] The positioning structure for the clamping fixture formed on the tabletop of the above-mentioned rotating platform is simple and stable.

[0017] In the structure of the above-mentioned automatic wall-building equipment, the lifting platform device is preferably a scissor-type lifting platform device, which has high stability after lifting.

[0018] Compared with the prior art, an automatic wall-building equipment obtained by the present invention has the following technical effects: In the present invention, the Geneva mechanism accurately controls the rotation and positioning of bricks through intermittent motion. Cooperating with the brick clamping manipulator device, the clamping, coating, and stacking operations of bricks can be completed in a single clamping process of the manipulator. The construction efficiency is increased by 3-5 times compared with traditional manual work, and also increased by 1-3 times compared with existing semi-automatic / automatic wall-building equipment, significantly shortening the project cycle.

[0019] During the wall-building process, the present invention can press the just-stacked mortar-coated bricks and recover the excess mortar overflowing between the bricks, and then reuse it for subsequent masonry. The mortar recovery rate is as high as 90%, meeting the circular construction standard of LEED green building certification, significantly reducing the construction cost and environmental load. Through the closed-loop design of "extrusion + scraping + circulation" by machinery, it not only solves the pain point of mortar material waste in traditional wall-building, but also reduces the device complexity through structural integration.

[0020] In addition, for the brick clamping manipulator device of the automatic wall-building equipment with the structural design in the present invention, through the combined use of mechanical fingers and clamping fixtures, it integrates the advantages of generality and specialty. Its structure is relatively simpler and the manufacturing cost is relatively lower, having significant advantages in the field of automatic brick handling (of course, it is also applicable to the automatic handling and assembly of other materials): 1. Improve generality and flexibility: Core advantage: The mechanical fingers are universal, and different clamping fixtures can be quickly replaced to adapt to bricks of various shapes, sizes, and materials. This greatly improves the application range of a single brick clamping manipulator device, and there is no need to equip special manipulators for bricks of different specifications and sizes.

[0021] Quick changeover: Only by replacing the fixture can the wall-building task be quickly adapted, significantly reducing the downtime for changeover.

[0022] 2. Optimize clamping performance and protect bricks: Precise fitting: The clamping fixture can be precisely designed and manufactured according to the specific contour and key clamping points of the brick, providing the best contact area and pressure distribution to ensure firm, stable clamping without easily damaging the brick.

[0023] Integration of special functions: Soft contact surfaces (silicone, polyurethane), profiling contours, sensors (position detection, pressure detection), etc. can be conveniently integrated onto the clamping fixture to meet specific clamping requirements (such as anti-slip, precise positioning, process monitoring, etc.).

[0024] 3. Protect the more costly mechanical fingers: Barrier effect: The clamping fixture acts as a physical barrier between the mechanical finger and the workpiece. Wear, impact, debris, etc. mainly act on the relatively inexpensive and easily replaceable fixture, rather than the precision mechanical finger body.

[0025] Reduce maintenance costs: Replacing or repairing a damaged clamping fixture is much lower in cost and faster in time than repairing or replacing the entire mechanical finger module.

[0026] 4. Simplify the mechanical finger design: Reduce complexity: The mechanical finger itself can be designed to be simpler and more standardized (for example, only providing basic opening and closing actions and sufficient clamping force). Complex clamping shapes and special functions are left to the fixture to achieve.

[0027] Improve reliability: Simpler mechanical fingers generally mean higher reliability, lower failure rates, and lower manufacturing costs.

[0028] 5. Improve efficiency and positioning accuracy: Precise positioning: The special clamping fixture can more precisely and quickly guide the brick into the predetermined position, reducing the positioning accuracy requirements of the mechanical finger itself and improving the accuracy and speed of overall assembly or placement.

[0029] Reduce adjustments: For specific bricks, using a special clamping fixture is usually faster and more reliable than adjusting the stroke, position of a general mechanical finger or replacing finger sleeves.

[0030] 6. Reduce costs (total cost of ownership): The cost of the clamping fixture is relatively lower: The design and manufacturing cost of the special fixture is relatively low.

[0031] Optimize inventory management: Only various fixtures need to be stored, rather than storing multiple special and complex mechanical finger modules.

[0032] 7. Facilitate design and iteration: Modular design: The entire system adopts the modular design concept. The mechanical finger is a standard module, and the fixture is a special module.

[0033] Quick response to changes: When the brick specifications and size designs change, usually only new fixtures need to be redesigned and manufactured, without the need to modify the core manipulator and finger systems, with a fast response speed. Description of the Drawings

[0034] Figure 1 is a schematic structural diagram of an automatic wall-building device; Figure 2 is a schematic structural diagram of the rotary platform device installed on the lifting platform; Figure 3 is Figure 2 the top view of Figure 4 is Figure 3 the sectional view at a-a in Figure 5 is a schematic structural diagram of the mortar coating device; Figure 6 is a schematic structural diagram of the brick clamping manipulator device; Figure 7 is a schematic structural diagram of the clamping fixture; Figure 8 is Figure 6 the schematic structural diagram of adding bricks in the brick clamping manipulator device shown in Figure 9 is a schematic structural diagram of a mortar scraping manipulator device; Figure 10 is the top view of the pressure bar mechanism; Figure 11 is Figure 10 the sectional view at b-b in Figure 12 is a schematic structural diagram of another mortar scraping manipulator device.

[0035] In the figure: walking device 1, lifting platform device 2, lifting platform 2-1, rotating platform device 3, stepper motor or servo motor 1 3-1, rotating platform 3-2, protrusion 3-2-1, grooved pulley 3-3, dial 3-4, coupling 1 3-5, mortar spreading device 4, stepper motor or servo motor 2 4-1, variable pitch helical blade 4-2, mixing drum 4-3, discharge port 4-3-1, coupling 2 4-4, brick clamping manipulator device 5, three-axis cylinder 1 5-1, stepper motor or servo motor 3 5-2, mechanical finger 5-3, clamping fixture 5-4, rectangular frame 5-4-1, notch 5-4-2, insertion part 5-4-3, insertion hole 5-4-3-1, rib plate part 5-4-4, abutting part 5-4-5, support 1 5-5, guide frame 1 5-6, gear-rack mechanism 1 5-7, mortar scraping manipulator device 6, three-axis cylinder 2 6-1, stepper motor or servo motor 4 6-2, mechanical scraper 6-3, pressing rod mechanism 6-4, guide rod sleeve 6-4-1, stepped hole part 6-4-1-1, helical spring 6-4-2, pressing rod 6-4-3, stepped part 6-4-3-1, rod cap 6-4-4, support 2 6-5, guide frame 2 6-6, gear-rack mechanism 2 6-7, support plate 6-8, single-axis moving platform 7, aluminum profile frame 8, roller needle bearing 9-1, bearing connecting piece 9-2, brick 10. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the present invention.

[0037] As Figure 1-11 shown, as an implementation manner of the present invention, an automatic wall-building device provided in this embodiment includes: Walking device 1. In this embodiment, a wheeled walking device is adopted, which relies on the rolling of wheels, is suitable for flat terrains, and has a relatively high moving speed and good ground adaptability; Lifting platform device 2. In this embodiment, a scissor-type lifting platform device is adopted, which has relatively high stability after lifting; Rotating platform device 3, as Figure 2-4As shown, it includes a stepper motor or servo motor 3-1, a sheave mechanism and a rotating platform 3-2; a positioning structure for a clamping fixture 5-4 is formed on the table of the rotating platform 3-2; the sheave 3-3 of the sheave mechanism has four grooves; the dial 3-4 of the sheave mechanism is connected to the output end of the stepper motor or servo motor 3-1 through a coupling 3-5; the rotating platform 3-2 is fixed to the sheave 3-3 of the sheave mechanism and is a coaxial structure; The coating device 4, such as Figure 5 As shown, it includes a stepper motor or servo motor 2 4-1, a variable pitch helical blade 4-2 and a mixing drum 4-3; the mixing drum 4-3 is provided with a discharge port 4-3-1 whose on / off state can be switched; the variable pitch helical blade 4-2 is connected to the output end of the stepper motor or servo motor 2 4-1 through a coupling 2 4-4, and is placed in the mixing drum 4-3 and always rotates to stir the mortar in the mixing drum 4-3; Brick gripping manipulator device 5, such as Figure 6-8 As shown, it includes a three-axis cylinder 5-1, a stepper motor or servo motor 5-2, a gear rack mechanism 5-7, a pair of mechanical fingers 5-3 and four clamping fixtures 5-4; The stepper motor or servo motor 3 5-2 is fixed to the baffle of the three-axis cylinder 1 5-1 through a bracket 1 5-5, and the three-axis cylinder 1 5-1 drives the stepper motor or servo motor 3 5-2 to perform longitudinal reciprocating linear motion along the stroke of its piston rod; A guide frame 5-6 is fixed on the bracket 5-5 to support and guide a pair of racks of the gear rack mechanism 5-7; The motor shaft of the stepper motor or servo motor 3 5-2 is connected to a gear of the rack and pinion mechanism 1 5-7 to drive a pair of racks of the rack and pinion mechanism 1 5-7 to always perform reciprocating linear motion; A pair of robotic fingers 5-3 correspond to a pair of racks one by one and are respectively fixed to their corresponding racks; Mortar scraping robot device 6, such as Figure 9 As shown, it includes a three-axis cylinder 2 6-1, a stepper motor or servo motor 4 6-2, a gear rack mechanism 2 6-7, a pair of mechanical scrapers 6-3 and a pair of pressure rod mechanisms 6-4; A stepper motor or servo motor 4 6-2 is fixed to the baffle of the three-axis cylinder 2 6-1 via a bracket 2 6-5. The three-axis cylinder 2 6-1 drives the stepper motor or servo motor 4 6-2 to perform longitudinal reciprocating linear motion along the stroke of its piston rod. A guide frame 2 6-6 is fixed to the bracket 2 6-5 to support and guide the pair of racks of the gear rack mechanism 2 6-7. A support plate 6-8 is fixed to the guide frame 2 6-6. The motor shaft of the stepper motor or servo motor 4 6-2 is connected to a gear of the gear rack mechanism 2 6-7 to drive a pair of racks of the gear rack mechanism 2 6-7 to always perform horizontal reciprocating linear motion; A pair of mechanical scrapers 6-3 correspond to a pair of racks one by one and are respectively fixed to their corresponding racks; like Figure 10 and Figure 11 As shown, a pair of pressure rod mechanisms 6-4 each includes a guide rod sleeve 6-4-1, a coil spring 6-4-2 and a pressure rod 6-4-3, which are coaxially distributed parallel to the piston rod of the three-axis cylinder 2 6-1, wherein the coil spring 6-4-2 is sleeved on the pressure rod 6-4-3, and one end of the coil spring 6-4-2 abuts against the shoulder of one side of the step 6-4-3-1 formed on the surface of the pressure rod 6-4-3, one side of the pressure rod 6-4-3 passes through the guide rod sleeve 6-4-1, and the coil spring 6-4-2 and the pressure rod are coaxially distributed parallel to the piston rod of the three-axis cylinder 2 6-1. The stepped portion 6-4-3-1 of 6-4-3 is inserted into the guide rod sleeve 6-4-1, and the other end of the coil spring 6-4-2 abuts against the shoulder of the stepped hole portion 6-4-1-1 formed by one end of the guide rod sleeve 6-4-1. The other side of the pressure rod 6-4-3 passes through the preset through hole on the support plate 6-8 and extends to between the pair of mechanical scrapers 6-3. The other side shoulder of the stepped portion 6-4-3-1 abuts against the support plate 6-8. At the same time, the other side end of the guide rod sleeve 6-4-1 is fixed to the support plate 6-8. A single-axis motion platform 7, wherein the slide travel of the single-axis motion platform 7 extends outside the device; and, an aluminum profile frame 8; The lifting platform device 2 is mounted on the walking device 1, and the lifting platform 2-1 of the lifting platform device 2 always performs longitudinal reciprocating linear motion; The stepper motor or servo motor 3-1 of the rotating platform device 3 is installed on the lifting platform 2-1 of the lifting platform device 2 and is located below the lifting platform 2-1. The sheave mechanism and the rotating platform 3-2 of the rotating platform device 3 are both located above the lifting platform 2-1, and the sheave 3-3 of the sheave mechanism is pivotally connected to the bearing connector 9-2 pre-installed on the table of the lifting platform 2-1 via a roller needle bearing 9-1. All the clamping fixtures 5-4 of the brick clamping manipulator device 5 are independently and fixedly positioned on the tabletop of the rotary platform 3-2. All the clamping fixtures 5-4 are evenly distributed on the concentric circle track of the rotary platform 3-2. During one rotation period of the rotary platform 3-2 driven by the stepper motor or servo motor 3-1 through the grooved wheel mechanism, the four clamping fixtures 5-4 are sequentially displaced to the preset clamping workstations and stop, and similarly, the four clamping fixtures 5-4 are sequentially displaced to the preset mortar coating workstations and stop; The aluminum profile frame 8 is installed on the lifting platform 2-1 of the lifting platform device 2. The mortar coating device 4 and the single-axis moving platform 7 are both installed on the aluminum profile frame 8; The discharge port 4-3-1 of the mixing drum 4-3 is located directly above the brick 10 clamped by the clamping fixture 5-4 that stops at the mortar coating workstation; The three-axis cylinder 5-1 of the brick clamping manipulator device 5 and the three-axis cylinder 6-1 of the mortar scraping manipulator device 6 are both installed on the slide of the single-axis moving platform 7 through a support arm. On the stroke of the slide of the single-axis moving platform 7, the brick clamping manipulator device 5 drives a pair of mechanical fingers 5-3 to be inserted into a pair of jacks 5-4-3-1 on the clamping fixture 5-4 located at the clamping workstation one by one through the three-axis cylinder 5-1, and then drives the pair of mechanical fingers 5-3 to move towards each other through the stepper motor or servo motor 5-2 to drive the clamping fixture 5-4 to clamp the brick 10.

[0038] In this embodiment, the specific structure of the clamping fixture 5-4 includes: A rectangular frame 5-4-1, on the contour of which there is a notch 5-4-2, and both ends where the notch 5-4-2 is located extend out of the rectangular frame 5-4-1 to form a pair of plug-in parts 5-4-3. A jack 5-4-3-1 is provided on each plug-in part 5-4-3; A pair of rib parts 5-4-4 extend from the opposite side wall of the notch 5-4-2 towards the notch 5-4-2 and extend out of the notch 5-4-2. The pair of rib parts 5-4-4 are located between the pair of plug-in parts 5-4-3; A pair of abutting parts 5-4-5 are provided on the opposite surfaces of the pair of rib parts 5-4-4; A pair of mechanical fingers 5-3 are inserted into a pair of jacks 5-4-3-1 one by one, and the rectangular frame 5-4-1 is deformed by driving the pair of mechanical fingers 5-3 to move towards each other to clamp the brick 10. The brick 10 is placed inside the rectangular frame 5-4-1 of the clamping fixture 5-4. Only by driving the pair of mechanical fingers 5-3 to move towards each other can the rectangular frame 5-4-1 be deformed to clamp the brick 10. The clamping method of the brick 10 by the clamping fixture 5-4 is simple, and at the same time, it can ensure firm and stable clamping.

[0039] Correspondingly, a positioning structure for the clamping jig 5-4 is formed on the table surface of the rotating platform 3-2 in this embodiment: a protrusion 3-2-1 extending outward from the table surface of the rotating platform 3-2 matches the outline of the rectangular frame 5-4-1 of the clamping jig 5-4 and semi-encloses the clamping jig 5-4.

[0040] The positioning structure of the clamping fixture 5-4 formed on the table surface of the rotating platform 3-2 is simple and stable.

[0041] As the second embodiment of the present invention, its general structure is consistent with the first embodiment. Figure 12 As shown, in this embodiment, an automated wall-building equipment is provided, in which a rod cap 6-4-4 is provided at the end of a pressure rod 6-4-3 extending between a pair of mechanical scrapers 6-3, which can increase the contact area between the pressure rod 6-4-3 and the brick 10, thereby reducing the pressure applied by the pressure rod mechanism 6-4 to the brick 10, making the pressure applied by the pressure rod mechanism 6-4 to the brick 10 more balanced, thereby improving the masonry effect of the brick 10.

[0042] The working method of the automated wall-building equipment in the above embodiment is as follows: Step 1: Apply mortar to brick 10 The user adds bricks 10 to the rectangular frames 5-4-1 of the four clamping fixtures 5-4 on the rotating platform 3-2. At the same time, the stepper motor or servo motor 3-1 drives the rotating platform 3-2 to make unidirectional periodic rotation with pauses through the grooved wheel mechanism. The four clamping fixtures 5-4 and the bricks 10 inside them move one by one to the slurry coating station and pause. During this process, the mortar in the mixing drum 4-3 falls on each brick 10 located at the slurry coating station by switching the discharge port 4-3-1 of the mixing drum 4-3. Step 2: Clamping and stacking bricks 10 The rotating platform 3-2 continuously makes a one-way periodic rotation with pauses, and the first brick 10 that has completed mortar coating and its corresponding clamping fixture 5-4 are displaced to the clamping station; the first three-axis cylinder 5-1 drives the mechanical fingers 5-3 to move towards the clamping station until a pair of mechanical fingers 5-3 are inserted into a pair of jacks 5-4-3-1 on the clamping fixture 5-4 one by one; the stepping motor or the third servo motor 5-2 then makes the pair of mechanical fingers 5-3 move towards each other to drive the rectangular frame 5-4-1 of the clamping fixture 5-4 to deform and clamp the brick 10 until the pair of abutting parts 5-4-5 of the clamping fixture 5-4 abut against each other. At this time, the clamping fixture 5-4 firmly and stably clamps the brick 10; the first three-axis cylinder 5-1 drives the mechanical fingers 5-3 and the clamping fixture 5-4 to reset synchronously, and the single-axis moving platform 7 then drives the brick clamping manipulator device 5 to move to the wall-building station. Then, the stepping motor or the third servo motor 5-2 resets and drives the pair of mechanical fingers 5-3 to move away from each other. At this time, the clamping fixture 5-4 synchronously releases the brick 10 to complete the palletizing.

[0043] Step 3: Mortar scraping and recycling The single-axis motion platform 7 resets to drive the brick clamping manipulator device 5 to withdraw from the bricklaying station. The automatic bricklaying equipment is displaced through the traveling device 1 until the single-axis motion platform 7 drives the mortar scraping manipulator device 6 to operate to the bricklaying station; the stepper motor or servo motor four 6-2 drives a pair of mechanical scrapers 6-3 to move away from each other through the rack and pinion mechanism two 6-7 until the distance between the pair of mechanical scrapers 6-3 is greater than the width of the just-stacked mortar-coated brick 10; the three-axis cylinder two 6-1 drives a pair of pressure rod mechanisms 6-4 and a pair of mechanical scrapers 6-3 to move synchronously towards the just-stacked mortar-coated brick 10. During the movement process, the end of the pressure rod 6-4-3 located between the pair of mechanical scrapers 6-3 will abut against the brick 10. At this time, the pair of mechanical scrapers 6-3 are located on both sides of the brick 10 in the width direction; the three-axis cylinder two 6-1 drives a pair of pressure rod mechanisms 6-4 and a pair of mechanical scrapers 6-3 to continue to move synchronously towards the just-stacked mortar-coated brick 10. At this time, the pair of pressure rod mechanisms 6-4 apply pressure to the just-stacked mortar-coated brick 10, causing the excess mortar between the just-stacked mortar-coated brick 10 and the brick 10 below it to overflow from the surface of the brick 10 due to the squeezing force. At the same time, the pressure rod 6-4-3 of the pressure rod mechanism 6-4 exerts a reaction force on the helical spring 6-4-2 to drive it to undergo elastic deformation until the reaction force applied by the pressure rod 6-4-3 to the helical spring 6-4-2 reaches the preset value. At this time, the pair of mechanical scrapers 6-3 are located below the excess mortar overflowing between the bricks 10; the stepper motor or servo motor four 6-2 drives a pair of mechanical scrapers 6-3 to move towards each other through the rack and pinion mechanism two 6-7 until the edges of the pair of mechanical scrapers 6-3 are close to fitting the surface of the brick 10. Then, the three-axis cylinder two 6-1 drives a pair of pressure rod mechanisms 6-4 and a pair of mechanical scrapers 6-3 to move synchronously away from the just-stacked mortar-coated brick 10. At this time, the pair of mechanical scrapers 6-3 scrape the excess mortar overflowing between the bricks 10 until the excess mortar is piled up above the just-stacked mortar-coated brick 10 for use when the next brick 10 is stacked; the stepper motor or servo motor four 6-2 drives a pair of mechanical scrapers 6-3 to reset through the rack and pinion mechanism two 6-7, and the three-axis cylinder two 6-1 drives a pair of pressure rod mechanisms 6-4 and a pair of mechanical scrapers 6-3 to reset synchronously; the single-axis motion platform 7 resets to drive the mortar scraping manipulator device 6 to withdraw from the bricklaying station.

[0044] Step 4: Repeat the above Steps 1 to 4 until the automatic bricklaying equipment completes the bricklaying operation.

[0045] The present invention is not limited to the above best implementation mode. Anyone can obtain other various forms of products under the inspiration of the present invention. However, no matter what changes are made in its shape or structure, as long as it has the same or similar technical solutions as the present application, it falls within the protection scope of the present invention.

Claims

1. An automated wall-building device, characterized in that Comprising: Traveling device; Lifting platform device; Rotating platform device, which includes a stepping motor or servo motor 1, a Geneva mechanism and a rotating platform; a positioning structure for clamping fixtures is formed on the tabletop of the rotating platform; the dial of the Geneva mechanism is drivingly connected to the output end of the stepping motor or servo motor 1 through a coupling 1; the rotating platform is fixed to the sprocket of the Geneva mechanism and is of a coaxial structure; Mortar spreading device, which includes a stepping motor or servo motor 2, a variable pitch helical blade and a mixing drum; the mixing drum is provided with a discharge port whose switching state can be changed; the variable pitch helical blade is drivingly connected to the output end of the stepping motor or servo motor 2 through a coupling 2 and is placed in the mixing drum to always perform self-rotation motion; Brick clamping manipulator device, which includes a three-axis cylinder 1, a stepping motor or servo motor 3, a rack and pinion mechanism 1, a pair of mechanical fingers and more than one clamping fixture; The stepping motor or servo motor 3 is fixed to the baffle of the three-axis cylinder 1 through a bracket 1, and the three-axis cylinder 1 drives the stepping motor or servo motor 3 to perform longitudinal reciprocating linear motion on the stroke of its piston rod; A guide frame 1 is fixed on the bracket 1 to support and guide a pair of racks of the rack and pinion mechanism 1; The motor shaft of the stepping motor or servo motor 3 is drivingly connected to a gear of the rack and pinion mechanism 1 to drive a pair of racks of the rack and pinion mechanism 1 to always perform reciprocating linear motion; A pair of mechanical fingers correspond to a pair of racks one by one and are respectively fixed to their corresponding racks; Mortar scraping manipulator device, which includes a three-axis cylinder 2, a stepping motor or servo motor 4, a rack and pinion mechanism 2, a pair of mechanical scrapers and a pair of pressing rod mechanisms; The stepping motor or servo motor 4 is fixed to the baffle of the three-axis cylinder 2 through a bracket 2, and the three-axis cylinder 2 drives the stepping motor or servo motor 4 to perform longitudinal reciprocating linear motion on the stroke of its piston rod; a guide frame 2 is fixed on the bracket 2 to support and guide a pair of racks of the rack and pinion mechanism 2, and a support plate is fixed on the guide frame 2; The motor shaft of the stepping motor or servo motor 4 is drivingly connected to a gear of the rack and pinion mechanism 2 to drive a pair of racks of the rack and pinion mechanism 2 to always perform transverse reciprocating linear motion; A pair of mechanical scrapers correspond to a pair of racks one by one and are respectively fixed to their corresponding racks; Each pair of compression rod mechanisms includes a guide rod sleeve, a helical spring, and a compression rod. The three are coaxially distributed parallel to the piston rod of the three-axis cylinder II. The helical spring is sleeved on the compression rod, and one end of the helical spring abuts against one shoulder of the stepped portion formed on the surface of the compression rod. One side of the compression rod passes through the guide rod sleeve, and both the helical spring and the stepped portion of the compression rod are inserted into the guide rod sleeve. At the same time, the other end of the helical spring abuts against the shoulder of the stepped hole portion formed at one end of the guide rod sleeve. The other side of the compression rod extends through the through hole preset on the support plate towards between a pair of mechanical scrapers, and the other shoulder of its stepped portion abuts against the support plate. At the same time, the other end of the guide rod sleeve is fixed to the support plate; A single-axis moving platform, and the sliding seat stroke of the single-axis moving platform extends outside the device; And an aluminum profile frame; Among them, the lifting platform device is installed on the traveling device, and the lifting platform of the lifting platform device always makes longitudinal reciprocating linear motion; The stepping motor or servo motor I of the rotary platform device is installed on the lifting platform of the lifting platform device. The grooved wheel mechanism and the rotary platform of the rotary platform device are both located above the lifting platform, and the grooved wheel of the grooved wheel mechanism is pivotally connected to the tabletop of the lifting platform; All the clamping fixtures of the brick clamping manipulator device are independently positioned on the tabletop of the rotary platform. All the clamping fixtures are evenly distributed on the concentric circle track of the rotary platform, and within one rotation period of the rotary platform driven by the stepping motor or servo motor I through the grooved wheel mechanism, at least one clamping fixture is displaced to the preset clamping station and stops, and at least one clamping fixture is also displaced to the preset mortar spreading station and stops; The aluminum profile frame is installed on the lifting platform of the lifting platform device, and the mortar spreading device and the single-axis moving platform are both installed on the aluminum profile frame; the discharge port of the mixing drum is located directly above the brick clamped by the clamping fixture that stops at the mortar spreading station; The three-axis cylinder I of the brick clamping manipulator device and the three-axis cylinder II of the mortar scraping manipulator device are both installed on the sliding seat of the single-axis moving platform through a support arm. During the sliding seat stroke of the single-axis moving platform, the brick clamping manipulator device drives a pair of mechanical fingers to be inserted into a pair of jacks on the clamping fixture located at the clamping station one by one through the three-axis cylinder I, and then drives the pair of mechanical fingers to move towards each other through the stepping motor or servo motor III to drive the clamping fixture to clamp the brick.

2. The automatic wall-building equipment according to claim 1, wherein: A rod cap capable of increasing the contact area between the compression rod and the brick is provided at the end of the compression rod extending towards between a pair of mechanical scrapers.

3. An automated wall-building device according to claim 1 or 2, characterized in that The specific structure of the clamping fixture includes: A rectangular frame body, with a notch portion provided on its contour, and both ends where the notch portion is located extend out of the rectangular frame body to form a pair of insertion portions, and a jack is provided on each insertion portion; A pair of mechanical fingers are inserted into a pair of jacks one by one, and the rectangular frame body is deformed by the pair of mechanical fingers moving towards each other to clamp the brick.

4. The automated wall-building device according to claim 3, wherein The specific structure of the clamping fixture further includes: It extends from the opposite frame wall of the notch part towards the notch part and projects out a pair of rib plate parts of the notch part, and the pair of rib plate parts are located between the pair of plug-in parts; One or more abutting parts are provided on the opposite surfaces of the pair of rib plate parts.

5. An automatic wall-building device according to claim 1 or 2, characterized in that The positioning structure of the clamping jig formed on the table surface of the rotating platform is: a convex part extending outward from the table surface of the rotating platform, which matches the contour of the clamping jig and semi-surrounds the clamping jig.

6. The automated wall-building equipment according to claim 3, characterized in that The positioning structure of the clamping jig formed on the table surface of the rotating platform is: a convex part extending outward from the table surface of the rotating platform, which matches the contour of the clamping jig and semi-surrounds the clamping jig.

7. An automated wall-building device according to claim 4, characterized in that The positioning structure of the clamping jig formed on the table surface of the rotating platform is: a convex part extending outward from the table surface of the rotating platform, which matches the contour of the clamping jig and semi-surrounds the clamping jig.

8. An automated wall-building device according to claim 5, characterized in that: The lifting platform device is a scissor-type lifting platform device.

9. An automatic wall-building device according to claim 6, characterized in that: The lifting platform device is a scissor-type lifting platform device.

10. An automated wall-building device according to claim 7, characterized in that: The lifting platform device is a scissor-type lifting platform device.

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