An automated device for automated wall building

Abstract

The application relates to the technical field of building construction automation, and particularly discloses an automatic wall building automation equipment, which comprises a lifting platform, a three-axis truss fixedly arranged in the lifting platform, a conveying line fixedly arranged at one end of the three-axis truss, and a building clamp and a spraying assembly arranged in cooperation with the conveying line; the conveying line comprises a conveying frame, a plurality of conveying rollers rotatably arranged in the conveying frame, and a turnover mechanism arranged at the outer end of the conveying frame; the equipment does not need manual intervention in core working procedures, realizes the full-process automation of brick conveying, identification, grabbing, centering, mortar coating, building and tray backflow, and has the advantages of compact structure, convenient operation, high building precision and high efficiency, is suitable for automatic building operation of refractory bricks in building construction, effectively reduces labor intensity and safety risks, and has remarkable practicability and economy.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building construction automation, and particularly relates to an automatic wall building automation equipment. BACKGROUND

[0002] Refractory brick masonry is a key link in the construction of high-temperature equipment (such as industrial kiln, boiler, etc.), and the masonry quality directly determines the refractory performance, sealing performance and service life of the equipment. However, the refractory bricks generally have the characteristics of large weight and multiple specifications, and the masonry operation is usually carried out in a narrow, high-temperature, and dusty harsh environment.

[0003] At present, the refractory brick masonry method in the industry is still mainly manual masonry, which has many defects: first, manual identification of brick type and brick carrying have high labor intensity and low efficiency, which is difficult to meet the large-scale construction demand; second, manual mortar smearing depends on the proficiency of the operator, and the mortar smearing thickness is uneven and insufficient, which easily leads to poor wall sealing and unstable structure; third, the precision of manual masonry cannot be guaranteed, and the brick placement deviation is large, which affects the overall construction quality of the equipment; fourth, the harsh working environment is harmful to the health of the operators, and the high-altitude masonry operation has safety risks. SUMMARY

[0004] The purpose of the present application is to provide an automatic wall building automation equipment to solve the technical problems in the prior art.

[0005] To achieve the above-mentioned purpose, an automatic wall building automation equipment is adopted, which comprises a lifting platform, a three-axis truss fixedly arranged in the lifting platform, a conveying line fixedly arranged at one end of the three-axis truss, a masonry clamp and a spraying assembly arranged in cooperation with the conveying line.

[0006] The conveying line comprises a conveying frame, a plurality of conveying rollers rotatably arranged in the conveying frame, and a turnover mechanism arranged at the outer end of the conveying frame.

[0007] The turnover mechanism comprises a first fixed seat fixed to the outer side of the conveying frame, the first fixed seat is rotatably connected with the middle part of a Z-shaped pushing rod, one end of the Z-shaped pushing rod is rotatably connected with a turnover cylinder, the fixed end of the turnover cylinder is fixedly connected with the conveying frame, the other end of the Z-shaped pushing rod is fixedly connected with a bottom plate, the two sides of the bottom plate are respectively provided with connecting frames, the middle part of the bottom plate is fixedly connected with a first skeleton, the outer side of the first skeleton is provided with a second skeleton fixedly connected with the bottom plate, the connecting frames, the first skeleton and the second skeleton are connected through a top plate, the connecting frames, the first skeleton and the second skeleton are located between adjacent two conveying rollers, and the outer side of the turnover mechanism is provided with a backflow roller slide fixedly connected with the conveying frame.

[0008] The outer side of the turnover mechanism is provided with a first blocking air cylinder fixedly connected with the conveying frame, and the outer side of the first blocking air cylinder is provided with a first material detection switch fixedly connected with the conveying frame.

[0009] The two sides of the first fixed seat are provided with a second fixed seat fixedly connected with the conveying frame, the second fixed seat is rotationally connected with an auxiliary pushing rod fixedly connected with the bottom plate, one of the connecting frames is fixedly provided with a blocking frame, the blocking frame is fixedly provided with a second detection switch, the lower side of the second detection switch is provided with a pushing air cylinder fixedly connected with the connecting frame, and the outer side of the other connecting frame is fixedly provided with a second blocking air cylinder.

[0010] The first skeleton is provided with a first bearing part and a first curved part, and the second skeleton is provided with a second bearing part, a second curved part and a mounting part.

[0011] The same side of the two connecting frames, the first skeleton and the second skeleton is provided with an auxiliary roller, the mounting part of the second skeleton is provided with a guide roller set in cooperation with the two connecting frames, and the first bearing part and the second bearing part are provided with a conveying roller set.

[0012] The three-axis truss comprises a lifting frame fixedly arranged in the lifting platform, X-axis, Y-axis and Z-axis directions above the lifting frame are provided with trusses, respectively X-axis truss, Y-axis truss and Z-axis truss, and the Y-axis truss and the Z-axis truss.

[0013] The masonry clamp comprises a cam type hollow rotating platform arranged below the Z-axis truss, and the rotating shaft of the cam type hollow rotating platform is fixedly connected with the lower first shell.

[0014] The two sides of the first shell are provided with first guide rails, the lower side of the first guide rail is provided with a first guide rail seat, the lower side of the first guide rail seat is fixedly provided with a second shell, the inner center of the second shell is provided with a U-shaped fixed block, the lower side of the U-shaped fixed block is provided with a plug rod, and the plug rod penetrates the second shell, and the lower side of the plug rod is detachably provided with a calibration rod.

[0015] The first visual camera is fixed above the second shell body, micro-adjusting air cylinders are arranged on the two sides of the first visual camera and fixedly connected with the first shell body, a push block is fixedly arranged on the output end of the micro-adjusting air cylinder, a servo motor is arranged on the side, away from the first visual camera, of the upper portion of the second shell body, a transmission wheel set is arranged on the driving end of the servo motor, a bidirectional screw rod is arranged on the output end of the transmission wheel set and located in the second shell body, a clamp seat is threadedly connected to the outer side of the bidirectional screw rod, a clamping plate is arranged on the outer side of the clamp seat, and second guide rail seats are fixedly arranged on the two sides of the clamp seat and slide on second guide rails fixedly arranged in the second shell body.

[0016] The first shell body is fixedly provided with a guide rod air cylinder, the output end of the guide rod air cylinder is connected with the middle portion of an L-shaped block through a connecting rod, one end of the L-shaped block is fixedly provided with a push block, the push block is provided with a centering air cylinder at one end, a clamping rod holder is fixedly arranged below the push block, a rack rod is fixedly arranged on the top of the push block, the two rack rods are symmetrically arranged in the first shell body and meshed through a gear, a positioning air cylinder is fixedly arranged on the side of the first shell body close to the first visual camera, and the output end of the positioning air cylinder is detachably connected with the top of the second shell body.

[0017] The spraying assembly comprises a mounting rack fixed below another Z-axis truss, a fixed frame is arranged on the outer side of the mounting rack, a nozzle is fixedly arranged in the fixed frame, and a second visual camera is fixedly arranged on the side, away from the mounting rack, of the fixed frame.

[0018] The lifting frame is fixedly provided with a material placing platform above the side, away from the conveying line, of the lifting frame, a paint tank is arranged above the material placing platform, and the paint tank is communicated with the input end of the nozzle through a conveying pipe.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] 1. The device integrates brick conveying, identification, grabbing, centering, grouting, masonry and tray backflow functions, does not need manual intervention in the core process, replaces manual identification of brick types, handling of bricks, smearing of mortar and recovery of trays and other tedious operations, effectively improves the masonry efficiency of bricks and meets large-scale construction requirements.

[0021] 2. By using dual visual recognition from the first and second visual cameras, combined with the precise movement of the three-axis truss and the fine-tuning and centering mechanism of the masonry clamps, precise control of the entire process of brick picking, positioning, grouting, and masonry is achieved, effectively reducing masonry deviation. The spraying components, through visual positioning and parameter adjustment, ensure that the grout coating thickness is uniform and the fullness meets the standards, effectively improving the sealing performance, structural stability, and fire resistance of the wall, and solving the problems of poor precision and uneven grout coating in manual masonry.

[0022] 3. The equipment completely replaces manual labor in harsh environments with narrow spaces, high temperatures, and high dust levels, avoiding direct contact between operators and high temperatures, dust, and heavy bricks, significantly reducing labor intensity and occupational health hazards; at the same time, it eliminates the need for manual high-altitude bricklaying, avoiding safety risks such as falls from heights and injuries from falling bricks, and significantly improving construction safety.

[0023] 4. The tilting mechanism uses a Z-shaped push rod and an auxiliary push rod in combination with various roller components to ensure smooth pallet conveying and return. It is suitable for refractory brick pallets of different weights. The height adjustment function of the three-axis truss meets the needs of wall construction of different heights. The structure of each component is clear and the connection is reliable, which facilitates later debugging, maintenance and repair, and reduces operating costs.

[0024] 5. The spray coating component provides precise slurry application, reducing slurry waste. Compared with manual application, it can effectively save slurry consumption. The automatic return of empty pallets avoids pallet idleness, improves pallet turnover efficiency, and the equipment has low energy consumption and reduces labor costs, which can significantly reduce the total construction cost. It has good economic benefits and market application prospects. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a structural schematic diagram of an automated wall-building device according to the present invention.

[0027] Figure 2 This is a schematic diagram of the three-axis truss structure of the present invention.

[0028] Figure 3 This is a schematic diagram of the conveyor line of the present invention.

[0029] Figure 4 This is a schematic diagram of the flipping mechanism of the present invention.

[0030] Figure 5This is a three-dimensional structural view of the flipping mechanism of the present invention.

[0031] Figure 6 This is a schematic diagram of the working structure of the flipping mechanism of the present invention.

[0032] Figure 7 This is a schematic diagram of the first skeleton of the present invention.

[0033] Figure 8 This is a schematic diagram of the second skeleton of the present invention.

[0034] Figure 9 This is a schematic diagram of the connection structure of the masonry clamp of the present invention.

[0035] Figure 10 This is a schematic diagram of the structure of the masonry clamp of the present invention.

[0036] Figure 11 This is a partial structural schematic diagram of the masonry clamp of the present invention.

[0037] Figure 12 This is a bottom view of the internal structure of the second housing of the present invention.

[0038] Figure 13 This is a schematic diagram of the internal structure of the first housing of the present invention.

[0039] Figure 14 This is a schematic diagram of the internal partial structure of the first housing of the present invention.

[0040] Figure 15 This is a bottom view of the internal partial structure of the first housing of the present invention.

[0041] Figure 16 This is a schematic diagram of the connection structure of the spraying assembly of the present invention.

[0042] Figure 17 This is a schematic diagram of the spraying assembly of the present invention.

[0043] 1-Lifting platform, 2-Three-axis truss, 21-Lifting frame, 22-X-axis truss, 23-Y-axis truss, 24-Z-axis truss, 3-Conveyor line, 31-Conveyor frame, 32-Conveyor roller, 33-Tilting mechanism, 3301-First fixed seat, 3302-Z-shaped push rod, 3303-Tilting cylinder, 3304-Base plate, 3305-Connecting frame, 3306-First skeleton, 3307-Second skeleton, 3308-Top plate, 3309- Second fixed seat, 3310-Auxiliary push rod, 3311-Barrier frame, 3312-Second detection switch, 3313-Push cylinder, 3314-Second blocking cylinder, 3315-First bearing part, 3316-First bending part, 3317-Second bearing part, 3318-Second bending part, 3319-Mounting part, 3320-Auxiliary roller, 3321-Guide roller assembly, 3322-Conveying roller assembly, 34-Return roller slide, 35- First blocking cylinder, 36-First material detection switch, 4-Masonry fixture, 41-Cam-type aerial rotating platform, 42-First housing, 43-First guide rail, 44-First guide rail seat, 45-Second housing, 46-U-shaped fixing block, 47-Insertion rod, 48-Calibration rod, 49-First vision camera, 450-Servo motor, 451-Transmission wheel set, 452-Bidirectional screw, 453-Fixture seat, 454-Clamping plate, 455-Second guide rail seat, 4 56-Second guide rail, 457-Guide rod cylinder, 458-Connecting rod, 459-L-shaped block, 460-Centering cylinder, 461-Push block, 462-Clamping rod bracket, 463-Rack and pinion, 464-Gear, 465-Positioning cylinder, 466-Fine adjustment cylinder, 467-Push block, 5-Spraying assembly, 51-Mounting bracket, 52-Fixing frame, 53-Nozzle, 54-Second vision camera, 55-Discharge platform, 56-Paint box, 57-Conveying pipe. Detailed Implementation

[0044] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0045] Please see Figures 1-17 This invention provides an automated device for automatic wall construction.

[0046] In this embodiment, the lifting platform 1 is used to move the three-axis truss 2 and adjust the working height of the three-axis truss 2 to enable the laying of refractory bricks at different heights. The bricks and pallets are placed at one end of the conveyor frame 31. The conveyor frame 31 drives multiple conveyor rollers 32 to stably transport the bricks and pallets to the pick-up position outside the flipping mechanism 33. At this time, the connecting frame 3305, the first frame 3306, and the second frame 3307 of the flipping mechanism 33 are located between two adjacent conveyor rollers 32. The three-axis truss 2 drives the laying fixture 4 to achieve X and Y axes... Along with the Z-axis and three-axis movement, the bricklaying clamp 4 identifies the brick shape. After identification, the bricklaying clamp 4 picks up the brick and moves to the spraying position of the spraying component 5. The bricklaying clamp 4 performs a centering operation on the brick. After centering, the spraying component 5 evenly sprays mortar onto the bricklaying surface of the clamped brick. After the spraying operation is completed, the three-axis truss 2 drives the bricklaying clamp 4 to move to the bricklaying position and place the brick in place. At the same time, after the bricklaying clamp 4 picks up the brick above the pallet, the empty pallet is transported by the cooperation of the conveyor frame 31 and multiple conveying rollers 32. Once the empty pallet is fully inside the tilting mechanism 33, the tilting cylinder 3303 pushes the Z-shaped push rod 3302 outward to rotate around the first fixed seat 3301, thereby causing the base plate 3304, which is fixed to the other end of the Z-shaped push rod 3302, to tilt. The connecting frames 3305 on both sides of the base plate 3304, the first frame 3306 in the middle, and the second frame 3307 on the outside are connected by the top plate 3308 to form an integral load-bearing structure. This load-bearing structure is located between two adjacent conveying rollers 32, ensuring that the empty pallet is conveyed to the designated location on the conveying rollers 32. After being positioned, the pallet can fall directly into the supporting structure without any additional transfer steps, effectively achieving a seamless connection between conveying and flipping. The return roller slide 34 provides a return channel for the empty pallet after flipping, and the return roller slide 34 has an inclined angle, which enables it to automatically recover the empty pallet without additional driving force. Furthermore, the upper and lower four corners of the return roller slide 34 are equipped with multiple rollers to recover the empty pallet, so that after being flipped, the empty pallet can automatically return to the initial loading position along the return roller slide 34, completely replacing the manual operation of pallet recovery and greatly improving the continuity of operation.

[0047] In this process, the pallet and bricks are placed on the side of the conveyor frame 31 away from the flipping mechanism 33 for loading. The movement of the pallet is blocked by a cylinder. After the pallet and bricks are loaded, the cylinder in front descends, allowing the pallet and bricks to be conveyed to the front of the flipping mechanism 33 via the conveyor frame 31. At this time, the first blocking cylinder 35 extends to prevent the pallet from moving forward. The first material detection switch 36 detects the bricks above the pallet. After detecting the bricks, the brick clamp 4 grabs the bricks. After grabbing, the first material detection switch 36 does not detect any bricks, and the first blocking cylinder 35 retracts downward to reset, allowing the empty pallet to enter the flipping mechanism 33 to complete the recycling process.

[0048] Secondly, when the tilting cylinder 3303 drives the base plate 3304 to tilt, the auxiliary push rod 3310 rotates synchronously around the second fixed seat 3309 to share the weight of the base plate 3304 and the pallet, preventing deformation of the tilting mechanism 33 or deviation of the tilting action due to unilateral force, ensuring a smooth and stable tilting process, and thus effectively adapting to the heavier refractory brick pallet. The barrier frame 3311 provides a precise positioning boundary for the pallet. When the pallet moves to the tilting mechanism 33, the barrier frame 3311 restricts the pallet from moving further outward, ensuring that the pallet is always in the central bearing area of ​​the tilting mechanism 33, avoiding tilting failure due to pallet deviation. The second detection switch 3312 inside the barrier frame 3311 is used to detect whether the pallet has completely entered the preset tilting position. When the pallet triggers the detection point of the second detection switch 3312, the second detection switch 3312 sends a signal to the control system. The control system triggers the movement of the second blocking cylinder 3314. The second blocking cylinder 3314 blocks the pallet from entering the connecting frame 3305, achieving complete positioning of the pallet. Then, it triggers the action of the flipping cylinder 3303 to ensure that the flipping action is only performed after the pallet is accurately positioned, thereby improving the reliability of the flipping. When the flipping mechanism 33 flips the empty pallet to the entrance of the return roller slide 34, the second blocking cylinder 3314 retracts and resets, and the pushing cylinder 3313 extends to force the empty pallet into the return roller slide 34, preventing the empty pallet from being stuck at the entrance due to friction or positional deviation, and ensuring smooth pallet return.

[0049] Meanwhile, the first bearing portion 3315 of the first frame 3306 is a horizontal structure, used to directly support the bottom of the pallet. The first curved portion 3316 bends outward to limit the side of the pallet, preventing the pallet from tipping over during conveying or flipping. The first curved portion 3316 also effectively ensures that the first frame 3306 is positioned in front of two adjacent conveyor rollers 32 when performing pallet retrieval operations, ensuring that the first frame 3306 does not interfere with the conveyor frame 31. The second bearing portion 3317 of the second frame 3307 works in conjunction with the first bearing portion 3315 to support the pallet. The second curved portion 3318 is symmetrically arranged with the first curved portion 3316, further enhancing the lateral limiting of the pallet and the smoothness of the structural fit. The auxiliary rollers 3320 on the same side of the two connecting frames 3305, the first frame 3306, and the second frame 3307 roll against the side of the pallet and the auxiliary rollers 3320 when the pallet enters or leaves the flipping mechanism 33. The dynamic contact transforms sliding friction into rolling friction, significantly reducing pallet movement resistance and preventing damage to the pallet sides due to friction. Simultaneously, it ensures precise pallet movement trajectory. The mounting part 3319 of the second frame 3307, in conjunction with the guide roller assembly 3321 of the connecting frame 3305, guides the pallet's movement direction within the flipping mechanism 33, ensuring the pallet enters the bearing area along a preset path and preventing deviation. The conveying roller assembly 3322 on the first bearing part 3315 and the second bearing part 3317 makes rolling contact with the bottom of the pallet, reducing bottom friction during pallet conveying and flipping, making pallet movement on the bearing structure smoother. Especially when moving towards the return roller slide 34 after flipping, the conveying roller assembly 3322 assists the pallet in sliding quickly, improving return efficiency. Through the adaptive design of various roller components and the frame structure, the linkage and cooperation between structures are effectively ensured, guaranteeing stable pallet bearing and movement performance.

[0050] In addition, the lifting frame 21 is fixed inside the lifting platform 1. The lifting frame 21 can stably support the X-axis truss 22, Y-axis truss 23, Z-axis truss 24 and the subsequently assembled execution components. At the same time, it cooperates with the lifting function of the lifting platform 1 to realize the overall height adjustment of the three-axis truss 2 to meet different masonry height requirements. The three-axis truss 2 is a common and well-known moving structure in the field of automated equipment, so it will not be described in detail. The X-axis truss 22 extends horizontally to provide lateral movement power for the masonry clamp 4 and the spraying assembly 5. The Y-axis truss 23 extends vertically and slides with the X-axis truss 22 to realize the execution component. The longitudinal movement of the components; the Z-axis truss 24 extends vertically and slides in conjunction with the Y-axis truss 23 to realize the lifting and lowering movement of the actuators. Two sets of Y-axis trusses 23 and Z-axis trusses 24 are provided to drive the individual movement of the masonry fixture 4 and spraying component 5 in the Y and Z axes, respectively. The three work together to move the masonry fixture 4 and spraying component 5 to any position in three-dimensional space, effectively covering the component picking area, brick coating area, and wall masonry area of ​​the conveyor line 3. This effectively solves the problem of accurately controlling the spatial position of bricks in manual masonry, providing a core guarantee for masonry accuracy. Furthermore, the modular design of the three-axis truss 2 facilitates installation, debugging, and maintenance. The travel distance of each axis can be adjusted according to different construction scenarios, improving the adaptability of the equipment.

[0051] Secondly, the cam-type hollow rotary platform is a publicly available technology. It can rotate via a motor-driven first housing 42 connected below, therefore it will not be described in detail. The cam-type hollow rotary platform is fixed below the Z-axis truss 24, and its rotating shaft is fixedly connected to the first housing 42. The cam-type hollow rotary platform has a high-precision rotation function, capable of driving the first housing 42 and the clamping structure below to rotate at any angle of 360°, meeting the needs of applying mortar to different surfaces of bricks and laying bricks at different angles. The first guide rails 43 on both sides of the first housing 42 slide in conjunction with the first guide rail seats 44. The first guide rail seats 44 are fixedly connected to the second housing 45, forming a horizontal fine-tuning structure. The sliding of a guide rail seat 44 along the first guide rail 43 allows for fine adjustment of the horizontal position of the second housing 45, improving gripping accuracy. The U-shaped fixing block 46 at the center of the second housing 45 is used to fix the insertion rod 47, which passes through the second housing 45 and extends downward. Before using the equipment, a calibration rod 48 is inserted into the insertion rod 47. By aligning the calibration rod 48 with the preset masonry benchmark point, the spatial coordinates of the masonry fixture 4 within the entire equipment frame are calibrated, ensuring the accuracy of the gripping and masonry position of the masonry fixture 4 and compensating for minor deviations during equipment installation or operation. After calibration, the calibration rod 48 is removed, thereby ensuring that the masonry position of each brick meets the design requirements.

[0052] Simultaneously, the image information of the bricks on the tray is acquired by the first vision camera 49 and transmitted to the control system for image processing. This allows for rapid identification of the bricks' specifications, placement angle, and specific location, providing precise coordinate data for the clamping and placement of the bricks. This replaces the tedious manual brick identification process, improving recognition efficiency and accuracy. The push block 467 at the output end of the fine-tuning cylinder 466 contacts the side of the second housing 45. Through the coordinated extension and retraction of the two fine-tuning cylinders 466, the second housing 45 can be adjusted in minute angles and positions. Combined with the horizontal sliding of the first guide rail 43, this enables the fine-tuning of the clamping seat 453, ensuring precise alignment between the clamping plate 454 and the bricks. This prevents gripping failure or brick damage due to initial positioning deviation. The servo motor 450 is connected to the bidirectional screw 452 inside the second housing 45 via the transmission wheel set 451. The two ends of the bidirectional screw 452 are screwed... The grooves are opposite and threaded to the clamp seats 453 on both sides. The clamping plate 454 on the outside of the clamp seat 453 is used to directly clamp the brick. The second guide rail seats 455 on both sides of the clamp seat 453 slide in cooperation with the second guide rail 456 inside the second housing 45. When the servo motor 450 is started, it drives the bidirectional screw 452 to rotate through the transmission wheel set 451, which drives the clamp seats 453 on both sides to move relative to or opposite to each other along the second guide rail 456, so as to clamp or release the clamping plate 454. The servo motor 450 has high-precision speed control capability, which can accurately adjust the moving distance and clamping force of the clamp seat 453, adapting to refractory bricks of different weights and specifications, avoiding damage to the bricks due to excessive clamping force or falling due to insufficient clamping force. At the same time, the cooperation between the second guide rail seat 455 and the second guide rail 456 ensures the smoothness and straightness of the movement of the clamp seat 453, further improving the clamping accuracy.

[0053] In addition, after the clamping seat 453 pushes the clamping plate 454 to complete the clamping operation of the brick, the fine-tuning cylinder 466 resets, the guide rod cylinder 457 pushes the connecting rod 458 to move, the connecting rod 458 drives the L-shaped block 459 and the pushing block 461 to move, and the lower end of the pushing block 461 drives the clamping rod frame 462 to move, so that the two clamping rod frames 462 on both sides are relatively close, realizing the synchronous action of the two clamping rod frames 462. At the same time, the centering cylinder 460 moves synchronously, and the centering cylinder 460 drives the pushing block 461 to move. With the meshing transmission of the rack rod 463 and gear 464 on the top of the pushing block 461, the gear 464 drives the rack rod 463 on the other side to move in the opposite direction, thereby pushing the brick to the center position from both sides of the brick. The second housing 45 slides to the center position below the first housing 42 through the first guide rail seat 44 and the first guide rail 43. The automatic centering of the bricks ensures that the center of the bricks is aligned with the masonry baseline, preventing uneven masonry gaps caused by brick misalignment. The meshing transmission of the rack 463 and gear 464 ensures the synchronicity and symmetry of the movement of the clamping rods 462 on both sides, improving centering accuracy. After the bricks are centered, the positioning cylinder 465 extends downward and presses against the top of the second housing 45, fixing the second housing 45 and the clamped bricks in the current position. This prevents the second housing 45 from shifting due to vibration or inertia during movement or masonry, ensuring stable brick posture and improving masonry accuracy. Thus, through the coordinated action of the guide rod cylinder 457, the centering cylinder 460, the servo motor 450, and the fine-tuning cylinder 466, a complete clamping process of identification, fine-tuning, gripping, centering, and positioning is formed, ensuring that each brick is in a precise posture and position before masonry.

[0054] Furthermore, the spraying component 5 is fixed to the underside of another Z-axis truss 24 via the mounting bracket 51. It is adapted to different Z-axis trusses 24, allowing independent movement of the spraying component 5 and the masonry fixture 4, effectively avoiding interference between their movements. Precise docking can also be achieved through the coordinated control of the three-axis truss 2. The fixing frame 52 on the outer side of the mounting bracket 51 is used to fix the nozzle 53. The nozzle 53 is the actuator for slurry spraying. The spray angle and spray volume of the nozzle 53 can be adjusted by the control system to adapt to different brick surface sizes and slurry application requirements. The second vision camera 54 and the first vision camera 49 on the masonry fixture 4 complement each other, using... To identify the surface of the brick to be coated, after the brick clamp 4 moves the brick to the spraying area, the second vision camera 54 captures the image of the brick surface, identifies the location, range and shape of the masonry surface to be coated with mortar, and transmits the signal to the control system. The control system adjusts the position of the Z-axis truss 24 and the spraying parameters of the nozzle 53 according to the image information, so that the nozzle 53 is precisely aligned with the surface to be coated, and achieves precise spraying of mortar, avoiding mortar waste or omissions. This transforms mortar coating from manual operation to automated and precise operation, effectively solving the problems of uneven thickness and insufficient fullness of manual coating, and improving the sealing performance and structural stability of the wall.

[0055] Furthermore, the height of the material feeding platform 55 moves synchronously with the lifting frame 21. The material feeding platform 55 facilitates the addition and replacement of slurry by personnel and is far away from the conveyor line 3 and the masonry area, avoiding slurry leakage that could contaminate other components or affect the masonry operation. The paint tank 56 is used to store the slurry required for masonry. Its capacity can be selected according to construction needs, ensuring that long-term continuous operation does not require frequent material addition, thereby improving masonry efficiency. The paint tank 56 is connected to the input end of the nozzle 53 through the conveying pipe 57, and a winding device for winding the conveying pipe 57 is also fixedly installed on the material feeding platform 55 to prevent the conveying pipe 57 from getting tangled with the equipment when the nozzle 53 moves. The slurry in the paint tank 56 is pressurized and then conveyed to the nozzle 53 through the conveying pipe 57. The slurry delivery volume can be adjusted by the flow control valve, and the spraying parameters of the nozzle 53 can be adjusted to achieve precise control of the slurry coating thickness.

[0056] In the automated bricklaying equipment of this embodiment, before starting the equipment, a calibration rod 48 is installed below the insertion rod 47 of the bricklaying fixture 4. The calibration rod 48 is aligned with the preset bricklaying reference point to calibrate the spatial coordinates of the bricklaying fixture 4 and compensate for installation deviations. After calibration, the calibration rod 48 is removed. The bricklaying parameters are set through the control system. The pallet containing refractory bricks is placed at the end of the conveyor frame 31 away from the flipping mechanism 33. The conveyor line 3 is started, and the conveyor rollers 32 drive the pallet to move towards the flipping mechanism 33. At this time, the connecting frame 3305, the first frame 3306, and the second frame 3307 of the flipping mechanism 33 are located between two adjacent conveyor rollers 32. When the pallet containing refractory bricks moves to the outside of the flipping mechanism 33... When the bricks are moved to the side, the first blocking cylinder 35 extends to block the tray from moving forward. After the first material detection switch 36 detects the bricks on the tray, it sends a signal to the control system. The three-axis truss 2 drives the masonry clamp 4 to move above the tray. The first vision camera 49 captures images of the bricks, identifies the brick type, placement angle, and position, and transmits the data. The fine-tuning cylinder 466 adjusts the position of the second housing 45 through the push block 467. The servo motor 450 starts, and the transmission wheel set 451 drives the bidirectional screw 452 to rotate, driving the clamp seat 453 and clamping plate 454 to move, precisely clamping the bricks. After the bricks are clamped, the guide rod cylinder 457 drives the connecting rod 458 to move the L-shaped block 459, and the push block 461 drives the clamping rod frame 462 to move. The centering cylinder 460 works in conjunction with this. The meshing transmission of the rack and pinion 463 and the gear 464 enables the synchronous centering of the two clamping rods 462, pushing the brick to the center position below the first housing 42. The positioning cylinder 465 extends downward and presses against the top of the second housing 45 to fix the brick's posture and prevent displacement during movement. After the brick is gripped, if the first material detection switch 36 does not detect a brick, the first blocking cylinder 35 retracts, and the conveying roller 32 drives the empty pallet into the bearing structure of the flipping mechanism 33. After the second detection switch 3312 detects that the empty pallet has fully entered, the second blocking cylinder 3314 extends to restrict the empty pallet. The flipping cylinder 3303 is activated, driving the Z-shaped push rod 3302 to rotate around the first fixed seat 3301, causing the base plate 3304 and the empty pallet to flip. The auxiliary push rod 3310 rotates synchronously to enhance operational stability. After flipping into position, the second blocking cylinder 3314 retracts and resets, and the push cylinder 3313 extends to push the empty pallet into the return roller slide 34. The empty pallet automatically returns along the slide to the initial loading position, waiting to be loaded with bricks again. The three-axis truss 2 drives the brick-holding masonry clamp 4 to move below the spraying assembly 5, and another set of Z-axis trusses 24 drives the spraying assembly 5 to the corresponding position. The second vision camera 54 captures images of the bricks, identifies the position and range of the surface to be coated, and sends a feedback signal to the control system. The control system adjusts the nozzle 53 angle and spraying parameters. The slurry in the paint tank 56 is transported to the nozzle 53 through the conveying pipe 57. The nozzle 53 evenly coats the brick masonry surface with slurry. If multiple surfaces need to be coated...A cam-type hollow rotary platform drives the masonry clamp 4 to rotate, repeating the mortar application process to ensure the mortar coverage meets requirements. After mortar application, the three-axis truss 2 drives the masonry clamp 4 to move to the masonry position. The positions of the X-axis truss 22, Y-axis truss 23, and Z-axis truss 24 are adjusted according to preset parameters to precisely place the brick on the masonry baseline. The positioning cylinder 465 retracts, and the servo motor 450 rotates in the opposite direction to drive the clamp 454 to release, completing one masonry operation. The masonry clamp 4 then resets under the drive of the three-axis truss 2 to perform the next refractory brick gripping operation. This achieves full automation of the core processes—brick conveying, identification, gripping, centering, mortar application, masonry, and pallet return—without manual intervention.

[0057] The above description is merely a preferred embodiment of an automated wall-building device of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. An automated wall-building device, comprising a lifting platform (1), characterized in that, The lifting platform (1) is equipped with a three-axis truss (2), one end of which is equipped with a conveyor line (3), and the three-axis truss (2) is equipped with a masonry clamp (4) and a spraying assembly (5) that work in conjunction with the conveyor line (3). The conveyor line (3) includes a conveyor frame (31), a plurality of conveyor rollers (32) are rotatably arranged inside the conveyor frame (31), and a flipping mechanism (33) is provided at the outer end of the conveyor frame (31). The flipping mechanism (33) includes a first fixed seat (3301) fixed to the outside of the conveyor frame (31). The first fixed seat (3301) is rotatably connected to the middle of a Z-shaped push rod (3302). One end of the Z-shaped push rod (3302) is rotatably connected to a flipping cylinder (3303). The fixed end of the flipping cylinder (3303) is fixedly connected to the conveyor frame (31). The other end of the Z-shaped push rod (3302) is fixedly connected to a base plate (3304). Connecting frames (3305) are respectively provided on both sides of the base plate (3304). The middle of the base plate (3304) is fixed. A first frame (3306) is connected, and a second frame (3307) fixedly connected to the base plate (3304) is provided on the outside of the first frame (3306). The connecting frame (3305), the first frame (3306) and the second frame (3307) are connected by a top plate (3308). The connecting frame (3305), the first frame (3306) and the second frame (3307) are located between two adjacent conveying rollers (32). A return roller slide (34) fixedly connected to the conveying frame (31) is provided on the outside of the flipping mechanism (33). The outside of the flipping mechanism (33) is provided with a first blocking cylinder (35) that is fixedly connected to the conveyor frame (31), and the outside of the first blocking cylinder (35) is provided with a first material detection switch (36) that is fixedly connected to the conveyor frame (31). The first fixed seat (3301) is provided with a second fixed seat (3309) fixedly connected to the conveyor frame (31) on both sides. The second fixed seat (3309) is rotatably connected to an auxiliary push rod (3310) fixedly connected to the base plate (3304). A barrier frame (3311) is fixedly provided in one of the connecting frames (3305). A second detection switch (3312) is fixedly provided in the barrier frame (3311). A push cylinder (3313) fixedly connected to the connecting frame (3305) is provided below the second detection switch (3312). A second blocking cylinder (3314) is fixedly provided on the outside of the other connecting frame (3305). The first frame (3306) is provided with a first bearing part (3315) and a first bending part (3316), and the second frame (3307) is provided with a second bearing part (3317), a second bending part (3318) and a mounting part (3319). Auxiliary rollers (3320) are provided on the same side of the two connecting frames (3305), the first frame (3306) and the second frame (3307). The mounting part (3319) of the second frame (3307) is provided with a guide roller group (3321) in cooperation with the two connecting frames (3305). The first bearing part (3315) and the second bearing part (3317) are provided with a conveying roller group (3322).

2. The automated wall-building equipment as described in claim 1, characterized in that, The three-axis truss (2) includes a lifting frame (21), which is fixedly installed inside the lifting platform (1). Trusses are respectively installed above the lifting frame (21) in the X-axis, Y-axis and Z-axis directions, namely the X-axis truss (22), the Y-axis truss (23) and the Z-axis truss (24), wherein the Y-axis truss (23) and the Z-axis truss (24) are respectively.

3. The automated wall-building equipment as described in claim 2, characterized in that, The masonry clamp (4) includes a cam-type hollow rotating platform located below the Z-axis truss (24), and the rotating shaft of the cam-type hollow rotating platform is fixedly connected to the lower first shell (42); The first housing (42) is provided with first guide rails (43) on both sides, and a first guide rail seat (44) is slidably provided below the first guide rail (43). A second housing (45) is fixedly provided below the first guide rail seat (44). A U-shaped fixing block (46) is provided at the center of the second housing (45). A plug rod (47) is provided below the U-shaped fixing block (46) and the plug rod (47) penetrates the second housing (45). A calibration rod (48) is detachably provided below the plug rod (47).

4. The automated wall-building equipment as described in claim 3, characterized in that, A first vision camera (49) is fixedly mounted on the top of the second housing (45). Fine-tuning cylinders (466) fixedly connected to the first housing (42) are mounted on both sides of the second housing (45) adjacent to the first vision camera (49). A push block (467) is fixedly mounted on the output end of the fine-tuning cylinder (466). A servo motor (450) is mounted on the top of the second housing (45) away from the first vision camera (49). A transmission wheel set (451) is mounted on the drive end of the servo motor (450). The output end of the drive wheel assembly (451) is provided with a bidirectional screw (452), and the bidirectional screw (452) is located inside the second housing (45). The outer side of the bidirectional screw (452) is threadedly connected to a clamp seat (453). The outer side of the clamp seat (453) is provided with a clamping plate (454). The two sides of the clamp seat (453) are fixedly provided with second guide rail seats (455). The second guide rail seats (455) slide on the second guide rail (456). The second guide rail (456) is fixedly provided inside the second housing (45).

5. The automated wall-building equipment as described in claim 4, characterized in that, A guide rod cylinder (457) is fixedly installed inside the first housing (42). The output end of the guide rod cylinder (457) is connected to the middle of the L-shaped block (459) through a connecting rod (458). A push block (461) is fixedly installed at one end of the L-shaped block (459). A centering cylinder (460) is installed at one end of the push block (461). A clamping rod frame (462) is fixedly installed below the push block (461). A rack rod (463) is fixedly installed on the top of the push block (461). The rack rod (463) is slidably and symmetrically installed inside the first housing (42). The two rack rods (463) are meshed by a gear (464). A positioning cylinder (465) is fixedly installed on the side of the first housing (42) near the first vision camera (49). The output end of the positioning cylinder (465) is detachably connected to the top of the second housing (45).

6. The automated wall-building equipment as described in claim 5, characterized in that, The spraying assembly (5) includes a mounting bracket (51) fixed below another Z-axis truss (24), a fixing frame (52) is provided on the outside of the mounting bracket (51), a nozzle (53) is fixedly provided inside the fixing frame (52), and a second vision camera (54) is fixedly provided on the side of the fixing frame (52) away from the mounting bracket (51).

7. The automated wall-building equipment as described in claim 6, characterized in that, A feeding platform (55) is fixedly installed above the side of the lifting frame (21) away from the conveyor line (3). A paint tank (56) is installed above the feeding platform (55). The paint tank (56) is connected to the input end of the nozzle (53) through a conveying pipe (57).

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