Wall masonry spraying, leveling and grinding integrated intelligent robot

Abstract

The invention relates to the field of industrial and civil building science and technology, in particular to a wall masonry spraying, leveling and grinding integrated intelligent robot. The robot is used for industrial and civil constructional engineering and is a general trend of scientific and technological development. With the increasing maturity of the artificial intelligence technology, the advanced artificial intelligence technology, the robot technology, the industrial vision technology and the mechanical and electrical integration automation technology are combined, the wall building project and the wall decoration project can be completed intelligently, independently, high-quality and high-efficiency under the condition that manual cooperation is not needed, 'complicated, dangerous, dirty and heavy 'manual operation is avoided, and the construction efficiency is improved. The labor intensity of building workers is relieved, the body health of the building workers is guaranteed, and social benefits and economic benefits are remarkable.

Description

Technical Field

[0001] This invention relates to the field of industrial and civil building engineering technology, specifically to an integrated intelligent robot for wall masonry, spraying, leveling, and grinding. Background Technology

[0002] Wall construction is a crucial part of industrial and civil building projects. Using robots in wall construction to replace manual labor that is "tedious, dangerous, dirty, and heavy" reduces the labor intensity of construction workers and protects them from dust hazards is a major trend in technological development.

[0003] The inventor's previously filed patents:

[0004] 1. Patent title: An automatic wall-building machine using special wall bricks, patent number 202010804272.2, which discloses an automatic wall-building machine using special wall bricks;

[0005] 2. Patent title: An intelligent robot, application number 2025112410081, discloses an automatic wall-building machine and an intelligent robot using special wall bricks;

[0006] 3. Patent title: An artificial intelligence modeling method for a bricklaying robot, application number 202411398618.8, discloses an artificial intelligence modeling method for a bricklaying robot;

[0007] 4. Patent title: Artificial intelligence implementation scheme of a bricklaying robot (application number 202511284559.6), which discloses an artificial intelligence implementation scheme of a bricklaying robot.

[0008] Based on the aforementioned patented technology, the applicant believes it is necessary to invent an intelligent robot capable of covering all wall construction and wall decoration projects, the work of which includes:

[0009] 1. Wall construction;

[0010] 2. Apply mortar to the wall surface;

[0011] 3. Wall leveling;

[0012] 4. Wall sanding. Summary of the Invention

[0013] The technical problem to be solved by this invention is to provide an integrated intelligent robot for wall construction, spraying, leveling and grinding in industrial and civil buildings.

[0014] To solve the above problems, the technical solution of the present invention is: the intelligent robot includes a central control system, a robot vision system, a walking system, a masonry system, a brick supply system, a mortar supply system, a mortar spraying system, a wall leveling system, a wall grinding system, and a power and electrical system.

[0015] The central control system includes an image data transmission and receiving device, a wall engineering AI intelligent agent, a PLC, an HMI control panel, a central control cabinet, and a handheld remote control.

[0016] The image data transmission receiving device receives and transmits internal and external image data information and instructions, including receiving instructions and architectural designs from the BIM center.

[0017] AI-powered intelligent agents formulate construction plans and work processes, providing basic data for PLCs to execute intelligent robot motion control.

[0018] Based on the received instructions and information, the PLC operates the start-up, shutdown, and operation of various systems and equipment of the intelligent robot, monitors the operating status of various systems and equipment of the intelligent robot, and monitors the quality of wall masonry and wall decoration projects.

[0019] The intelligent robot operator inputs instructions and architectural design information locally on the HMI control panel; the HMI control panel displays online information of various systems and devices of the intelligent robot.

[0020] The central control cabinet contains the equipment and materials for installing the central control system.

[0021] The intelligent robot operator can pause, stop, or resume the operation of the intelligent robot using a handheld remote control.

[0022] The central control system equipment is installed inside the robot's equipment compartment of the walking system.

[0023] The power supply for the central control system comes from the power supply electrical system.

[0024] Robot vision systems include 2D and / or 3D robot industrial cameras, and / or displacement distance sensors, and 3D laser scanners.

[0025] The robot vision system is mounted on the robotic arm of the bricklaying robot, or in other suitable locations on the intelligent robot.

[0026] The power supply for the robot vision system comes from the power supply electrical system.

[0027] The walking system includes multiple steering wheels or tracks, lifting devices, and a robotic equipment compartment.

[0028] The steering wheel or tracks of the walking system are controlled by the central control system.

[0029] A lifting device is installed on the steering wheel or track, and a robot equipment compartment is installed on the lifting device.

[0030] The lifting device is controlled by the central control system.

[0031] The central control cabinet, power supply and electrical system, masonry robot control cabinet, compressed air unit, grout supply system (including grouting and filling devices), and mortar spraying system are installed inside the robot equipment compartment. The masonry robot, the top-layer brick-laying mechanical gripper of the masonry system, the mortar tank, grouting nozzle box and nozzle of the grout supply system, the leveling scraper of the wall leveling system, and the grinding device and dust collection hood of the wall grinding system are installed on the robot equipment compartment. The external dimensions of the robot equipment compartment are smaller than the height and width of a standard doorway.

[0032] The power supply for the walking system comes from the power supply electrical system.

[0033] The masonry system includes a masonry robot, a mechanical gripper, and a compressed air unit.

[0034] The bricklaying robot uses a multi-axis robotic arm and comes with its own control cabinet and teach pendant.

[0035] The multi-axis robotic arm adopts a folding arm design.

[0036] The bricklaying robot is installed on top of the robot equipment compartment.

[0037] The masonry system contains multiple sets of mechanical claws, including standard mechanical claws and mechanical claws for the top wall bricks.

[0038] The mechanical gripper adopts a clamping mechanical gripper design; the ordinary mechanical gripper is installed on the end axis of the multi-axis robotic arm; the top wall tile mechanical gripper is installed on the robot equipment compartment.

[0039] The robotic gripper can grab one or more wall bricks at a time.

[0040] Mechanical grippers include electric mechanical grippers or pneumatic mechanical grippers; if the power source for the mechanical gripper is compressed air, the compressed air device is installed inside the robot's equipment compartment.

[0041] The compressed air unit includes an air compressor, an air tank, and an air pressure sensor.

[0042] The power supply for the masonry system comes from the electrical power supply system.

[0043] The brick feeding system includes a brick feeding platform, a conveyor belt, a destacking robot, or a brick-retrieving assist device.

[0044] The brick supply platform is independently set up, and its movement can be driven by a steering wheel or track, with a built-in lifting device; movement and lifting are controlled by a central control system and / or by a handheld remote control; the movement and lifting of the brick supply platform are designed with manual devices.

[0045] The external dimensions of the brick supply platform are smaller than the height and width of a standard doorway.

[0046] The conveyor belt is suitable for different types and specifications of standard bricks or blocks. A wall brick sensing device is installed at the end of the conveyor belt of the brick supply platform.

[0047] The conveyor belt can be either a folding roller type or a belt type. The starting end of the conveyor belt is connected to a destacking robot or a brick-retrieving assist device; the ending end of the conveyor belt is connected to a brick-feeding platform, the height of which is adjustable. The conveyor belt is equipped with local control and / or is controlled by a central control system.

[0048] The depalletizing robot uses a multi-axis robotic arm and comes with its own control cabinet and teach pendant.

[0049] A multi-axis robotic arm destabilizes and picks up wall bricks and places them on a conveyor belt.

[0050] The brick-retrieving assist device includes a column, a rotating arm, and an assistive robotic arm, which helps manual laborers grab wall bricks and place them on a conveyor belt.

[0051] The power supply for the brick supply system comes from the power electrical system, and / or a separate power electrical system is provided.

[0052] The brick supply system is equipped with a hole opener to assist workers in drilling multiple positioning holes in traditional wall bricks to produce top wall bricks; the mechanical claw of the top wall brick extends into the positioning hole of the top wall brick to grab and build the top brick wall connecting the wall and the top beam.

[0053] The grouting system includes a mortar mixer, a grouting device, and a grouting device.

[0054] If commercial mortar is not used, a mortar mixer shall be installed. The mortar mixer shall be a complete set of equipment, with external dimensions smaller than the height and width of a standard doorway. The mortar mixer shall be powered by an electrical power supply system, and / or a separate electrical power supply system shall be provided. The mortar mixer shall be equipped with local control, and / or controlled by a central control system.

[0055] The grout supply device includes a grout tank, a grout pump, grout pipes, a plastering pool, and a liquid level sensor.

[0056] The grout supply device is installed inside the robot equipment compartment; the plastering tank is installed above the robot equipment compartment; the mortar pipe connects the mortar pump and the plastering tank. The grout supply device adopts a circulating grout supply method.

[0057] Level sensors are installed in mortar tanks and plastering pools.

[0058] The slurry supply device is controlled by the central control system.

[0059] A mortar delivery pipe is installed between the mortar tank of the mortar supply device and the mixing chamber of the mortar mixer. The mortar mixer supplies mortar to the mortar tank of the mortar supply device, and its start and stop are controlled by the central control system.

[0060] The grouting device includes a mechanical gripper, a mortar tank, a mortar pump, a grouting pipe, a grouting pipe reel, a mortar flow regulating valve, a mortar flow sensor, a grouting nozzle box, a grouting outlet electric valve, and a grouting nozzle.

[0061] The mechanical grippers of the grouting device use the same type of mechanical grippers as those used in masonry systems.

[0062] The grouting device and the grout supply device share the same mortar tank and mortar pump.

[0063] The grouting pipe connects the mortar pump and the electric valve at the grouting outlet.

[0064] The electric valve for the grouting outlet is installed inside the grouting nozzle box, which is mounted on top of the robot equipment compartment.

[0065] The grouting device is controlled by the central control system.

[0066] The power supply for the slurry supply system comes from the electrical power system.

[0067] The mortar spraying system includes a mechanical gripper, mortar tank, mortar pump, spraying pipe, spraying pipe reel, mortar flow regulating valve, mortar flow sensor, spray nozzle box, spraying outlet electric valve, spray nozzle; compressed air unit, air duct, air duct reel, air duct outlet electric valve.

[0068] The mechanical grippers of the mortar spraying system use the same type of mechanical grippers as those used in masonry systems.

[0069] Mortar spraying system: mortar tank, mortar pump, spraying pipe, spraying pipe reel, mortar flow regulating valve, mortar flow sensor, spray nozzle box, spraying outlet electric valve and spray nozzle; mortar tank, mortar pump, grouting pipe, grouting pipe reel, mortar flow regulating valve, mortar flow sensor, grout nozzle box, grouting outlet electric valve and grout nozzle.

[0070] The mortar spraying system and the masonry system share the same compressed air unit.

[0071] The shotcrete pipe and the air duct are installed together and share a pipe reel.

[0072] The shotcrete pipe connects to the mortar pump and the shotcrete outlet electric valve; the air duct connects to the compressed air device and the air duct outlet electric valve.

[0073] The electric valves for the shotcrete outlet and the air duct outlet are installed inside the shotcrete nozzle box.

[0074] The shotcrete pipe and air duct are connected to the shotcrete nozzle.

[0075] The mortar spraying system is controlled by the central control system.

[0076] The power supply for the mortar spraying system comes from the electrical power system.

[0077] The wall leveling system includes a mechanical gripper and a leveling scraper; the leveling scraper is equipped with gripper gripping positions.

[0078] The mechanical grippers used in the wall leveling system are the same type used in the masonry system.

[0079] The leveling scraper of the wall leveling system is installed on the robot equipment compartment.

[0080] The wall leveling system is controlled by the central control system.

[0081] The wall sanding system includes a mechanical gripper, a sanding device, and a dust collection hood; the sanding device is equipped with a mechanical gripper gripping position.

[0082] The mechanical grippers of the wall sanding system use the same type of mechanical grippers as those used in masonry systems.

[0083] The grinding device is installed on the robot's equipment compartment.

[0084] The dust collection hood is installed on the grinding device.

[0085] The start and stop of the grinding device are controlled by the central control system.

[0086] The wall sanding system is powered by the electrical power supply system.

[0087] The power supply electrical system includes power supply, electrical cabinet, distribution cabinet and lighting fixtures.

[0088] The power supply and electrical system uses diesel or gasoline generator sets and / or battery packs.

[0089] Electrical cabinets and power distribution cabinets are installed inside the robot equipment compartment.

[0090] The lighting fixtures are installed in appropriate locations on the intelligent robot.

[0091] Electrical control and protection are fed into the PLC.

[0092] Furthermore, the wall bricks include standard bricks or blocks, and the same mortar mix ratio is used for both wall construction and wall surface spraying.

[0093] Construction grooves are pre-reserved in the beams and columns of the building's frame structure. The width of the construction groove is the width of a standard brick or block, and the depth of the construction groove meets the seismic design requirements. The wall bricks are recessed into the construction groove.

[0094] If beams and columns lack structural grooves or if structural grooves are omitted during concrete construction, beam-column-wall connectors can be installed at the location of the structural grooves to replace them.

[0095] The architectural designs received by the intelligent robot are a working language that the robot can recognize; the AI ​​agent is equipped with software that converts 2D architectural designs into 3D architectural designs.

[0096] Based on the received architectural design and technical parameters, image data transmitted from the vision system, and construction site information, the AI ​​agent determines the construction plan and work process, plans the walking path, and executes it through the PLC.

[0097] Furthermore, the central control system, robot vision system, walking system, masonry system, brick supply system, grout supply system, mortar spraying system, wall grinding system, and power electrical system are connected via wired communication; the central control system, brick supply system destacking robot, brick supply system conveyor belt, and grout supply system mortar mixer are connected via wireless and / or wired communication.

[0098] The BIM center sends instructions to the intelligent robot via an image data transmission receiving device, including brick wall architectural design, technical parameters, brick information, and construction site image data. The image data transmission receiving device then transmits the received image data to the AI ​​agent and / or PLC.

[0099] The operator inputs brick wall building design, technical parameters, wall brick information, or other information into the HMI control panel.

[0100] The BIM center can remotely or operators can monitor the operation of the intelligent robot on-site.

[0101] The central control system PLC receives online information from other systems / equipment of the intelligent robot, instructs them to start and stop, and monitors their online operating status.

[0102] The central control system uses the built-in control system of the bricklaying robot to control its motion and monitor the operating status of its multi-axis robotic arm; the central control system uses the built-in control system of the destacking robot to control its motion and monitor the operating status of its multi-axis robotic arm.

[0103] Operators use a handheld remote control to pause, stop, or resume the operation of the intelligent robot.

[0104] Furthermore, based on the wall and wall surface image data information returned by the vision system, the central control system checks whether the cumulative error of the wall construction meets the requirements, and checks whether the wall coating thickness, wall leveling flatness, and wall grinding flatness meet the requirements; if they exceed the design limit, the central control system instructs the masonry robot to stop working.

[0105] The central control system checks whether the grouting and mortar spraying meet the quality requirements based on the mortar flow data returned by the mortar flow sensor; if the design limit is exceeded, the central control system instructs the masonry robot to stop working.

[0106] Furthermore, intelligent robots can be deployed to the work site via remote control from the BIM center or by on-site operation using a handheld remote control.

[0107] Wall bricks, mortar raw materials, etc. are transported to the work site by transport vehicles.

[0108] If a destacking robot is not installed, an assistant worker can be assigned to use a brick-retrieving aid to feed bricks onto the conveyor belt of the brick supply system.

[0109] Furthermore, the system state of the intelligent robot includes:

[0110] Shutdown state: The entire system is in a stopped state and is not powered.

[0111] Standby mode: The entire system and its subsystems are ready to operate and are in a standby state.

[0112] Manual mode: The entire system is powered on; you can manually operate each subsystem, device and other actuators on the HMI control panel, and set relevant operating / work parameters on the HMI control panel.

[0113] Automatic state: The entire system and its subsystems are in an automatic operation state.

[0114] Furthermore, the intelligent robot fault alarm includes audible and visual alarms: the alarm settings include sound and light alarms.

[0115] A green indicator light indicates normal or running status; a flashing red indicator light indicates an abnormal or warning status.

[0116] The intelligent robot's fault design categorizes faults into Level 1 and Level 2 faults:

[0117] Level 1 fault is a minor fault; the red indicator light is flashing; the intelligent robot can continue to work.

[0118] Level 2 fault is a major fault; the red indicator light flashes and an audible alarm is activated; the intelligent robot stops working.

[0119] Furthermore, intelligent robots, including brick supply and grout supply systems, are in place.

[0120] The central control system checks and confirms the status of each system / equipment.

[0121] The central control system commands each system to start.

[0122] The intelligent robot uses a robot vision system to obtain and confirm on-site building structure information and wall material information.

[0123] The central control system instructs the brick-feeding platform to adjust its starting height.

[0124] The destacking robot unpacks the bricks; the central control system instructs the destacking robot to grab the corresponding wall bricks according to their different positions on the wall and in the order determined by the construction plan, and place them on the conveyor belt. When the wall bricks reach the brick supply platform, the wall brick sensing device is triggered, and the conveyor belt stops. The masonry robot's mechanical claw then grabs the wall bricks from the brick supply platform; after the wall bricks leave the brick supply platform, the conveyor belt resumes operation, continuing to deliver wall bricks to the brick supply platform.

[0125] The central control system instructs the masonry robot to use a standard mechanical gripper to hold the grouting nozzle box. The central control system also instructs the grouting outlet electric valve to open, and the grouting nozzle moves back and forth across the brick wall foundation to inject grout. After grouting is complete, the central control system instructs the grouting outlet electric valve to close, and the masonry robot returns the grouting nozzle box to its robot equipment compartment.

[0126] The central control system instructs the bricklaying robot to use a standard mechanical claw to grab wall bricks from the brick supply platform, apply plaster to the plastering surface of the wall bricks in the plastering pool, and embed the wall bricks into the structural groove of one side of the column; build the first layer of brick wall in the same direction; and embed the last wall brick into the structural groove of the other side of the column.

[0127] The central control system instructs the masonry robot to use a standard mechanical gripper to hold the grouting nozzle box. The central control system also instructs the grouting outlet electric valve to open, allowing the robot to inject grout back and forth across the wall bricks. Once grouting is complete, the central control system instructs the grouting outlet electric valve to close, and the masonry robot returns the grouting nozzle box to its robot compartment.

[0128] The bricklaying robot works from bottom to top, completing all wall construction and grouting of the brick surfaces, except for the brickwork connecting the wall to the top beam.

[0129] The central control system instructs the bricklaying robot to use a standard mechanical gripper to hold the top-layer wall bricks. The top-layer wall brick gripper picks up the top-layer wall bricks from the brick supply platform, applies mortar to each bonding surface of the top-layer wall bricks in the mortar pool, and lays the bricks connecting the wall to the top beam. After the top-layer brick wall is completed, the central control system instructs the bricklaying robot to return the top-layer wall brick gripper to the robot's equipment compartment.

[0130] The central control system instructs the masonry robot to use a standard mechanical gripper to grab the spray nozzle box of the mortar spraying system; the central control system instructs the electric valves of the spray outlet and the air duct outlet to open; the spray nozzles spray mortar onto the wall surface from top to bottom in the same direction; after the wall spraying is completed, the central control system instructs the electric valves of the spray outlet and the air duct outlet to close, and the central control system instructs the masonry robot to put the spray nozzle box back onto the robot's equipment compartment;

[0131] The central control system instructs the masonry robot to use a standard mechanical gripper to hold the leveling scraper, which levels the wall surface from top to bottom in the same direction. Once the wall is leveled, the central control system instructs the masonry robot to return the leveling scraper to its compartment.

[0132] The central control system instructs the bricklaying robot to use a standard mechanical gripper to hold the grinding device, which then grinds the wall surface from top to bottom in the same direction. Once the wall surface is sanded, the central control system instructs the bricklaying robot to return the grinding device to its storage compartment.

[0133] In summary, this invention has the following beneficial effects:

[0134] I. Technical Evaluation of the Invention

[0135] 1. The technical solution of this invention is reliable and feasible.

[0136] II. Economic Evaluation of the Invention

[0137] 1. This invention has a wide range of applications and can be widely used in wall engineering in industries such as industrial and civil buildings, coal mines, metallurgy, power, and chemical building materials.

[0138] 2. This invention can realize the integration of multiple functions such as wall construction, wall spraying, wall leveling, and wall polishing into one machine.

[0139] 3. The present invention has significant economic benefits.

[0140] III. Environmental and Safety Assessment of the Invention

[0141] 1. This invention has no environmental hazards.

[0142] 2. This invention meets the safety operation standards for wall engineering.

[0143] 3. This invention can prevent dust from harming the health of construction workers.

[0144] IV. Social Benefit Assessment of this Invention

[0145] 1. Using this invention, robots can replace manual labor tasks that are "difficult, dangerous, dirty, and heavy," resulting in significant social benefits. Detailed Implementation

[0146] Example 1

[0147] Based on the technical features and process flow, Embodiment 1 of the present invention (high-rise frame structure building) is implemented in the following manner:

[0148] Preliminary work: The concrete work of the frame beams and columns has been completed and the formwork has been removed; the construction trenches have been cleaned (using special tools; if there are no construction trenches, beam-column-wall connectors will be installed); the construction site has been cleaned up (formwork, scaffolding, etc., and there are no obstacles on the construction site that would affect the passage of the intelligent robot); the wall materials have been transported to the construction site.

[0149] S01: The intelligent robot receives work tasks and architectural designs from the BIM center, acquires on-site information of the project, and the central control system plans its walking path.

[0150] S02: The intelligent robot arrives at the work site;

[0151] S03: Intelligent robot, including brick supply system and grout supply system, is in place;

[0152] S04: The central control system checks and confirms the status of each system device;

[0153] S05: The central control system instructs all systems to start;

[0154] S06: The intelligent robot uses a vision system to obtain information about the building structure, wall materials, and site conditions.

[0155] S07: AI intelligent agents formulate construction plans and work processes;

[0156] S08: The central control system instructs the brick-feeding platform and conveyor belt to adjust their height;

[0157] S09: The central control system commands the mortar mixer of the mortar supply system to mix mortar;

[0158] S10: The brick stacking robot dismantles the brick stacks and places the corresponding wall bricks in sequence on the brick supply system conveyor belt according to the construction plan requirements;

[0159] S11: When the wall bricks arrive at the brick supply platform, the wall brick sensing device is triggered, and the conveyor belt stops.

[0160] S12: The central control system instructs the masonry robot to use a common mechanical gripper to hold the grouting nozzle box from the robot's equipment compartment and move the grouting nozzle to the top of the brick wall foundation.

[0161] S13: The central control system commands the grout outlet electric valve to open, and the grouting nozzle grouts into the brick wall foundation;

[0162] S14: After grouting is completed, the central control system instructs the grouting outlet electric valve to close, and the central control system instructs the masonry robot to put the grouting nozzle box back onto the robot equipment compartment.

[0163] S15: The central control system instructs the masonry robot to use a common mechanical claw to grab wall bricks from the brick supply platform and apply plaster to the plastering surface of the wall bricks in the plastering pool.

[0164] S16: The wall bricks leave the brick supply platform, the destacking robot and conveyor belt resume operation, and the destacking robot continues to stack wall bricks onto the brick supply platform conveyor belt.

[0165] S17: The bricklaying robot inserts the first plastered wall brick into the structural groove of one of the columns;

[0166] S18: The bricklaying robot lays the first layer of bricks in the same direction;

[0167] S19: The bricklaying robot inserts the last plastered wall brick into the structural groove of the column on the other side;

[0168] S20: After completing the first layer of wall construction, the central control system instructs the masonry robot's ordinary mechanical claw to pick up the grouting nozzle box from the robot's equipment compartment;

[0169] S21: The central control system commands the grout outlet electric valve to open, and the grouting nozzle grouts back and forth on the first layer of brick wall.

[0170] S22: Grouting is completed. The central control system instructs the grouting outlet electric valve to close and instructs the masonry robot to put the grouting nozzle box back onto the robot equipment compartment.

[0171] S23: Repeat the above process (S15, S17-S22), and the masonry robot completes the masonry of all walls except the brick wall connecting the top of the wall to the top beam and the grouting of the wall brick surface.

[0172] S24: The central control system instructs the masonry robot to use a common mechanical claw to grip the top wall tile mechanical claw from the robot equipment compartment. The top wall tile mechanical claw extends into the positioning hole of the top wall tile, grabs the top wall tile, and applies plaster to each bonding surface of the top wall tile in the plastering pool.

[0173] S25: The central control system commands the mechanical claw of the top wall brick to embed the top wall brick into the top beam construction groove, completing the top brick wall construction;

[0174] S26: After the top wall is completed, the central control system instructs the bricklaying robot to put the mechanical claw of the top wall bricks back onto the robot's equipment compartment.

[0175] S27: After the wall is built, the central control system instructs the masonry robot to use a standard mechanical claw to grab the spray nozzle box from the robot's equipment compartment;

[0176] S28: The central control system commands the shotcrete outlet electric valve and the duct outlet electric valve to open;

[0177] S29: The central control system instructs the spray nozzles to start spraying the wall from top to bottom in the same direction;

[0178] S30: After the wall spraying is completed, the central control system instructs the electric valves of the spraying outlet and the air duct outlet to close, and the central control system instructs the masonry robot to put the spraying nozzle box back onto the robot equipment compartment.

[0179] S31: The central control system instructs the masonry robot to use a standard mechanical gripper to grab a leveling scraper from the robot's equipment compartment;

[0180] S32: The central control system instructs the masonry robot to use a leveling scraper to level the wall surface with a spray coating.

[0181] S33: After the wall leveling is completed, the central control system instructs the masonry robot to put the leveling scraper back on the robot's equipment compartment.

[0182] S34: The intelligent robot sends a work completion message to the BIM center; checks and confirms the status of each system device; and instructs the walking system to move to the next work surface.

[0183] The polishing process and implementation method are as follows:

[0184] P01: The central control system instructs the bricklaying robot to use a standard mechanical gripper to pick up the grinding device from the robot's equipment compartment;

[0185] P02: The central control system instructs the bricklaying robot to use the grinding device to grind the wall surface from top to bottom in the same direction;

[0186] P03: After the wall surface is sanded, the central control system instructs the masonry robot to put the sanding device back into the robot's equipment compartment.

[0187] The basic principles and main features of the present invention have been described above. The description in the specification is only for illustrating the principles of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope of the present invention, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. An integrated intelligent robot for wall construction, spraying, leveling, and grinding, characterized in that: Including central control system, robot vision system, walking system, masonry system, brick supply system, grout supply system, mortar spraying system, wall leveling system, wall grinding system and power and electrical system; The central control system includes an image data transmission and receiving device, a wall engineering AI intelligent agent, a PLC, an HMI control panel, a central control cabinet, and a handheld remote control. The image data transmission receiving device receives and transmits internal and external image data information and instructions, including receiving instructions and architectural designs from the BIM center; AI intelligent agents formulate construction plans and work processes, providing basic data for PLC to execute intelligent robot motion control; The PLC operates the start-up, shutdown, and operation of various systems and equipment of the intelligent robot according to the received instructions and information, monitors the operating status of various systems and equipment of the intelligent robot, and monitors the quality of wall masonry and wall decoration projects. The intelligent robot operator inputs instructions and architectural design information locally on the HMI control panel; the HMI control panel displays online information of various systems and devices of the intelligent robot. Equipment and materials for installing the central control system in the central control cabinet; The intelligent robot operator can pause, stop, or resume the operation of the intelligent robot using a handheld remote control; The central control system equipment is installed inside the robot's equipment compartment of the walking system; The power supply for the central control system comes from the power supply electrical system; Robot vision systems include 2D robot industrial cameras and / or 3D robot industrial cameras, and / or displacement distance sensors, and 3D laser scanners; The robot vision system is mounted on the robotic arm of the bricklaying robot, or in other suitable locations on the intelligent robot. The power supply for the robot vision system comes from the power supply electrical system; The walking system includes multiple steering wheels or tracks, lifting devices, and a robot equipment compartment; The steering wheel or tracks of the running system are controlled by the central control system; A lifting device is installed on the steering wheel or track, and a robot equipment compartment is installed on the lifting device. The lifting device is controlled by the central control system; The central control cabinet, power supply and electrical system, masonry robot control cabinet, compressed air device, grout supply system equipment, grouting device and grouting device of the grout supply system, and mortar spraying system are installed in the robot equipment compartment. The masonry robot, the top wall brick mechanical claw of the masonry system, the mortar tank, grouting nozzle box and grouting nozzle of the grout supply system, the leveling scraper of the wall leveling system, the grinding device and dust collection hood of the wall grinding system are installed on the robot equipment compartment. The external dimensions of the robot equipment compartment are smaller than the height and width of the standard door opening. The power supply for the walking system comes from the power supply electrical system; The bricklaying system includes a bricklaying robot, a robotic gripper, and a compressed air unit; The bricklaying robot uses a multi-axis robotic arm and comes with its own control cabinet and teach pendant. The multi-axis robotic arm adopts a folding arm design; The bricklaying robot is mounted on top of the robot equipment compartment; The masonry system includes multiple sets of mechanical claws, including standard mechanical claws and mechanical claws for the top wall bricks; The robotic gripper adopts a clamping gripper design; the standard robotic gripper is installed on the end axis of the multi-axis robotic arm; the top wall tile robotic gripper is installed on the robot equipment compartment. The robotic gripper can grab one or more wall bricks at a time; The robotic gripper includes an electric or pneumatic robotic gripper; the compressed air unit is installed inside the robot's equipment compartment. Compressed air devices include an air compressor, an air tank, and an air pressure sensor; The power supply for the masonry system comes from the electrical power supply system; The brick feeding system includes a brick feeding platform, a conveyor belt, a destacking robot, or a brick picking assist device; The brick supply platform is independently set up, and can be driven by a steering wheel or crawler, with a built-in lifting device; The movement and lifting are controlled by a central control system and / or by a handheld remote control; a manual device is designed for the movement and lifting of the brick platform. The external dimensions of the brick supply platform are smaller than the height and width of a standard doorway; The conveyor belt is suitable for different types and specifications of standard bricks or blocks, and a wall brick sensing device is installed at the end of the conveyor belt of the brick supply platform. The conveyor belt is selected as either a folding roller type or a belt type. The starting end of the conveyor belt is connected to a destacking robot or a brick picking assist device; the ending end of the conveyor belt is connected to a brick feeding platform, and the height is adjusted according to the brick feeding platform; the conveyor belt is equipped with local control and / or controlled by a central control system. The depalletizing robot uses a multi-axis robotic arm and comes with its own control cabinet and teach pendant. A multi-axis robotic arm destabilizes and picks up wall bricks, placing them onto a conveyor belt. The brick-removing assist device includes a column, a rotating arm, and an assistive robotic arm, which helps manual laborers grab wall bricks and place them on a conveyor belt. The power supply system for the brick supply system comes from the power supply electrical system, and / or a separate power supply electrical system is provided; The grouting system includes a mortar mixer, a grouting device, and a grouting device; Multiple positioning holes are designed on the side of the standard bricks or blocks of the top brick wall. The mechanical claw of the top brick wall extends into the positioning holes of the top brick wall to grab and build the top brick wall connecting the top of the wall and the top beam. The external dimensions of the mortar mixer are smaller than the height and width of a standard doorway; the power supply for the mortar mixer comes from a power supply electrical system, and / or a separate power supply electrical system is provided; the mortar mixer is equipped with local control, and / or is controlled by a central control system; The grout supply device includes a grout tank, a grout pump, grout pipes, a plastering pool, and a liquid level sensor; The grout supply device is installed inside the robot equipment compartment; the plastering tank is installed above the robot equipment compartment; the mortar pipe connects the mortar pump and the plastering tank; the grout supply device adopts a circulating grout supply method. Level sensors are installed in mortar tanks and plastering pools; The slurry supply device is controlled by the central control system; A mortar delivery pipe is installed between the mortar tank of the mortar supply device and the mixing chamber of the mortar mixer. The mortar mixer supplies mortar to the mortar tank of the mortar supply device, and its start and stop are controlled by the central control system. The grouting device includes a mechanical gripper, a mortar tank, a mortar pump, a grouting pipe, a grouting pipe reel, a mortar flow regulating valve, a mortar flow sensor, a grouting nozzle box, a grouting outlet electric valve, and a grouting nozzle; The mechanical grippers of the grouting device use the same type of mechanical grippers as those used in masonry systems. The grouting device and the grout supply device share the same mortar tank and mortar pump; The grouting pipe connects the mortar pump and the electric valve at the grouting outlet; The grout outlet electric valve is installed inside the grout nozzle box, which is installed on top of the robot equipment compartment. The grouting device is controlled by the central control system: The power supply for the slurry supply system comes from the electrical power system; The mortar spraying system includes a mechanical gripper, mortar tank, mortar pump, spraying pipe, spraying pipe reel, mortar flow regulating valve, mortar flow sensor, spray nozzle box, spraying outlet electric valve, spray nozzle; compressed air unit, air duct, air duct reel, air duct outlet electric valve. The mechanical grippers used in the mortar spraying system are the same type of mechanical grippers used in masonry systems. Mortar spraying system: mortar tank, mortar pump, spraying pipe, spraying pipe reel, mortar flow regulating valve, mortar flow sensor, spray nozzle box, spraying outlet electric valve and spray nozzle; mortar tank, mortar pump, grouting pipe, grouting pipe reel, mortar flow regulating valve, mortar flow sensor, grout nozzle box, grouting outlet electric valve and grout nozzle; The mortar spraying system and the masonry system share a compressed air unit; The shotcrete pipe and the air duct are installed together and share a pipe reel; The shotcrete pipe connects to the mortar pump and the shotcrete outlet electric valve; the air duct connects to the compressed air unit and the air duct outlet electric valve. The electric valves for the shotcrete outlet and the air duct outlet are installed inside the shotcrete nozzle box; The shotcrete pipe and air duct connect to the shotcrete nozzle. The mortar spraying system is controlled by the central control system; The power supply for the mortar spraying system comes from the electrical power supply system; The wall leveling system includes a mechanical gripper and a leveling scraper; the leveling scraper is equipped with gripper gripping positions. The mechanical grippers used in the wall leveling system are the same type as those used in the masonry system. The leveling scraper of the wall leveling system is installed on the robot equipment compartment; The wall leveling system is controlled by a central control system; The wall sanding system includes a mechanical gripper, a sanding device, and a dust collection hood; the sanding device is equipped with a gripper gripping position. The mechanical grippers of the wall sanding system use the same type of mechanical grippers as those used in masonry systems. Dust collection hoods are installed on the grinding equipment: The grinding device is installed on top of the robot's equipment compartment: The start and stop of the grinding device are controlled by the central control system; The wall sanding system is powered by the electrical system. The power supply electrical system includes power supply, electrical cabinet, distribution cabinet and lighting fixtures; The power supply and electrical system uses diesel or gasoline generator sets and / or battery packs; Electrical cabinets and power distribution cabinets are installed inside the robot equipment compartment; Lighting devices are installed in appropriate locations on the intelligent robot; Electrical control and protection are fed into the PLC.

2. The integrated intelligent robot for wall construction, spraying, leveling, and grinding as described in claim 1, characterized in that, Wall bricks include standard bricks or blocks; The same mortar mix ratio is used for both wall masonry and wall surface spraying; Construction grooves are reserved on beams and columns of the building frame structure. The width of the construction groove is the width of a standard brick or block, and the depth of the construction groove meets the seismic design requirements. The wall bricks are embedded in the construction groove. If there are no construction grooves on the beams and columns or if the construction grooves are omitted during the concrete construction, beam-column-wall connectors are installed at the construction groove locations to replace the construction grooves. Multiple positioning holes are designed on the side of the standard bricks or blocks of the top brick wall; The architectural designs received by the intelligent robot are a working language that the robot can recognize; the AI ​​agent is equipped with software that converts 2D architectural designs into 3D architectural designs.

3. The integrated intelligent robot for wall construction, spraying, leveling, and grinding as described in claim 1 or 2, characterized in that, The central control system, robot vision system, walking system, masonry system, brick supply system, grout supply system, mortar spraying system, wall grinding system, and power electrical system are connected via wired communication; the central control system, brick supply system destacking robot, brick supply system conveyor belt, and grout supply system mortar mixer are connected via wireless and / or wired communication. The BIM center sends instructions to the intelligent robot through the image data transmission receiving device, sending brick wall building design, technical parameters, wall brick information, and construction site image data; the image data transmission receiving device then transmits the received image data to the AI ​​agent and / or PLC. The AI ​​agent determines the construction plan and work process based on the received architectural design and technical parameters, as well as the image data and construction site information transmitted back by the robot vision system, and plans the walking path, which is then executed by the PLC. The operator inputs brick wall building design, technical parameters, wall bricks, or other information into the HMI control panel; BIM center can remotely or operators can monitor the operation of intelligent robots on-site; The central control system PLC receives online information from other systems / equipment of the intelligent robot, instructs them to start and stop, and monitors their online operating status; The central control system uses the control system built into the bricklaying robot to control its motion and monitor the operating status of its multi-axis robotic arm; the central control system also uses the control system built into the destacking robot to control its motion and monitor the operating status of its multi-axis robotic arm. Operators use a handheld remote control to pause, stop, or resume the operation of the intelligent robot.

4. The integrated intelligent robot for wall construction, spraying, leveling, and grinding as described in claim 1, 2, or 3, characterized in that, The central control system checks whether the cumulative error of the wall construction meets the requirements based on the wall and wall surface image data information returned by the robot vision system, and whether the wall coating thickness, wall leveling flatness and wall grinding flatness meet the requirements; if they exceed the design limit, the central control system instructs the masonry robot to stop working. The central control system checks whether the grouting and mortar spraying meet the quality requirements based on the mortar flow data returned by the mortar flow sensor; if the design limit is exceeded, the central control system instructs the masonry robot to stop working.

5. The integrated intelligent robot for wall construction, spraying, leveling, and grinding as described in claim 1, 2, 3, or 4, characterized in that, The intelligent robot, including the brick supply system and grout supply system, is in place; The central control system checks and confirms the status of each system / equipment; The central control system commands each system to start; The intelligent robot uses a robot vision system to obtain and confirm on-site building structure information and wall material information; The central control system instructs the brick-feeding platform to adjust its starting height; The destacking robot destackings bricks; the central control system instructs the destacking robot to grab the corresponding wall bricks according to their different positions on the wall and in the order determined by the construction plan, and place them on the conveyor belt; when the wall bricks reach the brick supply platform, the wall brick sensing device is triggered, and the conveyor belt stops; the masonry robot's mechanical claw grabs the wall bricks from the brick supply platform; after the wall bricks leave the brick supply platform, the conveyor belt resumes operation and continues to deliver wall bricks to the brick supply platform; The central control system instructs the masonry robot to use a common mechanical claw to hold the grouting nozzle box, and the central control system instructs the grouting outlet electric valve to open, and the grouting nozzle grouts back and forth on the brick wall foundation. After grouting is completed, the central control system instructs the grouting outlet electric valve to close, and the central control system instructs the masonry robot to put the grouting nozzle box back onto the robot equipment compartment. The central control system instructs the bricklaying robot to use a standard mechanical claw to grab wall bricks from the brick supply platform, apply plaster to the plastering surface of the wall bricks in the plastering pool, and embed the wall bricks into the structural groove of one side column; build the first layer of brick wall in the same direction; and embed the last wall brick into the structural groove of the other side column. The central control system instructs the masonry robot to use a standard mechanical gripper to hold the grouting nozzle box. The central control system instructs the grouting outlet electric valve to open and grout back and forth on the wall brick surface. After grouting is completed, the central control system instructs the grouting outlet electric valve to close and the masonry robot to put the grouting nozzle box back on the robot equipment compartment. The bricklaying robot works from bottom to top, completing all wall construction and grouting of the brickwork, except for the brickwork connecting the wall to the top beam. The central control system instructs the bricklaying robot to use a standard mechanical gripper to hold the top wall brick mechanical gripper. The top wall brick mechanical gripper extends into the positioning hole of the top wall brick, picks up the top wall brick from the brick supply platform, applies mortar to each bonding surface of the top wall brick in the mortar pool, and lays the bricks connecting the top of the wall and the top beam. After the top brick wall is laid, the central control system instructs the bricklaying robot to put the top wall brick mechanical gripper back into the robot equipment compartment. The central control system instructs the masonry robot to use a standard mechanical gripper to grab the spray nozzle box of the mortar spraying system; the central control system instructs the electric valves of the spray outlet and the air duct outlet to open; the spray nozzles spray mortar onto the wall surface from top to bottom in the same direction; After the wall spraying is completed, the central control system instructs the electric valves of the spray outlet and the air duct outlet to close, and the central control system instructs the masonry robot to put the spray nozzle box back onto the robot equipment compartment. The central control system instructs the masonry robot to use a standard mechanical gripper to hold the leveling scraper. The leveling scraper levels the wall surface from top to bottom in the same direction. After the wall is leveled, the central control system instructs the masonry robot to put the leveling scraper back into the robot's equipment compartment. The central control system instructs the masonry robot to use a standard mechanical gripper to hold the grinding device. The grinding device grinds the wall surface from top to bottom in the same direction. After the wall surface is ground, the central control system instructs the masonry robot to put the grinding device back into the robot's equipment compartment.

6. The integrated intelligent robot for wall construction, spraying, leveling, and grinding as described in claim 1, 2, 3, 4, or 5, characterized in that, The process flow and implementation method are as follows: S01: The intelligent robot receives work tasks and architectural designs from the BIM center, acquires on-site information of the project, and the central control system plans its walking path. S02: The intelligent robot arrives at the work site; S03: Intelligent robot, including brick supply system and grout supply system, is in place; S04: The central control system checks and confirms the status of each system device; S05: The central control system instructs all systems to start; S06: The intelligent robot uses a robot vision system to obtain information about the building structure, wall materials, and work site conditions. S07: AI intelligent agents formulate construction plans and work processes; S08: The central control system instructs the brick-feeding platform and conveyor belt to adjust their height; S09: The central control system commands the mortar mixer of the mortar supply system to mix mortar; S10: The brick stacking robot dismantles the brick stacks and places the corresponding wall bricks in sequence on the brick supply system conveyor belt according to the construction plan requirements; S11: When the wall bricks arrive at the brick supply platform, the wall brick sensing device is triggered, and the conveyor belt stops. S12: The central control system instructs the masonry robot to use a common mechanical gripper to hold the grouting nozzle box from the robot's equipment compartment and move the grouting nozzle to the top of the brick wall foundation. S13: The central control system commands the grout outlet electric valve to open, and the grouting nozzle grouts into the brick wall foundation; S14: After grouting is completed, the central control system instructs the grouting outlet electric valve to close, and the central control system instructs the masonry robot to put the grouting nozzle box back onto the robot equipment compartment. S15: The central control system instructs the masonry robot to use a common mechanical claw to grab wall bricks from the brick supply platform and apply plaster to the plastering surface of the wall bricks in the plastering pool. S16: The wall bricks leave the brick supply platform, the destacking robot and conveyor belt resume operation, and the destacking robot continues to stack wall bricks onto the brick supply platform conveyor belt. S17: The bricklaying robot inserts the first plastered wall brick into the structural groove of one of the columns; S18: The bricklaying robot lays the first layer of bricks in the same direction; S19: The bricklaying robot inserts the last plastered wall brick into the structural groove of the column on the other side; S20: After completing the first layer of wall construction, the central control system instructs the masonry robot's ordinary mechanical claw to pick up the grouting nozzle box from the robot's equipment compartment; S21: The central control system commands the grout outlet electric valve to open, and the grouting nozzle grouts back and forth on the first layer of brick wall. S22: Grouting is completed. The central control system instructs the grouting outlet electric valve to close and instructs the masonry robot to put the grouting nozzle box back onto the robot equipment compartment. S23: Repeat the above process (S15, S17-S22), and the masonry robot completes the masonry of all walls except the brick wall connecting the top of the wall to the top beam and the grouting of the wall brick surface. S24: The central control system instructs the masonry robot to use a common mechanical claw to grip the top wall tile mechanical claw from the robot equipment compartment. The top wall tile mechanical claw extends into the positioning hole of the top wall tile, grabs the top wall tile, and applies plaster to each bonding surface of the top wall tile in the plastering pool. S25: The central control system commands the mechanical claw of the top wall brick to embed the top wall brick into the top beam construction groove, completing the top brick wall construction; S26: After the top wall is completed, the central control system instructs the bricklaying robot to put the mechanical claw of the top wall bricks back onto the robot's equipment compartment. S27: After the wall is built, the central control system instructs the masonry robot to use a standard mechanical claw to grab the spray nozzle box from the robot's equipment compartment; S28: The central control system commands the shotcrete outlet electric valve and the duct outlet electric valve to open; S29: The central control system instructs the spray nozzles to start spraying the wall from top to bottom in the same direction; S30: After the wall spraying is completed, the central control system instructs the electric valves of the spraying outlet and the air duct outlet to close, and the central control system instructs the masonry robot to put the spraying nozzle box back onto the robot equipment compartment. S31: The central control system instructs the masonry robot to use a standard mechanical gripper to grab a leveling scraper from the robot's equipment compartment; S32: The central control system instructs the masonry robot to use a leveling scraper to level the wall surface with a spray coating. S33: After the wall leveling is completed, the central control system instructs the masonry robot to put the leveling scraper back onto the robot's equipment compartment. S34: The intelligent robot sends a work completion message to the BIM center; checks and confirms the status of each system device; and instructs the walking system to move to the next work surface. S35: The central control system instructs the bricklaying robot to use a standard mechanical gripper to pick up the grinding device from the robot's equipment compartment; S36: The central control system instructs the masonry robot to use the grinding device to grind the wall surface from top to bottom in the same direction; S37: After the wall surface is sanded, the central control system instructs the masonry robot to put the sanding device back into the robot's equipment compartment.

7. The integrated intelligent robot for wall construction, spraying, leveling, and grinding as described in claim 1, 2, 3, 4, 5, or 6, characterized in that, This invention is applicable to wall construction and wall decoration projects in other industries.